阅读说明：本技术 用于自动化实验室系统的模块 (Module for an automated laboratory system ) 是由 C·切鲁比尼 A·德雷克斯勒 R·许泽尔 I·海因策 于 2021-05-28 设计创作，主要内容包括：本发明公开了一种用于自动化实验室系统(100)的模块(106)。所述模块(106)包括：模块连接件(120),所述模块连接件配置为可释放地连接到所述自动化实验室系统(100)的部件(106,108)；检测器(146),所述检测器至少配置为检测位于所述部件(106,108)处的至少一个部件标记(148),以便获得所述模块(106)的位置数据,所述位置数据指示所述模块(106)的实际位置；处理器(156),所述处理器配置为基于所述位置数据来计算所述模块(106)相对由所述部件(106,108)限定的目标位置的位置偏差,并且基于所述位置偏差来计算位置对准数据；以及对准装置(164),所述对准装置配置为基于所述位置对准数据将所述模块(106)对准所述目标位置。此外,本发明公开了一种自动化实验室系统(100)和一种用于对准模块(106)的方法。(A module (106) for an automated laboratory system (100) is disclosed. The module (106) comprises: a module connector (120) configured to releasably connect to a component (106,108) of the automated laboratory system (100); a detector (146) configured at least to detect at least one component marker (148) located at the component (106,108) in order to obtain position data of the module (106), the position data being indicative of an actual position of the module (106); a processor (156) configured to calculate a positional deviation of the module (106) relative to a target position defined by the component (106,108) based on the positional data, and to calculate positional alignment data based on the positional deviation; and an alignment device (164) configured to align the module (106) to the target location based on the positional alignment data. Furthermore, an automated laboratory system (100) and a method for aligning a module (106) are disclosed.)

1. A module (106) for an automated laboratory system (100) comprising

A module connector (120) configured to releasably connect to a component (106,108) of the automated laboratory system (100),

a detector (146), in particular a camera, which is at least configured to detect at least one component marking (148) located at the component (106,108) in order to obtain position data of the module (106), which position data is indicative of an actual position of the module (106), wherein the position data may in particular comprise information about a horizontal position and/or a vertical position of the module (106),

a processor (156) configured to calculate a positional deviation of the module (106) relative to a target position defined by the component (106,108) based on the positional data and calculate positional alignment data based on the positional deviation, an

An alignment device (164) configured to align the module (106) to the target location based on the positional alignment data.

2. The module (106) of claim 1, wherein the detector (146) is further configured to detect at least one module marker (150) located at the module (106).

3. The module (106) of claim 2, wherein the component marker (148) and the module marker (150) are positioned such that the component marker (148) and the module marker (150) are consistently detectable by the detector (146).

4. The module (106) of claim 2 or 3, wherein the component indicia (148) and the module indicia (150) each have a predetermined size and orientation.

5. The module (106) according to claim 2 or 3, wherein the component marker (148) is configured to provide a component coordinate system (152) and the module marker (150) is configured to provide a module coordinate system (154), wherein the processor (156) is configured to calculate the positional deviation of the module (106) relative to the target position based on a relative distance between the component coordinate system (152) and the module coordinate system (154).

6. The module (106) of claim 2 or 3, wherein the component marker (148) and the module marker (150) are configured to allow in-situ calibration of the detector (146).

7. The module (106) of claim 1 or 2, further comprising a distance sensor (166) configured to determine a relative vertical position with respect to the component.

8. The module (106) of claim 7, wherein the distance sensor (166) is configured to determine the relative vertical position based on a distance of a reference point at the component from a predetermined module plane.

9. Module (106) according to claim 1 or 2, wherein the processor (156) is configured to calculate the position deviation by means of an algorithm.

10. The module (106) according to claim 1 or 2, further comprising an analysis instrument (104), wherein the alignment device (164) is configured to align the analysis instrument (104) to the target position based on the positional alignment data, wherein the alignment device (164) is particularly configurable to move the analysis instrument (104) in a three-dimensional space.

11. The module (106) according to claim 1 or 2, wherein the target position is defined by a reference point of a reference plane of the component or by a reference point within the reference plane.

12. The module (106) according to claim 1 or 2, wherein the component is a transport line (108) of the automated laboratory system (100) or a further module (106) of the automated laboratory system (100), wherein the target position is definable in particular by a point of a transport surface (160) of the transport line (108) or a handling plane (160) of the further module (106) or a point within the transport surface (106) or the handling plane (106).

13. The module (106) according to claim 1 or 2, wherein the module connection (120) comprises an engagement member (122) configured to engage a bearing (124), in particular a beam or a truss, of the component.

14. The module (106) of claim 1 or 2, further comprising a feed (132) configured to receive a component protrusion (134) of the component (106,108), or further comprising a module protrusion configured to be inserted into a component feed of the component (106, 108).

15. A method for aligning a module (106) according to claim 1 or 2, the method comprising

Releasably connecting the module (106) to a component of the automated laboratory system (100), wherein releasably connecting the module (106) to the component of the automated laboratory system (100) can in particular provide a rough alignment of the module (106) relative to the component,

detecting at least one component marker (148) located at the component in order to obtain position data of the module (106), the position data being indicative of an actual position of the module (106),

calculating a positional deviation of the module (106) relative to a target position defined by the component based on the positional data and calculating positional alignment data based on the positional deviation, an

Aligning the module (106) to the target location based on the positional alignment data.

Technical Field

The invention relates to a module for an automated laboratory system, an automated laboratory system and a method for aligning modules.

Background

Recently, by introducing various automated devices, labor is saved for examination work in the medical field. For example, in a hospital test, samples of inpatients and outpatients are collected from several departments of the hospital and are centrally processed in an examination room. The test items for each sample are sent from the doctor to the examination room using an online information processing system. The examination results are then reported online from the examination room to the physician. For many test items on blood or urine, a test pretreatment such as centrifugation, corking, dispensing, etc. is required. Such preprocessing work takes a lot of time during the whole test work time.

Next, the flow of processes performed by the general-purpose automated sample testing system is described. A container (such as a test tube) containing a body fluid, such as blood collected from a patient, is held by a container carrier. Such container carriers are known and are described, for example, in EP 2907576, WO 2016/012517 or US 5651941. A container carrier holding containers, such as test tubes, is loaded into a universal automated sample testing system. The barcode information of the loaded sample is read in the system to identify the sample type. As described above, a centrifugation process, cork removal, dispensing, etc. are performed as a pretreatment of the test process.

The content of the pre-treatment depends on the sample type, e.g. for urine tests or hematology samples, it is not necessarily necessary to perform a centrifugation process. The type of sample that needs to be centrifuged is one that is subjected to a plug and dispense after centrifugation. However, the sample may also have been centrifuged without centrifugation within the system, but with other pre-treatment steps. The dispensing process is commonly referred to as aliquoting, which is the process of generating a subsample from a maternal sample. For example, the dispensed subsamples may be simultaneously transported to multiple analyzers that are connected to the system on-line. Samples that completed all processes were stored in the storage module.

Automated sample testing systems are introduced into relatively large facilities where hundreds to thousands of samples can be processed a day or even an hour. In such large facilities, many samples are collected from a patient and subjected to various tests such as biochemical tests, immunological tests, coagulation tests and hematological tests. Therefore, it is necessary to load sample carriers of hundreds to thousands of patients into an automatic sample testing system, and thus, a space for installing the sample testing system is required.

