CN116814864B

CN116814864B - Chip transfer control method, device, equipment, system and medium in gene sequencing

Info

Publication number: CN116814864B
Application number: CN202311103598.2A
Authority: CN
Inventors: 林彩新; 周枫; 王谷丰; 赵陆洋
Original assignee: Shenzhen Sailu Medical Technology Co ltd
Current assignee: Shenzhen Sailu Medical Technology Co ltd
Priority date: 2023-08-30
Filing date: 2023-08-30
Publication date: 2023-11-24
Anticipated expiration: 2043-08-30
Also published as: CN116814864A

Abstract

The application provides a chip transfer control method, a device, equipment, a system and a medium in gene sequencing, wherein the method comprises the following steps: acquiring a biochemical detection flow corresponding to the biochip to be detected; determining a current reagent tank corresponding to the current detection task and a reagent tank grabbing point according to the point position information of the reagent tank in the process of exiting the current detection task according to the biochemical detection flow; the control transfer device moves from the current point to a reagent groove grabbing point position of the current reagent groove at a target running speed, based on the fact that the relatively smaller one of the reagent transferring speed and the protection speed is determined according to the detection reagent type corresponding to the current detection task, the control transfer device moves from the current point to the reagent groove grabbing point position corresponding to the current reagent groove, clamps a biochip to be detected at the reagent groove grabbing point position, moves a first exit distance from the current reagent groove at the safety speed, moves a second exit distance at the reagent transferring speed, and moves to the point above the current reagent groove.

Description

Chip transfer control method, device, equipment, system and medium in gene sequencing

Technical Field

The application relates to the technical field of gene sequencing, in particular to a chip transfer control method and device in gene sequencing, biochemical reaction control equipment, a gene sequencing system and a computer readable storage medium.

Background

Currently, in the technology of gene second generation sequencing, a biochemical reaction part provides an open gene sequencing method, so that a biochip carrying nucleic acid molecules is soaked in different reagents according to a set sequence to realize gene sequencing.

In the open gene sequencing method, the biochip needs to be soaked in different detection reagents for many times, so that the biochip needs to be clamped by a mechanical arm and enters different reagent tanks, and the effective area of the biochip is completely soaked in the corresponding detection reagent for biochemical reaction. However, when the mechanical arm clamps the biochip to extend into the reagent tank or withdraw from the reagent tank, the reagent is easy to splash, and the reagent splashes to pollute the adjacent reagent tank; secondly, the biochip is fragile material, and when the mechanical arm stretches into the reagent groove to clamp the biochip, the biochip is easy to damage.

Disclosure of Invention

In order to solve the existing technical problems, the embodiment of the application provides a safer chip transfer control method and device in gene sequencing, biochemical reaction control equipment, a gene sequencing system and a computer readable storage medium, wherein the safer chip transfer control method and device can automatically change speed, avoid reagent pollution and damage to a biochip.

In order to achieve the above object, the technical solution of the embodiment of the present application is as follows:

in a first aspect, an embodiment of the present application provides a chip transfer control method in gene sequencing, where a gene sequencing system includes a biochemical reaction device provided with a plurality of open reagent tanks, and a transfer device for clamping a biochip to transfer between different reagent tanks; the method comprises the following steps:

acquiring a biochemical detection flow corresponding to the biochip to be detected; the biochemical detection flow comprises a plurality of detection tasks which are sequentially arranged, and detection reagent types and reaction time lengths which correspond to the detection tasks respectively;

determining a current reagent tank corresponding to the current detection task and a corresponding reagent tank grabbing point according to the point position information of the reagent tank in the process of exiting the current detection task according to the biochemical detection flow;

based on the fact that the relatively smaller one of the reagent transferring speed and the protecting speed is determined according to the detection reagent type corresponding to the current detection task is used as a safety speed, after the transfer device is controlled to move from the current point position to the reagent groove grabbing point position corresponding to the current reagent groove, the transfer device is controlled to clamp the biochip to be detected at the reagent groove grabbing point position, a first exit distance is operated from the current reagent groove at the safety speed, and a second exit distance is operated at the reagent transferring speed so as to move to the point position above the current reagent groove.

In a second aspect, an embodiment of the present application provides a chip transfer control device in gene sequencing, including:

the acquisition module is used for acquiring a biochemical detection flow corresponding to the biochip to be detected; the biochemical detection flow comprises a plurality of detection tasks which are sequentially arranged, and detection reagent types and reaction time lengths which correspond to the detection tasks respectively;

the task determining module is used for determining a current reagent tank corresponding to the current detection task and a corresponding reagent tank grabbing point position according to the reagent tank point position information in the process of exiting the current detection task according to the biochemical detection flow;

and the transfer control module is used for controlling the transfer device to move from the current point position to the reagent groove grabbing point position corresponding to the current reagent groove based on the safety speed of the relatively smaller one of the reagent transfer speed and the protection speed determined according to the detection reagent type corresponding to the current detection task, controlling the transfer device to clamp the biochip to be detected at the reagent groove grabbing point position and running a first exit distance in the current reagent groove at the safety speed, and running a second exit distance at the reagent transfer speed so as to move to the point position above the current reagent groove.

In a third aspect, an embodiment of the present application provides a biochemical reaction control apparatus, including a processor and a memory connected to the processor, where the memory stores a computer program executable by the processor, and the computer program when executed by the processor implements the chip transfer control method in gene sequencing according to any one of the embodiments of the present application.

In a fourth aspect, an embodiment of the present application provides a gene sequencing system, including a biochemical reaction device, a transfer device, and a biochemical reaction control apparatus communicatively connected to the transfer device;

the biochemical reaction device is provided with a plurality of open reagent tanks, the reagent tanks are used for containing detection reagents, and the reagent tanks are suitable for containing a biochip to be detected;

the transfer device comprises a clamping arm for clamping the biochip to be tested and a moving mechanism for driving the clamping arm to move;

the biochemical reaction control device is used for executing the chip transfer control method in gene sequencing according to any embodiment of the application.

In a fifth aspect, an embodiment of the present application provides a computer readable storage medium, where a computer program is stored, where the computer program when executed by a processor implements the chip transfer control method in gene sequencing according to any embodiment of the present application.

In the chip transfer control method in gene sequencing provided in the above embodiment, according to a set biochemical detection flow, in the process of exiting a current detection task, a transfer device is controlled to sequentially move from a current point position to a reagent groove grabbing point position corresponding to a current reagent groove, the reagent groove grabbing point position clamps the biochip to be tested and moves a first exiting distance from the current reagent groove at a safe speed, and moves a second exiting distance at a reagent transferring speed to move to a point position above the current reagent groove; the transfer device is used for grasping the biochip to be tested from the reagent tank and then withdrawing the biochip to be tested, the transfer speed of each section of the transfer device is optimized by changing the movement speed of the biochip to be tested from the reagent tank to be a sectional speed and introducing the reagent transfer speed and the protection speed determined according to the type of the detection reagent, so that the biochip to be tested can be prevented from being damaged and the reagent can be prevented from splashing when the biochip to be tested is grasped by the transfer device and removed from the reagent tank, and the splashed reagent can be mixed with the adjacent reagent to cause reagent pollution.

