CN110694804A

CN110694804A - Reagent centrifugation system

Info

Publication number: CN110694804A
Application number: CN201911197273.9A
Authority: CN
Inventors: 朱滨; 徐建刚; 邢军芬
Original assignee: Shanghai Baio Technology Co ltd
Current assignee: Shanghai Hongtan Biotechnology Co ltd
Priority date: 2019-11-29
Filing date: 2019-11-29
Publication date: 2020-01-17

Abstract

The invention relates to the technical field of centrifuges, and discloses a reagent centrifugation system, which comprises: a centrifuge section having a top cover capable of being opened and closed, and a placement groove provided with a plurality of centrifuge tubes; the turnover unit is matched with the centrifugal machine for use and is provided with a mechanical arm capable of taking and placing the centrifugal tube; an image acquisition device capable of acquiring an image of a centrifugal portion in the centrifuge with a top cover in an open state; and the control unit is in communication connection with the image acquisition device and the mechanical arm and can control the picking and placing actions of the mechanical arm by analyzing the stop position of the separation center part according to the image acquired by the image acquisition device. Through setting up image acquisition device, turnover unit and utilizing the action of control unit control two, can realize getting in reagent centrifugal system reagent automatically, mechanizedly and get and put and the position shifts, need not manual work, greatly improved reagent and got the efficiency of getting and put and the position shifts to the centrifugal efficiency of reagent centrifugal system has correspondingly been improved.

Description

Reagent centrifugation system

Technical Field

The invention relates to the technical field of centrifuges, in particular to a reagent centrifugation system.

Background

Centrifuges are machines that utilize centrifugal force to separate components of a mixture of liquid and solid particles or liquid and liquid. The centrifuge is mainly used for separating solid particles from liquid in suspension or separating two liquids which have different densities and are insoluble with each other in emulsion. The centrifugal machine is widely applied to chemical, petroleum, food, pharmacy, ore dressing, coal, water treatment, ships and other departments.

At present, the existing centrifugal machine can be operated automatically or semi-automatically, but the centrifugal tube still needs to be taken and placed manually. With the development of industrial robot technology, the demand of full-automatic biochemical detection is gradually highlighted. Sample centrifugation is the basic processing mode for biochemical detection, and the automation level of the sample centrifugation influences the automated biochemical detection.

Disclosure of Invention

The present invention is directed to the above technical problem, and an object of the present invention is to provide a reagent centrifugation system, in which an image acquisition device and a transfer unit are provided, and a control unit is used to control the actions of the image acquisition device and the transfer unit, so that reagent taking and placement and position transfer in the reagent centrifugation system can be automatically and mechanically achieved, manual operation is not required, the reagent taking and placement and position transfer efficiency is greatly improved, and the centrifugation efficiency of the reagent centrifugation system is accordingly improved.

Specifically, the present invention provides a reagent centrifugation system comprising:

a centrifuge section having a top cover capable of being opened and closed by driving of a top cover driving mechanism, and a placement groove provided with a plurality of centrifuge tubes;

the turnover unit is matched with the centrifugal machine for use and is provided with a mechanical arm capable of taking and placing the centrifugal tube;

an image acquisition device which is arranged in the turnover unit and can acquire an image of a centrifugal part in the centrifuge with a top cover in an open state;

and the control unit is in communication connection with the image acquisition device and the mechanical arm and can control the picking and placing actions of the mechanical arm at least by analyzing the stop position of the separation center part according to the image acquired by the image acquisition device.

Compared with the prior art, the reagent centrifugation system provided by the invention has the advantages that the image of the centrifugation part in the centrifuge with the top cover in the open state is obtained through the image obtaining device, and the obtained image information is sent to the control unit. The control unit analyzes the position and the direction of the placing groove in the centrifugal part according to the obtained image information so as to calculate the working program of the mechanical arm, then the control unit sends an action command to the mechanical arm of the turnover unit according to the working program, and the mechanical arm acts according to the action command to take and place the centrifugal tube and transfer the position. Through setting up image acquisition device, turnover unit and utilizing the action of the two of control unit control, can realize that centrifuging tube gets for getting of centrifuge and the position shifts in reagent centrifugation system automatically, mechanizedly, need not manual work, greatly improved the centrifuging tube and got the efficiency of putting and the position shifts to reagent centrifugation system's centrifugal efficiency has correspondingly been improved. Meanwhile, the control unit is used for controlling the action of the reagent centrifugation system, so that manual operation is reduced, errors can be reduced, and the system efficiency of the reagent centrifugation system is further improved.

In addition, the image acquired by the image acquiring device preferably provides one or a combination of several of the following information:

the stop position of the centrifuge part, the orientation of the placement groove, the position of the centrifugal tube, and the orientation of the centrifugal tube.

According to the preferred scheme, the information acquired by the image acquisition device is comprehensive, corresponding position information can be accurately acquired, and the control unit can accurately calculate the working form of the mechanical arm according to the position information, so that an accurate action instruction is issued, the action of the mechanical arm is controlled, and the efficiency of reagent taking and placing and position transfer relative to the centrifuge is improved.

Further, preferably, the taking and placing actions of the mechanical arm controlled by the control unit at least comprise: snatch the centrifuging tube with the axial direction of perpendicular to centrifuging tube to and, get the centrifuging tube with the direction of standing groove central axis and put.