Modern automated integrated laboratory solutions typically have sample tube-backbone transport systems. The sample tubes may be transported using a single tube carrier or rack. Individual modular system components (also referred to below as modules) with fore/aft analysis or analysis functionality are attached to the transport backbone. The location is precisely defined according to the defined grid, but should be flexible to be rearranged or reconfigured as needed. Such modular system components (also referred to as modules in the following) are well known such as from US 2006/229763 a 1.

The installation of this module should be completed in a reasonable time. For repair and maintenance, it may be necessary to temporarily disconnect the module and remove it from the transport system. This can occur if the parts within the module or conveyor system are not accessible from either the front or the rear, as the reach is outside the allowable range. This is especially the case if the depth of the module or the width of the transport system exceeds the allowed range. Disconnection may also be required if modular system components must be removed for replacement. Ideally, it should be possible to remove the module without removing adjacent components.

The replacement and positioning of the modules with respect to the transport system is very complicated and must be done with high precision. Currently, this can be a very time consuming process or impractical if additional parts of the system must be removed. While purely mechanical solutions enable pre-positioning or process positioning with high reproducibility, these methods do not provide very high accuracy without manual alignment and do not react to changes in the system, for example due to mechanical or thermal drift or ground movement (movement within ground level due to settling, etc.) over time.

Disclosure of Invention

Embodiments of the disclosed modules and automated laboratory systems are directed to providing a standardized interface to align a modular system component or module with a transport system or another modular system component or module with high precision and accuracy.

Embodiments of the disclosed module, automated laboratory system and method have the features of the independent claims. Further embodiments of the invention are disclosed in the dependent claims, which may be realized in a single manner or in any arbitrary combination.

As used hereinafter, the terms "having," "including," or "containing," or any grammatical variants thereof, are used in a non-exclusive manner. Thus, these terms may refer to the absence of other features in the entity described in this context, in addition to the features introduced by these terms, as well as the presence of one or more other features. As an example, the expressions "a has B", "a includes B" and "a includes B" may both refer to the case where, in addition to B, no other element is present in a (i.e., the case where a consists only of B), and the case where, in addition to B, one or more other elements, such as elements C, and D, or even other elements, are present in entity a.

Furthermore, it should be noted that the terms "at least one," "one or more," or similar expressions, which indicate that a feature or element may be present one or more times, are generally only used once when introducing the corresponding feature or element. In the following, in most cases, when referring to corresponding features or elements, the expressions "at least one" or "one or more" will not be used repeatedly, although corresponding features or elements may be present only once or several times.

Furthermore, as used below, the terms "preferably," "more preferably," "particularly," "more particularly," "specifically," "more specifically," or similar terms are used in conjunction with the optional features, without limiting the possibilities of substitution. Thus, the features introduced by these terms are optional features and are not intended to limit the scope of the claims in any way. As the skilled person will appreciate, the invention may be implemented by using alternative features. Similarly, features introduced by "in embodiments of the invention" or similar expressions are intended to be optional features, without any limitation of alternative embodiments of the invention, without any limitation of the scope of the invention, and without any limitation of the possibilities of combining features introduced in this way with other optional or non-optional features of the invention.

According to a first aspect, the present disclosure provides a module for an automated laboratory system. The module includes a module connector configured to releasably connect to a component of an automated laboratory system. The module further comprises a detector at least configured to detect at least one component marking located at the component in order to obtain position data of the module indicative of the actual position of the module. The module further includes a processor configured to calculate a positional deviation of the module relative to a target position defined by the component based on the positional data, and calculate positional alignment data based on the positional deviation. The module further includes an alignment device configured to align the module to a target position based on the positional alignment data.

Thus, the module can be detachably connected to a component, such as another module or a transport line of an automated laboratory system, by means of a module connection. The module connector prevents accidental separation of the module from the component. The detector allows determining the relative position of the module with respect to the component to which it is connected. Thus, the coupling process can be continuously and reliably observed. The processor compares the actual position of the module with the target position and outputs the result of this comparison to the alignment means. Thus, a correction and/or adaptation of the actual position of the module and/or the working range of its functional components can be achieved by means of the alignment means. For example, the orientation or position of a module or functional unit may be adjusted or changed until the actual position matches the target position. As another example, the module may include a robotic arm, a two-axis or three-axis rack, or the like as a functional component for handling the sample. In this case, the operation range of the robot arm can be adjusted by the alignment device to allow appropriate operability of the robot arm.

The detector may be further configured to detect at least one module marker located at the module. With this arrangement, since in-situ calibration can be achieved, relative alignment of the modules can be achieved without the need for precise alignment and calibration of the detectors. For calibration purposes, module markings on the module on which the detector is mounted or component markings of other components may be used.

The type, size and/or number of module flags may be the same as or different from the type of component flags. Thus, the same or different types of indicia, as well as the same type but different numbers of indicia, may be used depending on the intended application. Thus, basically a wide range of labels can be used, depending on the available space and the corresponding application.

The component and module markers may be positioned such that the component and module markers are consistently detectable by the detector. Thus, two markers can be detected within a single field of view or detection range, which improves detection accuracy.

The component indicia and the module indicia may each have a predetermined size and orientation. Thus, the dimensions and orientation may be adapted to the intended application and the available space.

The part markers may be configured to provide a part coordinate system and the module markers may be configured to provide a module coordinate system. The processor may be configured to calculate a positional deviation of the module from the target position based on a relative distance between the part coordinate system and the module coordinate system. Thereby, digital detection results, such as images of the coordinate system, may be obtained, and the relative distance and alignment between the two coordinate systems of the module and the component may be calculated. This can be converted into a position correction which is input into the alignment device.

The component and module markers may be configured to allow in-situ calibration of the detector. The calculated result for position correction is therefore independent of the position and alignment of the detector, since the calculation and calibration of the image distortion can be done in situ. For example, by using a combination of ArUco markers and calibration patterns, only the relative distance between the landmarks and the surface needs to be determined. The detector does not require complex alignment, only landmarks and calibration patterns in the field of view of the detector.

The position data may include information about the horizontal position and/or vertical position of the module. Thus, the orientation of the module can be determined in three-dimensional space.

The detector may be a camera. Thus, a rather cost-effective detection device can be used.

The module may further include a distance sensor configured to determine a relative vertical position with respect to the component.

The distance sensor may be configured to determine the relative vertical position based on a distance of a reference point at the component from a predetermined module plane. The predetermined module plane may be a loading and unloading plane of the module. The detector determines the relative vertical position between reference points from the component to the module, such as the loading and unloading plane of the module. The distance sensor may be any type of sensor suitable for detecting distance, such as an optical sensor, a capacitive resistive sensor, an electromechanical or a mechanical distance sensor. Non-exhaustive examples are a dial gauge, a position sensor, a displacement sensor or any other sensor configured to provide a longitudinal dimension or angular position as an electrical signal. The signal may be an analog signal, such as with a resistor, or may also be a digital signal, such as with an incremental encoder.

The processor may be configured to calculate the position deviation by means of an algorithm. Thus, algorithms may be applied to analyze the images generated by the detectors and calculate the relative distance and alignment between the module and the component. This is converted into a position correction which is input into the fine alignment means of the module.

The module may further comprise an analytical instrument, wherein the alignment device may be configured to align the analytical instrument to the target position based on the positional alignment data. Thus, fine alignment can be achieved by slightly adjusting the orientation of the analytical instrument.

The alignment device may be configured to move the analytical instrument within a three-dimensional space. Thus, the orientation of the analysis instrument may be varied in at least three directions perpendicular to each other.