In the above embodiments, the chip transfer control device in gene sequencing, the biochemical reaction control apparatus, the gene sequencing system, and the computer readable storage medium belong to the same concept as the corresponding chip transfer control method embodiments in gene sequencing, so that the chip transfer control method embodiments in gene sequencing have the same technical effects as the corresponding chip transfer control method embodiments in gene sequencing, and are not described herein.

Drawings

FIG. 1 is a schematic diagram of an alternative application scenario of a chip transfer control method in gene sequencing in an embodiment;

FIG. 2 is a flow chart of a chip transfer control method in gene sequencing according to an embodiment;

FIG. 3 is a schematic diagram showing a biochip being placed in a reagent vessel according to an embodiment;

FIG. 4 is a schematic view showing a first withdrawal distance of a biochip from a reagent vessel according to one embodiment;

FIG. 5 is a schematic diagram showing a biochip being positioned above a reagent vessel after sequentially moving a first withdrawal distance and a second withdrawal distance from the inside of the reagent vessel according to one embodiment;

FIG. 6 is a graph showing a speed versus viscosity curve fit according to one embodiment;

FIG. 7 is a flow chart of a chip transfer control method in gene sequencing in an alternative embodiment;

FIG. 8 is a flow chart of the transfer flow in the example shown in FIG. 7;

FIG. 9 is a schematic diagram showing a chip transfer control device in gene sequencing according to an embodiment;

FIG. 10 is a schematic diagram showing the structure of a biochemical reaction controlling apparatus according to an embodiment;

FIG. 11 is a schematic diagram showing the structure of a gene sequencing system according to an embodiment.

Detailed Description

The technical scheme of the application is further elaborated below by referring to the drawings in the specification and the specific embodiments.

The present application will be further described in detail with reference to the accompanying drawings, for the purpose of making the objects, technical solutions and advantages of the present application more apparent, and the described embodiments should not be construed as limiting the present application, and all other embodiments obtained by those skilled in the art without making any inventive effort are within the scope of the present application.

In the following description, reference is made to the expression "some embodiments" which describe a subset of all possible embodiments, it being noted that "some embodiments" may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

In the following description, the terms "first, second, third" and the like are used merely to distinguish between similar objects and do not represent a specific ordering of the objects, it being understood that the "first, second, third" may be interchanged with a specific order or sequence, as permitted, to enable embodiments of the application described herein to be practiced otherwise than as illustrated or described herein.

Referring to fig. 1, an alternative application scenario of a chip transfer control method in gene sequencing according to an embodiment of the application is shown, wherein a gene sequencing system includes a biochemical reaction device 11, a transfer device 12 and a biochemical reaction control apparatus 13. The biochemical reaction device 11 is internally provided with a plurality of open reagent tanks, in the biochemical detection process, different types of detection reagents can be contained in different reagent tanks, the biochip is loaded with nucleic acid molecules, the transfer device 12 clamps the biochip according to the time that the biochip needs to be soaked in various detection reagents for reaction in the biochemical detection process, the biochip is placed in the corresponding reagent tank, and after the reaction time arrives, the biochip is clamped and switched to the next corresponding reagent tank, so that the biochip is clamped and transferred between different reagent tanks. The biochemical reaction control device 13 is in communication connection with the transfer device 12, and the biochemical reaction control device 13 is used for executing the chip transfer control method in gene sequencing provided by the embodiment of the application, and controlling the transfer device 12 to clamp the biochip to transfer between different reagent tanks according to a biochemical detection flow, so that the biochip is not damaged and the reagent is prevented from splashing when the biochip is clamped into the reagent tank, the biochip is not damaged when the biochip is clamped out of the reagent tank, the reagent is prevented from splashing and the reagent is prevented from adhering to the surface of the biochip, the transfer safety of the biochip between the reagent tanks is improved, and the recycling rate of the detection reagent in each reagent tank is improved.

Referring to fig. 2, a chip transfer control method in gene sequencing according to an embodiment of the application is applicable to the biochemical reaction control apparatus shown in fig. 1, and includes the following steps:

s101, acquiring a biochemical detection flow corresponding to a biochip to be detected; the biochemical detection flow comprises a plurality of detection tasks which are sequentially arranged, and detection reagent types and reaction time lengths which respectively correspond to the detection tasks.

The biochip to be tested refers to a chip to be tested carrying nucleic acid molecules in gene sequencing. The biochemical detection process includes soaking the biochip to be detected in different kinds of detection reagent for certain period to make the biochip to be detected perform full biochemical reaction with the detection reagent. In this embodiment, the biochemical detection process is composed of a plurality of detection tasks arranged in a certain order, and each detection task corresponds to a period of time when the biochip to be detected needs to be soaked in a certain type of detection reagent.

The biochemical detection flow can be preset, or can be obtained by providing a flow configuration page through a client program of a chip transfer control method in gene sequencing and performing configuration operation in the flow configuration page by a user. Optionally, configuration options for setting the detection task, such as a detection task name or identifier, a corresponding detection reagent type, a detection duration, and an order in the biochemical detection process, may be provided in the process configuration page. Optionally, the configuration options for the detection tasks may further include reagent tank identifiers, where the reagent tank identifiers respectively correspond to reagent tanks in the biochemical reaction device one by one, and configuring the detection tasks includes setting the reagent tank identifiers so as to implement the specification of which reagent tank the biochip to be detected needs to be placed in when executing each detection task in the biochemical detection flow.

S103, determining a current reagent tank corresponding to the current detection task and a corresponding reagent tank grabbing point position according to the reagent tank point position information in the process of exiting the current detection task according to the biochemical detection flow.

The current detection task is exited, namely the biochip to be detected is soaked in the current reagent tank for a corresponding reaction time, the current detection task is ended, the transfer device is required to be controlled to grasp the biochip to be detected in the current reagent tank, and the biochip to be detected is moved out of the current reagent tank. The point location refers to the position and the gesture of a target object in a three-dimensional space. For stationary objects, a set of coordinate values may be generally described. The reagent tank site information is information capable of characterizing the position of each reagent tank in the biochemical reaction apparatus. It should be noted that each reagent tank may be characterized by a label, serial number, code, or the like, which can correspondingly indicate its identity. In an alternative example, the reagent tanks are respectively represented by corresponding codes, and the reagent tank point position information corresponding to each reagent tank comprises the codes of the reagent tanks and coordinates thereof. In other optional examples, the positions of the reagent tanks include positions corresponding to different points of the reagent tanks, and the reagent tank point position information corresponding to each reagent tank includes: the code of the reagent groove, the coordinates of the point above the corresponding code reagent groove, the coordinates of the grabbing point of the corresponding code reagent groove and the type of the detection reagent contained in the corresponding code reagent groove.

In the execution process of the biochemical detection flow, the biochemical reaction control equipment controls the transfer device to execute transfer control of the biological chips to be detected in the detection tasks one by one according to the detection tasks contained in the biochemical detection flow and the execution sequence of the detection tasks, and for each detection task, the biological chips to be detected are captured and placed into the corresponding reagent tanks of the detection tasks, and after the biological chips to be detected are soaked to meet the corresponding reaction time, the biological chips to be detected are captured and removed from the corresponding reagent tanks. In this embodiment, exiting the current detection task mainly includes controlling the transfer device to grasp the biochip to be detected and move it out of the corresponding reagent tank of the current detection task.

S105, controlling the transfer device to move from a current point position to the reagent tank grabbing point position corresponding to the current reagent tank based on the fact that the relatively smaller one of the reagent transfer speed and the protection speed is determined according to the detection reagent type corresponding to the current detection task is used as a safety speed, controlling the transfer device to clamp the biochip to be detected at the reagent tank grabbing point position and running a first exit distance in the current reagent tank at the safety speed, and running a second exit distance at the reagent transfer speed so as to move to the point position above the current reagent tank.

The reagent transfer speed corresponds to the detection reagent types in a one-to-one correspondence manner, wherein the detection reagent types corresponding to different detection tasks are different, and in the execution process of the biochemical detection flow, the biochemical reaction control equipment determines the corresponding reagent transfer speed according to the detection reagent types contained in the corresponding reagent tank in real time when grabbing the biochip to be detected and moving out of the corresponding reagent tank of the detection task according to the switching of the detection tasks. The reagent transfer speed corresponding to each detection reagent type can be preset, or can be calculated in real time based on the viscosity of the detection reagent of different types. The protection speed is the corresponding speed for avoiding collision damage to the biochip when the transferring device stretches into the reagent tank at a certain speed to clamp the biochip or when the transferring device clamps the biochip to stretch into the reagent tank to release the biochip. The protection speed may be preset.

The transfer device grabs the biochip to be detected and moves out of the corresponding reagent tank of the current detection task, the distance from the corresponding reagent tank to the biochip to be detected, which moves out of the corresponding reagent tank, namely the distance from the grabbing point of the reagent tank to the point above, is divided into a first exit distance and a second exit distance, and the transfer device is controlled to operate the first exit distance at the reagent transfer speed and the second exit distance at the reagent transfer speed after the first exit distance is operated at the safety speed by the relatively smaller one of the reagent transfer speed and the protection speed.

In the above embodiment, the moving speed of the transfer device for grasping the biochip to be tested from the reagent tank and then withdrawing the biochip to be tested is set to be a sectional variable speed, and the transferring speed of each section of the transfer device is optimized by introducing the reagent transferring speed and the protecting speed determined according to the type of the detection reagent, so that the transfer device can avoid damaging the biochip and avoiding splashing of the reagent when grasping the biochip to be tested and removing the reagent tank, and the splashed reagent may be mixed with the adjacent reagent to cause reagent pollution.

In some embodiments, the controlling the transfer device to move from a current point location to the reagent tank gripping point location corresponding to the current reagent tank includes:

the current point position is an initial point position where the transfer device stays in an idle state, the transfer device is controlled to move from the initial point position to an upper point position corresponding to the current reagent tank at a target running speed, and the transfer device is controlled to move to the reagent tank grabbing point position at the protection speed; or alternatively, the first and second heat exchangers may be,

The current point location is a real-time position before the transfer device finishes the previous detection task and returns to the initial point location, and the transfer device is controlled to move from the real-time position to an upper point location corresponding to the current reagent tank at a target running speed and to move to the reagent tank grabbing point location at the protection speed;

wherein the target operating speed is greater than the reagent transport speed and the protection speed.

When exiting the current detection task, the transfer device is controlled to move from the current point position to a reagent tank grabbing point position corresponding to the current reagent tank, and different conditions may exist in the current point position where the transfer device is located, so that whether the current position of the transfer device is an initial point position where the transfer device stays in an idle state or not is determined firstly, or the transfer device performs the last detection task and returns to a real-time position before the initial point position, and the transfer device is controlled to move from the current point position to a point position above the current reagent tank at a target running speed and to a reagent tank grabbing point of the current reagent tank at a protection speed respectively according to different current point positions. Wherein the target operating speed may be a maximum transfer speed of the transfer device.

In the above embodiment, the moving speed of the transfer device from the current point position to the reagent tank grabbing point position corresponding to the reagent tank is set to be a sectional speed change, and in a moving path for ensuring that the transfer device does not damage the biochip in the process of switching and moving between different reagent tanks, the moving speed of the transfer device is set to be a target running speed, so that the overall completion efficiency of the biochemical detection flow is ensured on the premise of ensuring that the biochip is not damaged.

In some embodiments, before the transferring device is controlled to clamp the biochip to be tested at the reagent tank grabbing point and operate a first exit distance from the current reagent tank at the safety speed and operate a second exit distance at the reagent transferring speed to move to a point above the current reagent tank, the transferring device further includes:

determining the first withdrawing distance and the second withdrawing distance according to the reagent tank height of the current reagent tank and the handle height of the biochip to be tested;

the first withdrawing distance is a first preset proportion of the height of the reagent tank, and the second withdrawing distance is a second preset proportion of the difference between the height of the reagent tank and the first withdrawing distance plus the height of the handle.

Referring to fig. 3 to 5 in combination, the handle of the biochip is a portion of the biochip for clamping by the transferring apparatus, and the height of the handle is a height of the portion of the biochip for clamping by the transferring apparatus, denoted by Z. The reagent tank height is the height from the bottom of the reagent tank to the top opening, and is denoted by h. The biochip is inserted into the reagent tank downwards through the top opening of the reagent tank, and usually, the effective area of the biochip needs to be completely soaked in the detection reagent in the reagent tank, the height of the effective area of the biochip is equal to or less than the height of the reagent tank, and after the biochip is inserted into the reagent tank, the handle of the biochip just protrudes above the top opening of the reagent tank. The first withdrawal distance is a first predetermined proportion of the reagent vessel height, for example h 0.5, denoted by X. The second withdrawal distance is the difference of the reagent tank height minus the first withdrawal distance plus a second predetermined ratio of the handle height, e.g., h-x+z 2, denoted Y. The reagent groove grabbing point corresponding to each reagent groove refers to the position coordinate of the handle where the clamping arm of the transferring device moves to clamp the biochip, as shown in fig. 3. The upper point corresponding to each reagent vessel is the position coordinate of the transfer device where the clamping arm moves to make the biochip to be tested completely exit the reagent vessel, as shown in fig. 5.