The target position may be defined by a reference point of a reference plane of the component or by a reference point within the reference plane. The reference point of or within the reference plane may be a coordinate system, a plane within the coordinate system, or a known location (such as a point in the reference plane). Furthermore, if the orientation of a reference plane within a given three-dimensional space is known, the position relative to the reference plane can be determined. Thus, the relative orientation may be defined in terms of a given plane that facilitates module alignment.

The component can be a transport line of the automated laboratory system or can also be another module of the automated laboratory system. Thus, the module may be connected to different components.

The target position may be defined by a known position of a point of the transport surface of the transport line or the handling plane of another module or a point within the transport surface or the handling plane. Thus, the target position may be defined by means of a known reference position at the surface or plane. Furthermore, if the orientation of the transport surface or handling plane within a given three-dimensional space is known, the position relative to the transport surface or handling plane may be determined.

The module connection may comprise an engagement member configured to engage a bearing of the component, in particular a beam or a truss. Thus, the module can be reliably and securely connected to the component. Furthermore, the engagement members provide coarse alignment of the modules.

The engagement member may comprise a hook-like projection configured to hook over a bearing of the component. Thus, accidental disengagement of the module from the component is reliably prevented.

The engagement member may be arranged at a position at the module such that a vertical position of the module in a state of being connected to the component is defined by the bearing. Thus, the modules may be positioned vertically from the component. Furthermore, tilting of the module and/or pivoting of the module about a vertical axis is achieved.

The module may further include a feed configured to receive the component protrusion of the component. This allows for a reliable and secure coupling of the module to the component and provides for a coarse alignment of the module. Alternatively, the module may further include a module protrusion configured to be inserted into the part feeding portion of the part.

The feeding portion may be arranged at a position at the module such that a horizontal position of the module in a state of being connected to the component is defined by the component protrusion. Thus, the cooperation of the feed and the component projection provides a coarse horizontal alignment of the modules.

The part protrusion may be formed substantially in a wedge shape. Therefore, when the module is further moved along the component projection, even if the oblique orientation of the module with respect to the component is corrected, the horizontal alignment is facilitated.

Alternatively or additionally, pins or tapers having a radius, truncation, or chamfer may be provided at modules or components configured to guide the modules vertically and laterally.

The module of any one of the three preceding embodiments, wherein the feed portion comprises a guide surface configured to engage a laterally outer surface of the component projection. The module is thus securely guided to the final position where the component protrudes.

The module may further include uprights that are adjustable independently of one another and configured to define a vertical orientation of the module. Thus, the level of the module can be adjusted. In addition, the module may be secured in a raised position for disengagement from the base plate. Thus, the propagation of vibrations to the analysis instrument is reduced or even prevented.

The module may further comprise castors, in particular swivel castors. Therefore, the module can be easily moved.

The module may further include a lifting mechanism configured to at least partially lift the module. Thus, the modules can be raised and lowered for the coupling and decoupling processes. Needless to say, the module may be lifted by means of an external lifting device such as a lifting table.

The module may further include a frame configured to support the analytical instrument. Thus, the analytical instrument is carried by the frame.

According to a second aspect, the present disclosure provides an automated laboratory system comprising a transport line and at least one module according to the above details.

According to a third aspect, the present disclosure provides a method for aligning a module according to the above details. The method comprises the following steps:

-releasably connecting the module to a component of an automated laboratory system,

detecting at least one component marking located at the component in order to obtain position data of the module, the position data being indicative of an actual position of the module,

-calculating a positional deviation of the module relative to a target position defined by the component based on the positional data, and calculating positional alignment data based on the positional deviation, an

-aligning the module to the target position based on the position alignment data.

Thus, automatic fine alignment of the module with respect to the component is provided.

Releasably attaching the module to the component of the automated laboratory system can provide a coarse or coarse alignment of the module relative to the component. Thus, the method includes automated fine alignment based on the at least one detector and the predetermined markings, optionally in combination with coarse alignment, such as manual coarse alignment of the module that occurs consistently when coupling the module to the component. The method of fine alignment uses a (mechanical) alignment device that includes planar (front-back and left-right) and vertical (up-down) position determination.

The described method of self-aligning concepts enables modular system components to align the transport system relative and absolutely. By quickly connecting and disconnecting modular system components within minutes, serviceability and accessibility may be ensured.

In addition, the method enables continuous monitoring of the alignment and compensation for drift and thermal expansion or other effects due to e.g. pushing or pulling or ground movement (due to e.g. thermal displacement or settling within the ground level).

By performing in-situ calibration using the dot calibration pattern, the calculated results for position correction are independent of the position and alignment of the detector or camera, since the calculation and calibration of image distortion can be done in-situ. By using a combination of ArUco markers and calibration patterns, only the relative distance between the landmarks and the surface needs to be determined. The detector or camera does not require complex alignment, only landmarks and calibration patterns in the detector field or camera field of view. The detector or camera may be attached to the modular system component and may be part of the modular system component or part of the transport system (if attached to the transport system). Furthermore, the detector or camera may also be portable and installed only during the connection process.

As used herein, the term "automated laboratory system" is a broad term and is given its ordinary and customary meaning to those of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, mechanical systems for processing various samples in random streams through different analytical instruments. This mechanical system encompasses a method for processing samples using laboratory instruments such as microtiter plates, filter plates, pipette tip cassettes, sample tubes, caps, etc. An automated laboratory system has a modular architecture including a central backbone and an arrangement of detachable modules coupled to the backbone. The structure of the automated laboratory system may facilitate the attachment of modules on both sides of the backbone, which means that either a single-sided or a double-sided mechanical system may be constructed.

As used herein, the term "module" is a broad term and is given its ordinary and customary meaning to those of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, a single modular system component of an automated laboratory system configured to carry an analytical instrument for performing specific operations on samples processed by the automated laboratory system, preferably in sequence. The analytical instrument may be mounted on the deck of the module, below the deck, or on a level above the deck. Preferably, the module represents a stand-alone processing unit with analytical instruments and can be connected to the central backbone of an automated laboratory system in a modular and interchangeable manner.

As used herein, the term "analytical instrument" is a broad term and is given its ordinary and customary meaning to a person of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, any device or device component operable to perform one or more process steps/workflow steps on one or more biological samples and/or one or more reagents. Thus, the term "processing step" refers to a processing step that is physically performed, such as centrifugation, aliquoting, sample analysis, and the like. The term "analytical instrument" encompasses a pre-analysis sample work cell, a post-analysis sample work cell, and an analysis work cell.

As used herein, the term "component" is a broad term and is given its ordinary and customary meaning to a person of ordinary skill in the art, and is not limited to a specific or customized meaning. In particular, the term may refer to, but is not limited to, any device to which the module is to be coupled. In particular, the term can refer to a single modular system component of an automated laboratory system or a transport line representing the backbone of an automated laboratory system.

As used herein, the term "laboratory diagnostic receptacle" is a broad term and is given its ordinary and customary meaning to a person of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer, but is not limited to, any type of container suitable for storing samples or reagents in the field of analysis, in particular medical analysis. Such containers are usually designed as tubes.