The first preset proportion is 50%, but may vary according to practical situations, and may be generally between 40% and 60%. The second preset ratio is 2, but may be changed according to practical situations, and is generally at least greater than or equal to 1, so that the biochip is withdrawn to a distance higher than the top opening of the reagent tank, so that the biochip can be freely transferred when being clamped by the transferring device at the upper point position, and the biochip is prevented from being collided by mistake.

In the above embodiment, according to the height of the reagent tank and the height of the handle, the proper distance of the transfer device from the corresponding reagent tank to the biochip to be tested is calculated, the distance of each of the two paths of the transfer device from the corresponding reagent tank to the biochip to be tested to the corresponding reagent tank is calculated, the transfer device is controlled to perform sectional speed change to finish the transfer of the biochip to be tested between different reagent tanks, the two most important paths are more optimized, and the purposes of better compatible transfer efficiency, ensuring the non-damage of the chip, and avoiding reagent splashing and reagent pollution are achieved.

In some embodiments, the method for chip transfer control in gene sequencing further comprises:

determining a target reagent tank corresponding to a next detection task and a corresponding reagent tank grabbing point according to the reagent tank point information in the process of switching to the next detection task according to the biochemical detection flow;

Based on the relatively smaller one of the reagent transferring speed and the protecting speed determined according to the detection reagent type corresponding to the next detection task as updated safety speed, controlling the transferring device to clamp the biochip to be detected to move from the current point to the point above the target reagent tank at the target running speed, and moving downwards into the target reagent tank to the corresponding reagent tank grabbing point at the safety speed;

and controlling the transfer device to release the biochip to be tested and returning to the initial point position.

The next detection task can be the first detection task in the biochemical detection process, and also can be the next detection task which is about to enter after the current detection task is ended in the process of switching any two adjacent detection tasks. Taking the first detection task as an example, the transfer device can grab the biochip to be detected at a preset loading level, then move to the point above the target reagent tank, and then place the biochip to be detected into the target reagent tank at a updated safety speed according to the type of detection reagent contained in the target reagent tank. Taking two adjacent detection tasks as examples, after the biochip to be detected is clamped in the current reagent tank corresponding to the current detection task and exits to the point above the current reagent tank, the control transfer device moves to the point above the target reagent tank corresponding to the next detection task at the target running speed, and then the biochip to be detected is placed in the target reagent tank at the updated safety speed according to the type matching with the detection reagent contained in the target reagent tank. The updated safety speed is the smaller of the reagent transfer speed and the protection speed corresponding to the type of the detection reagent contained in the target reagent tank.

In the above embodiment, since the types of the detection reagents in the target reagent tank in the next detection task are changed, and the reagent transfer speeds corresponding to the different types of detection reagents are often different, in the process of switching to the next detection task, the reagent transfer speeds corresponding to the types of detection reagents corresponding to the next detection task need to be determined in real time, so as to update the movement speeds corresponding to each segment when the transfer device clamps the biochip to insert into the reagent tank or remove from the reagent tank, so that the transfer device can avoid damaging the biochip and avoiding reagent splashing when the biochip to be detected is grabbed into the reagent tank, and the splashed reagent may be mixed with adjacent reagents to cause reagent pollution.

In some embodiments, the controlling the transferring device to clamp the biochip to be tested to move from the current position to the position above the target reagent tank at the target running speed includes:

after exiting the current detection task, the current point position refers to the upper point position of the corresponding reagent tank returned by the transfer device when the transfer device executes the previous detection task, and the transfer device is controlled to clamp the biochip to be detected to move from the upper point position of the corresponding reagent tank to the upper point position of the target reagent tank at the target running speed; or alternatively, the first and second heat exchangers may be,

The current point location is an initial point location where the transfer device is located after the biochemical detection flow is initialized, and the transfer device is controlled to move from the initial point location to the upper point location where the biochip to be detected is clamped at the upper material level at the target running speed and then to move to the upper point location of the target reagent tank at the target running speed.

When switching to the next detection task, controlling the transfer device to move from the current point to a reagent tank grabbing point corresponding to the target reagent tank, wherein different situations may exist in the current point where the transfer device is located, so as to determine whether the current position of the transfer device is an initial point where the transfer device stays in an idle state or an upper point of the reagent tank corresponding to the last detection task returned when the transfer device performs the exiting of the last detection task, and controlling the transfer device to move from the current point to the target operation speed according to the different current points, so that the biochip to be detected is clamped to move to the upper point of the target reagent tank at the target operation speed. Wherein the target operating speed may be a maximum transfer speed of the transfer device.

In the above embodiment, the moving speed of the transfer device from the current point position to the reagent groove grabbing point position corresponding to the reagent groove is set to be a sectional speed change, so that damage to the biochip is not caused in the moving process of ensuring that the biochip clamped by the transfer device is placed in the target reagent groove, and the moving speed of the transfer device before the biochip is placed downwards from the upper position of the target reagent groove is set to be a target running speed, so that the overall completion efficiency of the biochemical detection flow is ensured on the premise of ensuring that the biochip is not damaged.

In some embodiments, before the relatively smaller of the reagent transport speed and the protection speed determined based on the detection reagent type corresponding to the current detection task is the safety speed, the method further comprises:

determining the viscosity of the corresponding detection reagent according to the type of the detection reagent;

and calculating the reagent transfer speed of the corresponding detection reagent based on the corresponding relation between the speed and the viscosity according to the viscosity of the corresponding detection reagent.

The corresponding relation between the speed and the viscosity may be a speed calculation formula using the viscosity of the detection reagent as a variable parameter, for example, the speed=a is the viscosity+b, and a and b are constants; a table of correspondence parameters, which may refer to speed and viscosity; and may also refer to a velocity versus viscosity correspondence. Based on the viscosity of different types of detection reagents, when the biochip is placed in a reagent tank containing the corresponding detection reagents, the splashing degree of the detection reagents is different, and when the biochip is removed from the reagent tank containing the corresponding detection reagents, the splashing degree of the detection reagents is different, and the quantity of the detection reagents attached to the biochip is also different.

determining the protection speed by executing a plurality of reagent tank access tests based on transfer parameters of the transfer device under preset test conditions;

the transfer parameters comprise the height of the reagent tank, the height of the handle of the biochip and the maximum moving speed of the transferring device under the preset test conditions; the reagent tank access test comprises controlling the transfer device to extend into the reagent tank at different moving speeds to clamp the biochip, and/or controlling the transfer device to clamp the biochip to extend into the reagent tank at different moving speeds to release, wherein the different moving speeds are moving speeds determined according to the maximum moving speed according to the set rule.

The protection speed is obtained by executing multiple reagent tank access tests under preset test conditions. Preset test conditions, including at least the following transfer parameters of the transfer device are known: reagent tank height, biochip handle height, and maximum transfer speed of transfer device. The reagent tank can be used for in-out test, the test that the single-finger transfer device clamps the biochip to be moved out from the reagent tank, or the test that the single-finger transfer device clamps the biochip to be placed into the reagent tank, or both the tests can be included. The maximum movement speed of the transfer device is obtained as the protection speed under the premise of not damaging the biochip through a certain number of reagent tank access tests.

In an alternative example, the reagent tank height is 100mm; the height of the chip handle is 10mm; the maximum speed of the mechanical arm of the transfer device is 2000mm/s; the different moving speeds corresponding to different tests are gradually decreased according to a 5% speed gradient, each speed goes in and out of the reagent tank 100 times respectively, the damage condition of the chip is recorded, the maximum speed of the chip without damage condition is the protection speed, and the protection speed is tested to be 300mm/s.

In the above embodiment, the protection speed is predetermined through the reagent tank access test, and the segmentation speed of the transfer device is optimally controlled in the biochemical detection flow through the introduction of the protection speed, so as to avoid the damage of the transfer device to the biochip in the transfer process of the biochip.

based on the transfer parameters of the transfer device under the preset test conditions, the chip clamping test of a plurality of detection reagents with different viscosities is executed to obtain the corresponding relation between the speed and the viscosity;

the transfer parameters comprise the height of the reagent tank, the height of the handle of the biochip and the maximum moving speed of the transferring device under the preset test conditions; the chip clamping test comprises the steps of controlling the transfer device to extend into the reagent tank containing the detection reagent with corresponding viscosity at different moving speeds respectively, clamping the biochip, then exiting the reagent tank, and recording the corresponding matching moving speeds of the detection reagents with different viscosities, wherein the different moving speeds are moving speeds determined according to the maximum moving speed according to the set rule.

The corresponding relation between the speed and the viscosity is obtained by respectively executing chip clamping tests on a plurality of detection tests with different viscosities under preset test conditions. Preset test conditions, including at least the following transfer parameters of the transfer device are known: reagent tank height, biochip handle height, and maximum transfer speed of transfer device. Chip holding tests, which mainly include tests in which a transfer device is moved out of a holding biochip from a reagent tank containing various types of detection reagents. Optionally, in some embodiments, the chip holding test further comprises a test in which the transfer device holds the biochip into a reagent tank containing various types of detection reagents. Aiming at the reagent tanks for accommodating different types of detection reagents (namely detection reagents with different viscosities), the maximum movement speed of the transfer device is obtained as the reagent transfer speed of the corresponding detection reagent type on the premise of not damaging the biochip and not splashing the reagent for each detection reagent type through a certain number of chip clamping tests.

In an alternative example, the reagent tank height is 100mm; the height of the chip handle is 10mm; the maximum speed of the mechanical arm of the transfer device is 2000mm/s; the different movement speeds corresponding to the different tests are decreased by 5% speed gradient. The 10 kinds of detection reagents with different viscosities were subjected to a certain number of chip holding tests, respectively, to obtain the splash condition of the detection reagents at different moving speeds and the adhesion condition of the detection reagents on the biochip, as shown in the following table one.

Table 1 data recording table for chip holding test

The reagent transport rates obtained for each of the 10 sets of test reagents of different viscosities are shown in Table II below.

Table II, reagent transfer speed of 10 sets of detection reagents

A data curve was fitted to the speed and viscosity correspondence based on the reagent transport speeds of 10 sets of test reagents, as shown in fig. 6. In fig. 6, the solid line is the actual result, the dotted line is the trend line, the relationship between the viscosity and the speed of the detection reagent is linear, and the viscosity and the speed correspond to the formula: speed = a viscosity + b, where speed units mm/s, viscosity units cps; a is 1.8 and b is 807.

In the above embodiment, the corresponding relationship between the speed and the viscosity is predetermined through the chip clamping test, and in the biochemical detection process, the reagent transfer speed of the corresponding detection reagent type is determined in real time according to the detection reagent types corresponding to different detection tasks, so as to optimally control the segmentation speed of the transfer device, avoid the damage of the biochip caused by the transfer device in the transfer process of the biochip, avoid the reagent from splashing, and reduce the carrying pollution of the biochip when transferring from one detection task to the next detection task, thereby realizing better compatible transfer efficiency, ensuring the damage of the chip, and avoiding the plurality of purposes of reagent splashing and reagent pollution.

In order to provide a more complete understanding of the method for controlling chip transfer in gene sequencing according to the embodiments of the present application, please refer to fig. 7, a specific example of the method for controlling chip transfer in gene sequencing is described below. The gene sequencing system comprises a biochemical reaction device, wherein the biochemical reaction device is provided with a plurality of reagent tanks, and different reagents are injected into each reagent tank. The transfer device includes a robotic arm. In the biochemical detection process, the chip is clamped by the mechanical arm and enters different reagent tanks, the effective area of the chip is completely soaked in the reagent for biochemical reaction, and after the chip is put in, reagent liquid in the reagent tank is required to be in a full state and is easy to splash. In addition, the chip is made of fragile materials, and the chip is damaged and the reagent splashes out to cause pollution due to high speed in the process of moving the chip out of the reagent tank by clamping the chip by the mechanical arm; the speed is low, a certain volume of reagent is attached to the surface of the chip and is taken as carrying into the next reagent tank, so that carrying pollution is formed, and when the pollution reaches a certain concentration, the reagent is not available.

The chip transfer control method in gene sequencing comprises the following steps:

s11, initializing equipment. After the gene sequencing system is initialized, the mechanical arm is in an origin state.

The point location refers to the position/posture of the mechanical arm in the three-dimensional space, and is described by a set of coordinate values, that is to say, the point location determines the position/posture of the mechanical arm.

The origin is a point of the mechanical arm, which is defined as the origin, and each transfer can be started by the origin and then returned to the origin.

S12, setting a biochemical detection flow, wherein C1- > C2- > C3- > C4- > C1- > C2- > C3- > C4.

The biochemical detection flow refers to the time and transfer sequence of the chip immersed in the reagent tank.

C1 means a reagent vessel 1, and so on.

S13, triggering the biochemical detection process to start.

S14, acquiring a reagent tank in which a chip is currently positioned and a reagent to be injected, C1 and reagent A;

s15, analyzing a next reagent tank of the chip, and C2;

s16, triggering a C1- > C2 transfer flow;

s17, waiting for C2 biochemical reaction time.

S18, triggering a C2- > C3 transfer flow.

S19, executing a complete part transfer process, and ending the biochemical detection process.

The method is characterized in that aiming at the transfer flow of the chip between two reagent tanks, the motion path of the mechanical arm in one transfer is split into a plurality of sectional variable speed execution, for example, the one transfer is split into six sections, and the method is specifically as follows:

firstly, the grabbing point of the current reagent tank where the stored chip is located is obtained.

The reagent groove grabbing point position is a point position where the mechanical arm just can clamp a chip normally placed in the reagent groove, namely, the mechanical arm is controlled to move to the reagent groove grabbing point position, and the chip in the reagent groove just can be clamped.