As used herein, the term "laboratory diagnostic receptacle carrier" is a broad term and is given its ordinary and customary meaning to those of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, any device configured to hold one or more laboratory diagnostic containers and to be supplied via a transport or shipping line. Thus, the receptacle carrier may be configured as a single receptacle carrier adapted to receive a single laboratory diagnostic receptacle or a rack adapted to receive a plurality of receptacles. Without any limitation, specific embodiments are described with reference to so-called cuvette holders. This tube holder can hold a single tube containing a sample or reagent and transfer the tube to different modules of an automated laboratory system (such as an automated sample testing system) via a conveyor or transfer line. The tube holder includes a housing having a spring for fixing the test tube, a test tube holder main body housing, and a bottom cover housing. The housing having a spring for fixing the test tube has a cylindrical structure, a central portion of which is round to allow insertion of the test tube, and a spring portion is provided inside the upwardly extending protrusion. It should be noted that the housing having the spring generally has a cylindrical shape, but it may have any shape as long as the housing can vertically hold the test tube by the spring portions disposed at equal intervals or at equal angles, and the outer shape of the housing may be a polygonal cylindrical shape. The tube holder body housing has a cylindrical shape and desirably has a cavity portion therein. In the cavity portion, a label having a unique ID number, a weight for stably transferring the test tube, and the like are accommodated. Further, the outer diameters of the tube holder main body case and the bottom cap case are larger than the outer diameter of the test tube to be conveyed and smaller than the width of the conveying line. It is noted that the shapes of the tube holder body housing and the bottom cap housing may be, for example, polygonal shapes. Even in that case, the maximum length in the cross-sectional direction is desirably smaller than the width of the conveyor or the conveying line. A particular cuvette holder that can be used with the present invention is described in EP 2902790 a1, the content of which is incorporated by reference into the present application with respect to the design or construction of the container carrier.

As used herein, the term "module connector" is a broad term and is given its ordinary and customary meaning to those of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, any device configured to allow a module to be coupled to another component of an automated laboratory system. In particular, the modular connection allows the coupling to be released with or without the use of tools, without damaging the coupled components. In particular, the connector may be or may include a hitch, latch, hook, coupler, or the like that allows for a releasable connection to be provided.

As used herein, the term "releasably connect" (releaseably connect) or (releaseably connecting) is a broad term and is given its ordinary and customary meaning to a person of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, a reversible type of linkage. Thus, connecting may encompass a process that may be repeated any number of times to couple or connect and release a connection.

As used herein, the term "detector" is a broad term and is given its ordinary and customary meaning to those of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, a device, module, machine, or subsystem configured to detect events or changes in its environment and transmit information to other electronic devices, typically computer processors. The detector is typically used with other electronics. In particular, the detector is configured to detect or read information provided by the presence of an information carrier, such as a label. More particularly, the detector is configured to image the indicia to provide a digital image.

As used herein, the term "indicia" is a broad term and is given its ordinary and customary meaning to those of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, a machine-readable optical label that may contain information about the item to which it is attached. In particular, the information may be an identification of the item to which it is attached, so as to allow the presence or absence of the item to be detected. This can be achieved by a pattern as a marker. It goes without saying that the information about the item identification may be more detailed, such as type, size, date of manufacture, etc. In particular, the target is provided with a marker forming a known pattern of known size. Light sources such as visible or infrared light (active and passive), visible markers such as QR codes (or they may be circular) are commonly used as markers for optical tracking. One or more cameras are constantly looking for the markers and then using various algorithms (e.g., the POSIT algorithm) to extract the position of the object from the markers. Such algorithms must also deal with missing data in the event that one or more markers are out of the camera view or temporarily occluded. The marking may be active or passive. The former (active markers) are typically infrared light, which flashes or glows constantly. By synchronizing them with the on time of the camera, other IR light in the tracking area can be blocked more easily. The latter (passive marker) is a retroreflector that reflects IR light back to the source with little scattering.

As used herein, the term "processor" is a broad term and is given its ordinary and customary meaning to those of ordinary skill in the art, and is not limited to a special or custom meaning. In particular, the term may refer to, but is not limited to, an electronic circuit that performs operations on some external data source, typically a memory or some other data stream. The term is commonly used to refer to the central processing unit (cpu unit) in a system, but a typical computer system (especially a SoC) incorporates a number of dedicated "processors".

As used herein, the term "calculating" is a broad term and is given its ordinary and customary meaning to those of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, an intentional process that converts one or more inputs into one or more results. This term is used to describe the arithmetic calculation of the determination by using an algorithm.

The term "algorithm," as used herein, is a broad term and is given its ordinary and customary meaning to a person of ordinary skill in the art, and is not limited to a specific or customized meaning. In particular, the term may refer to, but is not limited to, a finite sequence of well-defined, computer-implementable instructions, commonly used to solve a class of problems or perform computations. Algorithms are well-defined throughout and are used as specifications for performing computations, data processing, automated reasoning, and other tasks. As an efficient method, algorithms can be represented in a well-defined formal language to compute functions within a limited space and time frame. Starting from an initial state and an initial input (which may be empty), an instruction describes a computation that when executed will eventually produce an "output" through a finite number of well-defined successive states and terminate at a final end state. Transitions from one state to another are not necessarily deterministic; some algorithms (called random algorithms) contain random inputs.

As used herein, the term "aligned" is a broad term and is given its ordinary and customary meaning to a person of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, the process of constructing a component or device according to a predetermined orientation arrangement within a three-dimensional space. The predefined orientation may be given by another device used as a reference. Thus, the device is arranged according to a reference defining a target position of the device to be aligned. Further, the term also refers to adjustments to the operating range of the module and its functional components (such as a potential robotic arm or any other handling device). In this way, the functional components of the module can be adjusted within its operating range to operate without any obstructions or to operate with a minimum of the size or number of any obstructions.

As used herein, the term "alignment device" is a broad term and is given its ordinary and customary meaning to a person of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, any device configured to provide or perform the alignment described above. Thus, the alignment device may be a mechanical and/or electrical alignment device.

As used herein, the term "coordinate system" is a broad term and is given its ordinary and customary meaning to those of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, a system that uses one or more numbers or coordinates to uniquely determine the position of a point or other geometric element on a manifold, such as euclidean space. The order of the coordinates is important and is sometimes identified by their position in the ordered tuple, sometimes by letters, as shown in the "x-coordinate". In elementary mathematics, coordinates are considered real numbers, but may also be complex numbers or elements of a more abstract system (such as a commutative ring). Make itThe geometric problem can be converted into a numerical problem by using a coordinate system,and vice versa. In particular, the term may refer to a cartesian coordinate system, such as a three-dimensional cartesian coordinate system, which is a coordinate system that uniquely specifies each point in a plane by a set of numerical coordinates that are signed distances from two fixed vertically oriented lines to the point, measured in equal length units. Each reference line is referred to as a coordinate axis or simply axis(s) of the system and the point at which they intersect is their origin, located at the ordered pair (0, 0). Coordinates may also be defined as the position of the perpendicular projection of a point on two axes, expressed as a signed distance from the origin.

As used herein, the term "vertical" is a broad term and is given its ordinary and customary meaning to those of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, an orientation parallel to the direction of gravity.

As used herein, the term "level" is a broad term and is given its ordinary and customary meaning to a person of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, an orientation perpendicular to the direction of gravity.

As used herein, the term "distance sensor" is a broad term and is given its ordinary and customary meaning to those of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, a sensor that facilitates measuring a change in distance or length of an object from a reference point. The result may be output as a mechanical position. The distance sensor may indicate an absolute position (position) or a relative position (displacement) according to a linear stroke, a rotation angle, or a three-dimensional space. Common types of distance sensors include capacitive displacement sensors, eddy current sensors, hall effect sensors, inductive sensors, laser doppler vibrometers (optical), Linear Variable Differential Transformers (LVDT), photodiode arrays, piezoelectric transducers (piezo), absolute encoders, incremental encoders, linear encoders, rotary encoders, potentiometers, proximity sensors (optical), string potentiometers (also known as string potentiometers, string encoders, cable position transducers), ultrasonic sensors, and optical sensors, such as camera-based distance sensors.