The first section: the mechanical arm is controlled to move to the grabbing point of the current reagent tank at the speed of 1 to clamp the chip. The speed 1 refers to the highest speed of the mechanical arm. In the moving process, the mechanical arm does not clamp the chip or the clamped chip is separated from the reagent tank without limitation, so that the transfer efficiency can be improved by using the highest speed.

And a second section: the control mechanical arm moves to the right upper direction at the speed of 2 for X displacement, and the chip is still partially arranged in the reagent tank. Wherein X is 50% of the height of the reagent tank. Speed 2 is the lower of the protection speed and speed 3. The chip is not damaged when the speed is used, and the pollution caused by the fact that the reagent splashes out of the reagent tank when the speed is used is also met. Typically, the protection speed will be lower than speed 3. Speed 3, which is to read the viscosity and algorithm parameters of the current reagent from the configuration file, and the program automatically calculates the speed of the current reagent in the section.

Third section: the control mechanical arm moves Y to move right above at the speed of 3, and at the moment, the chip is positioned above the reagent notch and separated from the reagent groove. Wherein Y is the height of the reagent tank-displacement X+the height of the handle.

Fourth section: the control mechanical arm translates to the upper part of the target reagent tank at the speed of 1, and the translation is that the height is unchanged.

Fifth section: the mechanical arm is controlled to downwards enter the notch of the target reagent tank at the speed of 2, so that the reagent tank is ensured to be nondestructively entered, and the reagent is not splashed.

Sixth section: the mechanical arm is controlled to loosen the clamping jaw and return to the original point.

In the transfer process, the inventor finds that the mechanical arm extracts the chip upwards, and generates air flow on two sides of the chip according to a dynamic pressure formula: dynamic pressure = 0.5 air density (square of velocity), it is known that the faster the upward velocity, the more downward force the liquid attached to the chip is subjected to, i.e. less carry over. If the chip enters the reagent at a certain speed, spreads out around and splashes out of the reagent tank upwards, the chip gives out the reagent at the same speed, and the liquid gathers towards the middle and splashes out of the reagent tank upwards. The liquid splash height is related to the viscosity and speed of different reagents, and at the same speed, the higher the viscosity of the reagents, the less likely the reagents are splashed, so when the splash height is fixed, the higher the viscosity and the higher the speed. Based on the foregoing principle, in the implementation scheme of the chip transfer control method in gene sequencing proposed by the inventor, by testing a plurality of reagents with different viscosities, the splashing situation under different speeds is recorded by taking the maximum speed of the reagent tank without splashing, and a relation curve of the viscosity and the speed is fitted to be approximately in a linear relation, and the function is that: speed = a+b viscosity, resulting in a maximum speed of the robotic arm beyond that of the robotic arm, to obtain a reagent transport speed adapted for different types of detection reagents, i.e. speed 3.

Referring to fig. 8, a transfer process includes:

s21, triggering a transfer flow to be started;

s22, the maximum speed of the reading mechanical arm is 1;

s23, controlling the mechanical arm to move to the point of the current reagent groove of the chip at the speed of 1, and clamping the chip;

s24, reading the protection speed and the viscosity of the reagent in which the chip is currently positioned;

s25, calculating a speed 3 by using a speed-viscosity formula;

s26, judging whether the protection speed is less than speed 3; if yes, executing S28, otherwise, executing S27;

s27, assigning the speed 3 to the speed 2;

s28, assigning a protection speed to the speed 2;

s29, reading the height of the reagent tank and the height of the handle, and calculating that X is 50mm and Y is 70mm;

s30, controlling the mechanical arm to move upwards by X at the speed of 2;

s31, controlling the mechanical arm to move upwards by Y at the speed of 3;

s32, controlling the mechanical arm to translate to the position X+Y right above the target reagent tank at the speed of 1;

s33, controlling the mechanical arm to move downwards to a grabbing point of the target reagent tank at the speed of 2, and loosening the clamping jaw;

s34, controlling the mechanical arm to return to the original point at the speed of 1;

s35, ending the transfer flow.

According to the chip transfer control method in gene sequencing, when the biochip is transferred by the mechanical arm, software can automatically calculate the most suitable speed for clamping the chip out of the current reagent, and the reagent pollution generated by transfer is reduced, the repeated use times of the reagent is increased, the reagent utilization rate is improved, and the waste is reduced under the premise of ensuring the nondestructive chip through multistage variable speed control.

Referring to fig. 9, another aspect of the present application provides a chip transfer control device in gene sequencing, comprising: an obtaining module 131, configured to obtain a biochemical detection flow corresponding to the biochip to be tested; the biochemical detection flow comprises a plurality of detection tasks which are sequentially arranged, and detection reagent types and reaction time lengths which correspond to the detection tasks respectively; the task determining module 132 is configured to determine, according to the reagent tank point location information, a current reagent tank corresponding to the current detection task and a corresponding reagent tank grabbing point location in a process of exiting the current detection task according to the biochemical detection flow; and a transfer control module 133, configured to control, based on a relatively smaller one of the reagent transfer speed and the protection speed determined according to the detected reagent type corresponding to the current detection task, to move the transfer device from the current point location to the reagent tank grabbing point location corresponding to the current reagent tank, and then control the transfer device to clamp the biochip to be detected at the reagent tank grabbing point location and to move a first exit distance from the current reagent tank at the safety speed, and to move a second exit distance from the reagent transfer speed to move to a point location above the current reagent tank.

Optionally, the current point location is an initial point location where the transfer device stays in an idle state, and the transfer control module 133 is configured to control the transfer device to move from the initial point location to an upper point location corresponding to the current reagent tank at a target operation speed, and move to the reagent tank grabbing point location at the protection speed. Optionally, the current point location is a real-time location before the transfer device completes the previous detection task and returns to the initial point location, and the transfer control module 133 is configured to control the transfer device to move from the real-time location to an upper point location corresponding to the current reagent tank at the target running speed, and move to the reagent tank grabbing point location at the protection speed. Wherein the target operating speed is greater than the reagent transport speed and the protection speed.

Optionally, the transfer control module 133 is further configured to determine the first withdrawal distance and the second withdrawal distance according to a reagent tank height of the current reagent tank and a handle height of the biochip to be tested; the first withdrawing distance is a first preset proportion of the height of the reagent tank, and the second withdrawing distance is a second preset proportion of the difference between the height of the reagent tank and the first withdrawing distance plus the height of the handle.

Optionally, the task determining module 132 is further configured to determine, according to the reagent tank point location information, a target reagent tank corresponding to the next detection task and a corresponding reagent tank grabbing point location in a process of switching to the next detection task according to the biochemical detection flow; the transfer control module 133 is further configured to control, based on a relatively smaller one of the reagent transfer speed and the protection speed determined according to the detected reagent type corresponding to the next detection task, to control the transfer device to clamp the biochip to be detected to move from a current point to a point above the target reagent tank at a target operation speed, and to move downward into the target reagent tank at the safety speed to the corresponding reagent tank grabbing point; and controlling the transfer device to release the biochip to be tested and returning to the initial point position.