As used herein, the term "loading plane" is a broad term and is given its ordinary and customary meaning to those of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, the plane of the module in which sample handling occurs. The handling plane may be intended to provide a stepless transition to a reference plane of the component to which the module is coupled (such as a transport surface of a transport line).

As used herein, the term "joining member" is a broad term and is given its ordinary and customary meaning to a person of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, any construction member configured to fit a portion of a device into or onto a portion of another device to be integrally coupled therewith. The engagement may be achieved in a positive locking fit. The engagement may be achieved with a releasable coupling.

As used herein, the term "feeder" is a broad term and is given its ordinary and customary meaning to those of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, any portion of a device that is configured to receive another portion of another device when the two devices are moved toward and coupled to each other. In particular, another part of another device can be inserted into the feed section in order to provide a guided movement for the device with the feed section.

As used herein, the term "wedge" is a broad term and is given its ordinary and customary meaning to those of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, a shape like a wedge. The term "wedge-shaped" may refer to an object having a conical shape. More particularly, the object may have a substantially triangular shape, such as an object having one sharp edge and one thick edge.

As used herein, the term "adjustable post" is a broad term and is given its ordinary and customary meaning to those of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, a post that may vary in its length. In particular, the upright may be designed to be mechanically telescopic to about twice its shortest length. The column can be adjusted coarsely using a movable pin and finely using jack screws, but there are many variations.

As used herein, the term "caster" is a broad term and is given its ordinary and customary meaning to those of ordinary skill in the art, and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, non-driven wheels, single wheels, dual wheels, or compound wheels designed to be attached to the bottom of a larger object ("vehicle") to enable the object to move. They come in a variety of sizes and are typically made of rubber, plastic, nylon, aluminum, or stainless steel. The caster wheels may be fixed to roll along a linear path or may also be mounted on pivots (pivot/pintle) to automatically align the wheels with the direction of travel. The basic rigid caster consists of a wheel mounted to a fixed fork. When the caster is mounted to the vehicle, the orientation of the forks, which are fixed relative to the vehicle, will be determined. Rigid castors tend to restrict vehicle movement, thereby allowing the vehicle to travel in a straight line. As with the simpler rigid castors, swivel castors contain a wheel mounted to the fork, but an additional swivel located above the fork allows the fork to freely rotate about 360 ° so that the wheel can roll in any direction. This makes it possible to easily move the vehicle in any direction without changing its orientation.

Further disclosed and proposed herein is a computer program comprising computer executable instructions for performing the method according to the invention in one or more embodiments disclosed herein, when the program is executed on a computer or a computer network. In particular, the computer program may be stored on a computer readable data carrier and/or on a computer readable storage medium.

As used herein, the terms "computer-readable data carrier" and "computer-readable storage medium" may particularly refer to a non-transitory data storage device, such as a hardware storage medium having computer-executable instructions stored thereon. The computer-readable data carrier or storage medium may particularly be or comprise a storage medium such as a Random Access Memory (RAM) and/or a Read Only Memory (ROM).

Thus, in particular, one, more than one or even all of the method steps a) to d) as indicated above may be performed by using a computer or a computer network, preferably by using a computer program.

Further disclosed and proposed herein is a computer program product with program code means for performing the method according to the invention in one or more of the embodiments enclosed herein, when this program is executed on a computer or a network of computers. In particular, the program code means may be stored on a computer readable data carrier and/or a computer readable storage medium.

Further disclosed and proposed herein is a data carrier having a data structure stored thereon, which data carrier, after being loaded into a computer or a computer network, such as after being loaded into a working memory or a main memory of the computer or the computer network, can execute a method according to one or more embodiments disclosed herein.

Further disclosed and proposed herein is a computer program product with program code means stored on a machine readable carrier for performing a method according to one or more embodiments disclosed herein, when the program is executed on a computer or a computer network. As used herein, a computer program product refers to a program that is a tradable product. The product may generally be present in any format, such as a paper format, or on a computer readable data carrier and/or computer readable storage medium. In particular, the computer program product may be distributed over a data network.

Further disclosed and claimed herein is a modulated data signal containing instructions readable by a computer system or a computer network for performing a method according to one or more embodiments disclosed herein.

With reference to computer-implemented aspects of the invention, one or more, or even all, of the method steps according to one or more embodiments disclosed herein may be performed by using a computer or a network of computers. In general, therefore, any method steps including providing and/or processing data may be performed using a computer or a network of computers. Generally, these method steps may include any method step, typically other than those requiring manual manipulation, such as providing a sample and/or performing some aspect of an actual measurement.

Specifically, the following are further disclosed herein:

a computer or a computer network comprising at least one processor, wherein the processor is adapted to perform a method according to one of the embodiments described in the present description,

a computer loadable data structure adapted to perform a method according to one of the embodiments described in the present specification when the data structure is executed on a computer,

a computer program, wherein the computer program is adapted to perform a method according to one of the embodiments described in the present specification, when the program is executed on a computer,

a computer program comprising program means for performing a method according to one of the embodiments described in the present description, when the computer program is executed on a computer or on a network of computers,

a computer program comprising program means according to the preceding embodiments, wherein the program means are stored on a computer readable storage medium,

-a storage medium, wherein a data structure is stored on the storage medium and wherein the data structure is adapted to perform a method according to one of the embodiments described in the present specification after being loaded into a main memory and/or a working memory of a computer or a computer network, and

a computer program product having program code means, wherein the program code means is storable or stored on a storage medium for performing a method according to one of the embodiments described in the present specification in case the program code means is executed on a computer or a computer network.

Summarizing and without excluding further possible embodiments, the following embodiments may be envisaged:

example 1: a module for an automated laboratory system comprising

A module interface configured to releasably couple to a component of an automated laboratory system,

a detector configured at least to detect at least one component marking located at the component in order to obtain position data of the module, the position data being indicative of an actual position of the module,

a processor configured to calculate a positional deviation of the module relative to a target position defined by the component based on the positional data and to calculate positional alignment data based on the positional deviation, an

An alignment device configured to align the module or the functional unit thereof to a target position based on the positional alignment data.

Example 2: the module according to the previous embodiment, wherein the detector is further configured to detect at least one module marker located at the module.

Example 3: the module according to the previous embodiment, wherein the type, size and/or number of module markings may be the same or different from the type of component markings.

Example 4: the module of any one of the two preceding embodiments, wherein the component and module markings are positioned such that the component and module markings are consistently detectable by the detector.

Example 5: the module of any of the three preceding embodiments, wherein the component indicia and the module indicia each have a predetermined size and orientation.

Example 6: the module of any of the four preceding embodiments, wherein the component indicia is configured to provide a component coordinate system and the module indicia is configured to provide a module coordinate system, wherein the processor is configured to calculate the positional deviation of the module from the target position based on the relative distance between the component coordinate system and the module coordinate system.

Example 7: the module of any one of the five preceding embodiments, wherein the component indicia and module indicia are configured to allow in situ calibration of the detector.

Example 8: a module according to any preceding embodiment, wherein the position data comprises information about the horizontal position and/or vertical position of the module.

Example 9: a module as claimed in any preceding embodiment, wherein the detector is a camera.

Example 10: the module of any preceding embodiment, further comprising a distance sensor configured to determine a relative vertical position with respect to the component.

Example 11: the module according to the previous embodiment, wherein the distance sensor is configured to determine the relative vertical position based on a distance of a reference point at the component from a predetermined module plane.

Example 12: the module according to the previous embodiment, wherein the predetermined module plane is a loading and unloading plane of the module.

Example 13: the module of any of the three preceding embodiments, wherein the distance sensor is an optical sensor, a capacitive resistive sensor, an electromechanical or a mechanical distance sensor.

Example 14: a module according to any preceding embodiment, wherein the processor is configured to calculate the position deviation by means of an algorithm.

Example 15: the module of any preceding embodiment, further comprising an analytical instrument, wherein the alignment device is configured to align the analytical instrument to a target position based on the positional alignment data.

Example 16: module according to the preceding embodiment, in which the alignment means are configured to move the analysis instrument in a three-dimensional space.

Example 17: the module according to any preceding embodiment, wherein the target position is defined by a reference point of or within a reference plane of the component.

Example 18: the module of any preceding embodiment, wherein the component is a transport line of an automated laboratory system or is another module of an automated laboratory system.

Example 19: a module according to the previous embodiment, wherein the target position is defined by a point of the transport surface of the transport line or the handling plane of another module or a point within the transport surface or the handling plane.

Example 20: the module according to any of the preceding embodiments, wherein the module connecting piece comprises an engaging member configured to engage a bearing of the component, in particular a beam or a truss.

Example 21: the module according to the previous embodiment, wherein the engagement member comprises a hook-like projection configured to hook over a bearing of the component.

Example 22: the module according to any of the two preceding embodiments, wherein the engagement member is arranged at a position at the module such that the vertical position of the module in the connected state to the component is defined by the bearing.

Example 23: the module of any preceding embodiment, further comprising a feed configured to receive a component projection of a component, or further comprising a module projection configured to be inserted into a component feed of a component.

Example 24: the module according to the previous embodiment, wherein the feed is arranged at a certain position at the module such that the horizontal position of the module in the connected state to the component is defined by the component protrusion.

Example 25: the module according to any of the two preceding embodiments, wherein the component protrusions may be formed substantially wedge-shaped.

Example 26: the module of any one of the three preceding embodiments, wherein the feed portion comprises a guide surface configured to engage a laterally outer surface of the component projection.

Example 27: the module of any preceding embodiment, further comprising uprights that are adjustable independently of one another and configured to define a vertical orientation of the module.

Example 28: the module according to any preceding embodiment, further comprising a caster, in particular a swivel caster.

Example 29: the module of any preceding embodiment, further comprising a lifting mechanism configured to at least partially lift the module.

Example 30: the module of any preceding embodiment, further comprising a frame configured to support an analytical instrument.

Example 31: an automated laboratory system comprising a transport line and at least one module according to any preceding embodiment.

Example 21: a method for aligning a module according to any of embodiments 1-30, the method comprising

-releasably connecting the module to a component of an automated laboratory system,

detecting at least one component marking located at the component in order to obtain position data of the module, the position data being indicative of an actual position of the module,

-calculating a positional deviation of the module relative to a target position defined by the component based on the positional data, and calculating positional alignment data based on the positional deviation, an

-aligning the module to the target position based on the position alignment data.

Example 33: the method of the previous embodiment, wherein releasably attaching the module to the component of the automated laboratory system provides a coarse alignment of the module relative to the component.

Drawings

Further optional features and embodiments will be disclosed in more detail in the subsequent description of embodiments, preferably in conjunction with the dependent claims. Wherein the various optional features may be implemented in isolation and in any feasible combination, as will be appreciated by those skilled in the art. The scope of the invention is not limited by the preferred embodiments. Embodiments are schematically depicted in the drawings. In which like reference numbers in the figures refer to identical or functionally comparable elements.

In the drawings:

FIG. 1 shows a perspective view of an automated laboratory system;

FIG. 2 shows a perspective view of a portion of a module;

FIG. 3 shows an enlarged side view of a portion of the module in a coupled state;

FIG. 4 shows an enlarged rear view of a portion of the module in a coupled state;

FIG. 5 shows an enlarged view of a portion of the module in a coupled state;

FIG. 6 shows an enlarged side view of a portion of the module in a coupled state;

FIG. 7 shows a perspective view of a portion of a module;

FIG. 8 shows a top view of a portion of a module;

FIG. 9 shows a cross-sectional view of a portion of a module;

10A and 10B illustrate different arrangements of markers suitable for use in the present disclosure;

fig. 11A to 11H illustrate an operation of coupling a module to a component; and

fig. 12A to 12G illustrate an operation of detaching the module from the component.

Detailed Description

Fig. 1 shows a perspective view of an automated laboratory system 100. The automated laboratory system 100 is configured to process multiple or various samples 102 in a random flow through different processes or analytical instruments 104. The automated laboratory system 100 encompasses a method for processing a sample 102 using a laboratory tool such as a microtiter plate, a filter plate, a pipette tip cartridge, or the like (not shown). The automated laboratory system 100 has a modular architecture consisting of several components 106, 108. In particular, the automated laboratory system 100 has an arrangement of a central backbone 108 and detachable modules 106 coupled to the backbone 108. Central backbone 108 may be a transport line for transporting sample 102 to and from module 106. The transport line may be a conveyor transport line, a mechanically driven carrier transport line, a magnetic transport line, a self-propelled carrier transport line, a separate individual sample transport line, a rack transport line, or any other type of sample transport line.

Module 106 carries analytical instrument 104 for performing specific operations on sample 102, such as in sequence. The analytical instrument 104 may be mounted above the tabletop 110 of the module 106, below the tabletop 110, or at a level above the tabletop 110, as described further below. The structure of the automated laboratory system 100 facilitates the attachment of the modules 106 on both sides of the backbone 108, which means that either a single-sided or a double-sided automated laboratory system 100 can be constructed. Preferably, the module 106 represents a stand-alone processing unit with the analytical instrument 104 and may be connected to the central backbone 108 in a modular and interchangeable manner. The analytical instrument 104 may be housed by a housing 112 of the module 106, the housing 112 at least partially enclosing the tabletop 110.

Fig. 2 shows a perspective view of a portion of the module 106. The module 106 includes a frame 114 that supports the table 110. Frame 114 includes vertical frame members 116 and horizontal frame members 118. For example, four vertical frame members 116 and six horizontal frame members 118 are arranged to provide the frame 114 with a substantially rectangular or rectangular parallelepiped shape. Needless to say, the number of vertical frame members 116 and horizontal frame members 118 may vary depending on the respective applications. The vertical frame members 116 and the horizontal frame members 118 may be beams having a rectangular or square cross-section. The frame 114 is configured to support the housing 112. For example, the housing may be releasably mounted to the frame 114. It goes without saying that the frame 114 may be designed in any other way, such as depending on the respective application of the module 106.

Fig. 3 shows an enlarged side view of a portion of the module 106 in a coupled state. Fig. 4 shows an enlarged rear view of a portion of the module 106 in a coupled state. The module 106 further includes a module connector 120, the module connector 120 configured to releasably connect to the components 106,108 of the automated laboratory system 110. The module link 120 includes an engagement member 122 configured to engage a bearing 124 (such as a beam or truss) of a component 106,108 (such as the backbone 108). The engagement member 122 includes a hooked protrusion 126, the hooked protrusion 126 configured to hook over the bearing 124 of the component 106, 108. The joint member 122 is arranged at a position at the module 106 such that the vertical position of the module 106 in the connected state to the components 106,108 is defined by the bearing 124. In this embodiment, the module connector 120 and the engagement member 122 are each disposed adjacent the lower end 128 of the frame 114 at the rear side 130 of the module 106. The module connector 120 protrudes from the frame 114. The bearings 124 are referenced to the plane of travel of the travel line 108 to achieve vertical alignment and tilting of the module 106. Optionally, the bearing 124 may be mechanically decoupled from the delivery line 108 to prevent a vibratory coupling.