Optionally, the transfer control module 133 is further configured to control the transfer device to clamp the biochip to be tested to move from the upper point of the corresponding reagent tank to the upper point of the target reagent tank at the target running speed after exiting the current detection task, where the current point is the upper point of the corresponding reagent tank returned when the transfer device performs the previous detection task; or, the current point location is an initial point location where the transfer device is located after the biochemical detection flow is initialized, and the transfer device is controlled to move from the initial point location to the upper point location where the biochip to be detected is clamped at the upper material level at the target running speed, and then to move to the upper point location of the target reagent tank at the target running speed.

Optionally, the transfer control module 133 is further configured to determine the viscosity of the corresponding detection reagent according to the type of the detection reagent; and calculating the reagent transfer speed of the corresponding detection reagent based on the corresponding relation between the speed and the viscosity according to the viscosity of the corresponding detection reagent.

Optionally, the transfer control module 133 is further configured to determine the protection speed by performing a plurality of reagent tank entry and exit tests based on a transfer parameter of the transfer device under a preset test condition; the transfer parameters comprise the height of the reagent tank, the height of the handle of the biochip and the maximum moving speed of the transferring device under the preset test conditions; the reagent tank access test comprises controlling the transfer device to extend into the reagent tank at different moving speeds to clamp the biochip, and/or controlling the transfer device to clamp the biochip to extend into the reagent tank at different moving speeds to release, wherein the different moving speeds are moving speeds determined according to the maximum moving speed according to the set rule.

Optionally, the transfer control module 133 is further configured to obtain the speed and viscosity correspondence by performing a chip clamping test of multiple detection reagents with different viscosities based on a transfer parameter of the transfer device under a preset test condition; the transfer parameters comprise the height of the reagent tank, the height of the handle of the biochip and the maximum moving speed of the transferring device under the preset test conditions; the chip clamping test comprises the steps of controlling the transfer device to extend into the reagent tank containing the detection reagent with corresponding viscosity at different moving speeds respectively, clamping the biochip, then exiting the reagent tank, and recording the corresponding matching moving speeds of the detection reagents with different viscosities, wherein the different moving speeds are moving speeds determined according to the maximum moving speed according to the set rule.

It should be noted that: in the control process of implementing the biochemical detection flow, the chip transfer control device in gene sequencing provided in the above embodiment is only exemplified by the division of the above program modules, and in practical application, the above processing allocation may be completed by different program modules according to needs, i.e., the internal structure of the device may be divided into different program modules, so as to complete all or part of the above-described method steps. In addition, the chip transfer control device in gene sequencing and the chip transfer control method in gene sequencing provided in the above embodiments belong to the same concept, and detailed implementation processes thereof are shown in the method embodiments, and are not described herein.

In another aspect, the present application provides a biochemical reaction control apparatus. Referring to fig. 10, the biochemical reaction control device includes a processor 911 and a memory 912 connected to the processor 911, wherein a computer program for implementing the chip transfer control method in gene sequencing according to any embodiment of the present application is stored in the memory 912, and when the computer program is executed by the processor, the steps of the chip transfer control method in gene sequencing according to any embodiment of the present application are implemented, and the same technical effects can be achieved, so that repetition is avoided and no further description is provided herein.

Referring to fig. 11, another aspect of the present application further provides a gene sequencing system, which includes a biochemical reaction device 11, a transfer device 12, and a biochemical reaction control apparatus 13 communicatively connected to the transfer device 12; the biochemical reaction device 11 is provided with a plurality of open reagent tanks 110, the reagent tanks 110 are used for containing detection reagents, and the reagent tanks 110 are suitable for containing a biochip to be detected; the transfer device 12 includes a holding arm 121 for holding the biochip to be tested, and a moving mechanism 122 for driving the holding arm 121 to move; the biochemical reaction control device 13 is used for executing the chip transfer control method in gene sequencing provided by any embodiment of the application. Optionally, the gene sequencing system further comprises a liquid inlet and outlet mechanism 14, and a control box 15 for implementing liquid inlet and liquid outlet of the detection reagents in the plurality of reagent tanks 110 and controlling the liquid inlet and outlet mechanism 14.

In another aspect of the embodiments of the present application, a computer readable storage medium is further provided, where a computer program is stored on the computer readable storage medium, and the computer program when executed by a processor implements each process of the embodiments of the image data processing method, and the same technical effects can be achieved, so that repetition is avoided, and no redundant description is given here. Wherein, the computer readable storage medium is Read-only memory (ROM), random Access Memory (RAM), magnetic disk or optical disk, etc.

It should be noted that, in this document, 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 only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be a mobile phone, a computer, a server, a network device, etc.) to perform the method according to the embodiments of the present invention.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A chip transfer control method in gene sequencing is characterized in that a gene sequencing system comprises a biochemical reaction device provided with a plurality of open reagent tanks and a transfer device for clamping a biochip to transfer between different reagent tanks; the method comprises the following steps:

acquiring a biochemical detection flow corresponding to the biochip to be detected; the biochemical detection flow comprises a plurality of detection tasks and detection reagent types and reaction time periods respectively corresponding to the detection tasks which are sequentially arranged, wherein each detection task corresponds to a corresponding preset time period required to be soaked in a reagent tank corresponding to a certain type of detection reagent of a biochip to be detected;

switching among a plurality of detection tasks according to the biochemical detection flow, sequentially taking each detection task in execution as a current detection task, and determining a current reagent tank corresponding to the current detection task and a corresponding reagent tank grabbing point according to the reagent tank point position information in the process of exiting the current detection task;

Determining reagent transfer speeds corresponding to the detection reagent types of the current detection tasks according to the corresponding relation between the speeds and the detection reagent viscosities based on the detection reagent types corresponding to the current detection tasks, wherein the corresponding relation between the speeds and the detection reagent viscosities is as follows: speed = a viscosity + b, said a and b being constants; according to the determined safety speed of each current detection task, which is the relatively smaller of the reagent transfer speed and the protection speed of each current detection task, after the transfer device moves from the current point position to the reagent groove grabbing point position corresponding to the current reagent groove, controlling the transfer device to clamp the biochip to be detected at the reagent groove grabbing point position, running a first exit distance from the current reagent groove at the safety speed, and running a second exit distance at the reagent transfer speed so as to move to the point position above the current reagent groove;

wherein the first withdrawing distance and the second withdrawing distance are determined according to the reagent groove height of the current reagent groove and the handle height of the biochip to be tested; the first withdrawing distance is a first preset proportion of the height of the reagent tank, and the second withdrawing distance is a second preset proportion of the difference between the height of the reagent tank and the first withdrawing distance plus the height of the handle; the first preset proportion is 40% to 60%, and the second preset proportion is greater than or equal to 1; the protection speed is the maximum movement speed obtained by executing a plurality of reagent tank access tests on the condition that the biochip is not damaged.