Fig. 5 shows an enlarged view of a portion of the module 106 in the coupled state. The module 106 further includes a feed portion 132, the feed portion 132 configured to receive the component protrusion 134 of the components 106, 108. The feed 132 is arranged at a position at the module 106 such that the horizontal position of the module 106 in the connected state to the components 106,108 is defined by the component projection 134. In the present embodiment, the feeding portion 132 is horizontally arranged in the central horizontal portion of the frame 114. Further, the feeding portion 132 is vertically disposed between the engaging member 122 and the lower end 128 of the frame 114. As shown in fig. 5, the part protrusion 134 is formed substantially in a wedge shape, which facilitates the sliding movement of the feeding portion 132 on the part protrusion 134. To this end, the feeding portion 132 includes a guide surface 136, the guide surface 136 being configured to engage a lateral outer surface 138 of the component protrusion 134. The wedge shaped protrusion 134 forms a predetermined play with the feeder 132, is positioned at the bearing 124 and references the target position of the module 106 at the conveyor line 108 with respect to the left-right orientation. The module 106 may optionally further include tapered pins in a horizontal or vertical orientation that engage into the bearing holes and lock to each other.

Fig. 6 shows an enlarged side view of a portion of the module 106 in a coupled state. The module 106 further includes uprights 140, the uprights 140 being adjustable independently of one another and configured to define a vertical orientation of the module 106. The adjustable posts 140 also allow the module to tilt when connected to the backbone 108. For this reason, the module 106 includes at least two adjustable uprights 140. For example, there are four adjustable posts 140. The adjustable upright 140 is slidably received within the vertical frame member 116. The module 106 further includes casters 142. For example, there are four casters 142. At least some of the casters 142 may be swivel casters. For example, the two casters 142 at the front side 144 of the frame 114 are swivel casters.

Fig. 7 shows a perspective view of a portion of the module 106. Fig. 8 shows a top view of a portion of module 106. The module 106 further includes a detector 146. The detector 146 is at least configured to detect at least one component marking 148 located at the component 106,108 in order to obtain position data of the module 106, which position data is indicative of the actual position of the module 106. The position data includes information about the horizontal position and/or vertical position of the module 106. The detector 146 may be a camera. The camera may be provided with visible or invisible illumination, if desired, and is attached to the module 106 and directed toward the conveyance line 108. The detector 146 is further configured to detect at least one module marker 150 located at the module 106. Component mark 148 and module mark 150 are positioned such that component mark 148 and module mark 150 are consistently detectable by detector 146. In other words, both the part mark 148 and the module mark 150 are located within the detection range or field of view of the detector 146. The part indicia 148 and the module indicia 150 each have a predetermined size and orientation. The predetermined size and orientation of the component indicia 148 and the module indicia 150 may be, but need not be, the same. The part markers 148 are configured to provide a part coordinate system 152 and the module markers 150 are configured to provide a module coordinate system 154. In this embodiment, module indicia 150 are located at the transition of lower vertical frame members 116 and horizontal frame members 118 at the rear side 130 of the module 106. The part markings 148 may provide a calibration pattern such as a dot or lattice pattern. The calibration pattern is not limited to a dot pattern, but may be implemented as a cross-grain pattern, a checkerboard, or any kind of dot pattern that can be analyzed by image processing.

The size and type of markers 148, 150 used depends on the available space on the object on which the markers are placed and the quality and compensation capabilities required. The indicia 148 may be an Aruco type or other type of pattern, for example, a dot or checkerboard pattern of known size and orientation. These types of markers may provide for 2d calibration and position determination with a camera and cross-checking. For e.g. dot matrix patterns, it is desirable to give a minimum number of well-arranged dots. Additionally, the ArUco marker may provide identification information. The ArUco marker is a binary square fiducial marker that can be used for camera pose estimation. Their main advantages are powerful, fast and simple detection.

The module 106 further includes a processor 156, the processor 156 configured to calculate a positional deviation of the module 106 relative to a target position defined by the components 106,108 based on the positional data, and calculate positional alignment data based on the positional deviation. In particular, the processor 156 is configured to calculate a positional deviation of the module from the target position based on the relative distance between the part coordinate system 152 and the module coordinate system 154. The processor 156 is configured to calculate the position deviation by means of an algorithm. The target position may be defined by a reference point of a reference plane of the components 106,108 or by a reference point within the reference plane 158. Since the component 106,108 may be the transport line 108 of the automated laboratory system 100 or another module 106 of the automated laboratory system 100, the target position may be defined by a point of the transport surface 160 of the transport line 108 or the handling plane 162 of the other module 106 or a point within the transport surface 160 or the handling plane 162. Thus, the reference plane 158 may be a transport surface 160 or a table 110 that serves as a loading and unloading plane 162 for such modules 106.

The module 106 further comprises an alignment device 164, the alignment device 164 being configured to align the module 106 to the target position based on the positional alignment data. More particularly, the alignment device 164 is configured to align the analysis instrument 104 to a target position based on the positional alignment data. In particular, the alignment device 164 is configured to move the analytical instrument 104 within a three-dimensional space. For example, alignment device 164 is a mechanical alignment device, such as a so-called xyz stage. It is expressly noted that the alignment device 164 may align itself or any other functional component of the module 106 to increase or maximize its operating range based on the target position.

Fig. 9 shows a cross-sectional view of a portion of module 106. The module 106 further includes an optional distance sensor 166, the distance sensor 166 configured to determine a relative vertical position with respect to the components 106, 108. The distance sensor 166 may be an optical or capacitive distance sensor. In particular, the distance sensor 166 is configured to determine a relative vertical position based on a distance of a reference point 168 at the components 106,108 from a predetermined module plane 168. The predetermined module plane 168 may be the loading and unloading plane 162 of the module 106. Basically, also a camera setup of the detector 146 with appropriate markers 148, 150 can be used for determining the vertical position. Fig. 9 also shows an example of a detection range or field of view 170 of the detector 146 on the predetermined module plane 168.

Fig. 10A and 10B illustrate different arrangements of markers suitable for use in the present disclosure. As further detailed, the type, size, and/or number of module flags 150 may be the same as or different from the type of component flags 148. In fig. 10A and 10B, a detection range or field of view 170 of the detector 146 is shown. In addition, fig. 10A and 10B illustrate the portion of the module 106 and the delivery line 108 to which the module flag 150 and the component flag 148 are attached. Fig. 10A shows one large part tag 148 attached to the carry line 108 and two module tags 150 attached to the modules 106. Fig. 10B shows one part mark 148 and one module mark 150, the part mark 148 being formed of four dot matrixes arranged in a square pattern and attached to the carrying line 108, the module mark 150 being attached to the module 106.

There are a number of options for arranging the markers 148, 150. If a factory calibration camera is used, only the part markings 148 on the part (such as the transfer line 108) are sufficient. This means that the module label 150 or any other part where the camera is mounted is not required. For example, the module 106 is not provided with the module indicia 148, but there is a component indicia 150 on another component 106,108 (e.g., a transfer line). As a result, the camera must be securely mounted and the components mounted to the camera must be precisely aligned and calibrated (e.g., factory calibration). With this arrangement, relative and absolute alignment can be made by imaging and analyzing the component marks 150 on the other component 106,108 with knowledge of the precise position and calibration of the cameras. However, any slight variation in camera alignment relative to the other components 106,108 may result in a calibration update process.

For this reason, it may be advantageous to provide indicia on both components. For example, as described above, at least one module marker 150 is disposed on the module 106 and at least one component marker 148 is disposed on the delivery line 108. Basically, the type of marking can be the same or different, but must contain at least three points. The number of points in the mark determines the quality and ability of the alignment and registration. With this arrangement and a suitable set of marks, relative alignment with the module 106 can be achieved without requiring precise alignment and calibration of the camera, since in-situ calibration can be achieved. For calibration purposes, the markings 150 on the camera-mounted component or the component markings 148 of other components may be used.

Fig. 11A to 11H illustrate the operation of coupling the module 106 to the components 106, 108. In particular, the operation is explained with reference to the coupling with the conveyance line 108. As shown in fig. 11A, the coupling process begins with the module 106 moving on the caster 142 to a connection position proximate the conveyor line 108. For example, the module 106 is manually moved. Subsequently, as shown in fig. 11B (which shows a top view), the module 106 is pushed onto the part projection 134 so that the part projection 134 is inserted into the feeding portion 132. Thus, the modules are aligned generally to the left and right. Subsequently, as shown in fig. 11C, the module 106 is pushed to the bearing 124 so as to be parallel to the bearing 124, and the engagement member 122 is brought into contact with the bearing 124. Subsequently, as shown in fig. 11D, the module 106 is lifted at a position on the rear side 130 adjacent to the bearing 124 using a lifting mechanism (not shown in detail), as indicated by arrow 172. Thereby, the caster 142 at the rear side 130 is released from the floor. Subsequently, as shown in fig. 11E, the module 106 is pushed over the bearing 124, as indicated by arrow 174, so that it remains parallel to the bearing 124, and the engagement member 122 is in contact with the bearing 124. Subsequently, as shown in fig. 11F, the module 106 is gently lowered onto the bearing 124 together with the engagement member 122. Thus, the engagement member 122 engages the bearing 124 while the caster 142 at the rear side 130 remains spatially separated from the floor. Subsequently, as shown in fig. 11G, the module 106 is lifted at the front side 144 using the lifting mechanism until it is oriented horizontally as indicated by arrow 176. The horizontal orientation can be checked by means of a bubble level or the like, i.e. meaning that the edges of the table top 110 are in the same vertical position. The module 106 is then secured in this vertical position at the front side 144 by means of the adjustable post 140, as shown in fig. 11H. In addition, the lifting mechanism is removed. Optionally, the module 106 may be inserted into a connector (not shown in detail).

The coupling process as described with reference to fig. 11A-11H represents a coarse or coarse alignment of the modules 106. In the following, the process of fine alignment of the module 106 or the analysis instrument 104 will be described, which may be performed after the coarse alignment or in parallel.

As described above, the detector 146 is attached to the module 106 in a manner such that all of the component indicia 148 and the module indicia 150 are within the detection range or field of view. Fig. 8 shows the detection range or field of view of the detector 146. The detection range or field of view covers the surface of the interface area of the conveyance line 108 and two module markings 150 attached to both sides of the module 106 proximate the interface area of the conveyance line 108. The Aruco type module marker 150 is used to determine the relative position of the module 106 as indicated by the module coordinate system 154. Module tag 150 may also be used to identify module 106. Part markings 148 formed as dot or lattice calibration patterns printed or incorporated into the surface of the interface portion of the transport line 108 are used to determine the relative position of the transport line 108 as indicated by a part coordinate system 152. In addition, this allows for image distortion to be calculated and for in-situ calibration of the detector 146, so the distance between points is strictly defined.

The processor 156 calculates a positional deviation of the module 106 from a target position defined by the conveyance line 108 based on the image-acquired positional data generated by the detector 146, and calculates positional alignment data based on the positional deviation. In particular, the processor 156 applies algorithms to analyze the images generated by the detector 146 and calculate the relative distance and alignment between the part coordinate system 152 of the transfer line 108 and the module coordinate system 154 of the module 106. This is converted into a positional correction which is input into the alignment device 164 of the module 106 in order to provide a fine alignment of the module 106 and the analysis instrument 104, respectively, with respect to the transport line 108.

In summary, the detailed process of determining the position correction for fine alignment and the position correction includes the following details. A detector 146, such as a camera, acquires images of module markers 150, such as ArUco landmarks, and component markers 148, such as a dot calibration pattern of the interface region of the transport line 108. An algorithm is used to perform image processing to analyze the module markers 150 to calculate the transverse coordinate system of the module 106. The algorithm is used to perform image processing to analyze the part mark 148. The analysis component indicia 148 may provide: calibration parameters for camera calibration are extracted, image distortion is calculated and subtracted, and the transverse coordinate system of the transport line 108 is calculated. In addition, the vertical distance offset of the module 106 from the target position is determined by the distance sensor 166. The algorithm is used to calculate the relative distance and alignment between the module 106 and the transport line 108 and convert it into a positional correction of the analytical instrument 104 of the module 106. The result for position correction thus calculated is transmitted to the aligning device 164 to correct the positional deviation between the module 106 and the conveyance line 108. The fine alignment may be supported by the mechanical coarse alignment as described above, but is not required.

Fig. 12A-12G illustrate the operation of disengaging the module 106 from the components 106, 108. In particular, the operation is explained with reference to detachment from the conveyance line 108. As shown in fig. 12A, the detachment process begins with the module 106 coupled to the transfer line 108. The optional connector has been pulled out. Subsequently, as shown in fig. 12B, the module 106 is lifted at the front side 144 using the lifting mechanism. In addition, adjustable upright 140 is rotated and lifted into vertical frame member 116 as indicated by arrow 178. Subsequently, as shown in fig. 12C, the module 106 is gently lowered onto the caster 142 at the front side 144. Subsequently, as shown in fig. 12D, the module 106 is lifted at a location on the back side 130 adjacent to the bearing 124 using a lifting mechanism, as indicated by arrow 180. Subsequently, as shown in fig. 12E, the module 106 is pulled slightly above the bearing 124 and in front of the bearing 124, as indicated by arrow 182. Subsequently, as shown in fig. 12F, the module 106 is lowered gently onto the caster 142 at the rear side 130. In addition, the module 106 is pulled out of the component projection 134 and out of the connection position. Subsequently, as shown in fig. 12G, the module 106 is moved on the caster 142 to a desired position.

List of reference numerals

100 automated laboratory system

102 sample

104 analytical instrument

106 module

108 conveying line

110 table top

112 casing

114 frame

116 vertical frame member

118 horizontal frame member

120 module connecting piece

122 engaging member

124 bearing

126 hook-shaped projection

128 lower end

130 rear side

132 feeding part

134 parts projection

136 guide surface

138 lateral outer surface

140 adjustable column

142 castor

144 front side

146 detector

148 parts mark

150 module label

152 part coordinate system

154 module coordinate system

156 processor

158 reference plane

160 conveying surface

162 load and unload plane

164 alignment device

166 distance sensor

168 predetermined module plane

170 field of view or detection

172 arrow head

174 arrow head

176 arrow head

178 arrow head

180 arrow head

182 arrows.