2. The method for controlling chip transfer in gene sequencing according to claim 1, wherein the transfer device is moved from a current spot to the reagent vessel gripping spot corresponding to the current reagent vessel, comprising:

the current point position is an initial point position where the transfer device stays in an idle state, the transfer device is controlled to move from the initial point position to an upper point position corresponding to the current reagent tank at a target running speed, and then to move to the reagent tank grabbing point position at the protection speed; or alternatively, the first and second heat exchangers may be,

the current point location is a real-time position before the transfer device finishes the previous detection task and returns to the initial point location, the transfer device is controlled to move from the real-time position to an upper point location corresponding to the current reagent tank at a target running speed, and then to move to the reagent tank grabbing point location at the protection speed;

3. The method for controlling chip transfer in gene sequencing according to claim 1, further comprising:

determining a target reagent tank corresponding to a next detection task and a corresponding reagent tank grabbing point according to the reagent tank point information in the process of switching to the next detection task according to the biochemical detection flow; controlling the transfer device to clamp the biochip to be tested to move from the current point to the point above the target reagent tank corresponding to the next detection task at the target running speed, and downwards entering the target reagent tank at the safety speed corresponding to the next detection task to move to the corresponding reagent tank grabbing point;

Controlling the transfer device to release the biochip to be tested and returning to an initial point position; the target operating speed is greater than the reagent transport speed and the protection speed.

4. The method for controlling chip transfer in gene sequencing as set forth in claim 3, wherein said controlling said transfer means to clamp said biochip to be tested to move from a current position to an upper position of a target reagent vessel corresponding to a next detection task at a target running speed comprises:

after exiting the current detection task, the current point position refers to the upper point position of the corresponding reagent tank returned by the transfer device when the transfer device executes the previous detection task, and the transfer device is controlled to clamp the biochip to be detected to move from the upper point position of the corresponding reagent tank of the previous detection task to the upper point position of the corresponding target reagent tank of the next detection task at the target running speed; or alternatively, the first and second heat exchangers may be,

the current point location is an initial point location where the transfer device is located after the biochemical detection flow is initialized, and the transfer device is controlled to move from the initial point location to the upper point location of the target reagent tank after the biochip to be detected is clamped at the upper material level at the target running speed.

5. The method for controlling chip transfer in gene sequencing according to claim 1, further comprising:

determining the protection speed by executing a plurality of reagent tank access tests based on transfer parameters of the transfer device under preset test conditions and obtaining the maximum movement speed under the condition that the biochip is not damaged;

the transfer parameters comprise the height of the reagent tank, the height of the handle of the biochip and the maximum moving speed of the transferring device under the preset test conditions; the reagent tank access test comprises controlling the transfer device to extend into the reagent tank at different moving speeds to clamp the biochip, and controlling the transfer device to clamp the biochip to extend into the reagent tank at different moving speeds to release the biochip, wherein the different moving speeds are moving speeds determined according to the maximum moving speed according to the set rule.

6. The method for controlling chip transfer in gene sequencing according to claim 5, further comprising:

based on the transfer parameters of the transfer device under the preset test conditions, the chip clamping test of a plurality of detection reagents with different viscosities is carried out, so that the corresponding relation between the speed and the viscosity of the detection reagents is obtained;

The transfer parameters comprise the height of the reagent tank, the height of the handle of the biochip and the maximum moving speed of the transferring device under the preset test conditions; the chip clamping test comprises the steps of controlling the transfer device to extend into the reagent tank containing the detection reagent with corresponding viscosity at different moving speeds, clamping the biochip, and then exiting the reagent tank, recording the matching moving speeds corresponding to the detection reagents with different viscosities according to the splashing times of the detection reagent and the condition of attaching the detection reagent on the biochip, wherein the different moving speeds are the moving speeds determined according to the maximum moving speeds according to the set rule change.

7. The method for controlling chip transfer in gene sequencing according to claim 1, wherein a is 1.8 and b is 807.

8. A chip transfer control device in gene sequencing, comprising:

the acquisition module is used for acquiring a biochemical detection flow corresponding to the biochip to be detected; the biochemical detection flow comprises a plurality of detection tasks and detection reagent types and reaction time periods respectively corresponding to the detection tasks which are sequentially arranged, wherein each detection task corresponds to a corresponding preset time period required to be soaked in a reagent tank corresponding to a certain type of detection reagent of a biochip to be detected;

The task determining module is used for switching among a plurality of detection tasks according to the biochemical detection flow, sequentially taking each detection task in execution as a current detection task, and determining a current reagent tank corresponding to the current detection task and a corresponding reagent tank grabbing point position according to the reagent tank point position information in the process of exiting the current detection task;

the transfer control module is used for determining the reagent transfer speed corresponding to the detection reagent type of each current detection task according to the corresponding relation between the speed and the detection reagent viscosity based on the detection reagent type corresponding to each current detection task, wherein the corresponding relation between the speed and the detection reagent viscosity is as follows: speed = a viscosity + b, said a and b being constants; according to the determined safety speed of each current detection task, which is the relatively smaller of the reagent transfer speed and the protection speed of each current detection task, after a transfer device moves from a current point position to a reagent groove grabbing point position corresponding to the current reagent groove, controlling the transfer device to clamp the biochip to be detected at the reagent groove grabbing point position, running a first exit distance from the current reagent groove at the safety speed, and running a second exit distance at the reagent transfer speed so as to move to the point position above the current reagent groove; wherein the first withdrawing distance and the second withdrawing distance are determined according to the reagent groove height of the current reagent groove and the handle height of the biochip to be tested; the first withdrawing distance is a first preset proportion of the height of the reagent tank, and the second withdrawing distance is a second preset proportion of the difference between the height of the reagent tank and the first withdrawing distance plus the height of the handle; the first preset proportion is 40% to 60%, and the second preset proportion is greater than or equal to 1; the protection speed is the maximum movement speed obtained by executing a plurality of reagent tank access tests on the condition that the biochip is not damaged.

9. A biochemical reaction control apparatus comprising a processor and a memory connected to the processor, wherein the memory has stored thereon a computer program executable by the processor, and wherein the computer program when executed by the processor implements the chip transfer control method in gene sequencing according to any one of claims 1 to 7.

10. A gene sequencing system comprising a biochemical reaction device, a transfer device, and the biochemical reaction control apparatus of claim 9 communicatively coupled to the transfer device;

the transfer device comprises a clamping arm for clamping the biochip to be tested and a moving mechanism for driving the clamping arm to move.

11. A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, which when executed by a processor, implements the chip transfer control method in gene sequencing according to any one of claims 1 to 7.