According to this preferred scheme to snatch the centrifuging tube in perpendicular to centrifuging tube axial direction, can snatch the centrifuging tube steadily for getting of centrifuging tube for centrifuge and position transfer. The centrifugal tube is inserted into the placing groove or taken out from the placing groove in the axial direction of the placing groove, so that collision between the centrifugal tube and the placing groove can be avoided, and the centrifugal tube is protected.

Preferably, the reagent centrifugation system further includes:

the reagent bracket is used for bearing the centrifuge tube, and the image acquisition device can acquire the image of the reagent bracket.

According to this preferred scheme, through the position of discernment reagent bracket, can accurately take out centrifuge tube from the reagent bracket, perhaps put into the reagent bracket with the centrifuge tube on, can realize that the centrifuging tube is got for getting of reagent bracket and the position shifts in reagent centrifugal system automatically, mechanizedly, need not manual work, greatly improved the centrifuging tube and got the efficiency of putting and the position shifts to reagent centrifugal system's centrifugal efficiency has correspondingly been improved.

Further, as the optimization, the mechanical arm comprises a first clamping jaw and a second clamping jaw which can be opened and closed to grab the object, and a rhombic grabbing space is formed when the first clamping jaw and the second clamping jaw are closed.

According to this preferred scheme, the first clamping jaw and the second clamping jaw of arm form into rhombus when closed and snatch the space, and it can the compatible different centrifuging tubes of snatching, guarantees the stability of snatching.

In addition, preferably, the image acquisition device is connected with a positioning driving mechanism or is integrally arranged with the revolving unit, and the image acquisition device acquires images from multiple angles under the driving of the positioning driving mechanism or the revolving unit.

According to this preferred scheme, image acquisition device can move about to from the multi-angle acquisition image, comprehensively and accurately acquire image information, the control unit can be according to the accurate action of control turnover unit of the image information who acquires, with the transfer that effectively carries out the centrifuging tube.

Preferably, the robot arm is provided on the carrier.

According to this preferred scheme, through setting up the carrier, the carrier can move and drive the arm on it and carry out the position and shift, transport the arm and get the best position of putting the centrifuging tube to snatch the centrifuging tube steadily.

In addition, preferably, the control unit is in communication connection with the vehicle to control the displacement of the vehicle.

According to the preferred scheme, the control unit is used for controlling the displacement of the carrier, the displacement of the carrier can be linked with the centrifugation of the centrifugal tube and the action of the mechanical arm, manual action is not needed, and the automatic and intelligent accurate displacement of the reagent driven by the carrier can be realized.

Further, preferably, the centrifuge has a receiver, and is capable of controlling the opening and closing of the top cover according to an instruction received by the receiver.

According to this preferred embodiment, the opening and closing of the top cover is controlled by the control unit, and the opening and closing of the top cover can be linked with the operation of the robot arm, thereby realizing automation and intellectualization of the opening and closing of the top cover.

Further, preferably, the centrifuge has a sensor, and the top cover is opened in response to the sensor detecting that the revolving unit enters the specific area.

According to the preferred scheme, the sensor can respond to the position of the turnover unit, once the turnover unit enters a specific area, the top cover is opened, and the opening and closing of the top cover are more automatic and intelligent. The top cover is opened in advance, the time is effectively utilized, the top cover is opened after the top cover moves to a corresponding position relative to the turnover unit, the time can be saved, and the efficiency of the reagent centrifugal system is improved.

Drawings

FIG. 1 is an overall flow diagram of a reagent centrifugation system in an embodiment of the present invention;

FIG. 2 is a schematic illustration of the control relationship of the reagent centrifugation system in an embodiment of the present invention;

FIG. 3 is a schematic structural diagram (one) of a centrifuge according to an embodiment of the present invention;

FIG. 4 is a schematic structural view (II) of a centrifuge in the embodiment of the present invention

FIG. 5 is an enlarged view of a portion A of FIG. 1;

fig. 6 is a partially enlarged view of a portion B in fig. 1.

Description of reference numerals:

1. a centrifuge; 11. a centrifuge section; 11a, placing grooves; 12. a top cover; 2. a top cover drive mechanism; 21. a guide groove; 22. a drive shaft; 23. a drive motor; 24. a driven shaft; 25. a sleeve shaft; 26. a fixing plate; 27. an optical axis; 3. a turnaround unit; 31. a mechanical arm; 31a, a first clamping jaw; 31b, a second jaw; 32. a carrier; 4. an image acquisition device; 5. a control unit; 6. a reagent carrier; 61. a reagent tank; 7. a table; 8. a receiver; 9. a sensor; 10. and (6) centrifuging the tube.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings. The structure and the like of the reagent centrifugation system are schematically simplified in the drawings.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

The embodiment of the invention provides a reagent centrifugation system, which is shown in fig. 1 and 2 and comprises a centrifuge 1, a turnover unit 3, an image acquisition device 4 and a control unit 5 which is in communication connection with the turnover unit 3 and the image acquisition device 4. The centrifuge 1 has a centrifugal part 11 capable of being provided with a placement groove 11a (see fig. 4) of a plurality of centrifuge tubes 10 and a top cover 12 capable of being closed to close the centrifugal part 11, and the centrifuge 1 further has a top cover driving mechanism 2, and the top cover driving mechanism 2 is capable of driving opening and closing of the top cover 12. Centrifuge tube 10 is placed in holding groove 11a, top cover 12 is closed, and centrifuge 1 is operated to centrifuge the reagents in centrifuge tube 10. The circulation unit 3 is matched with the centrifuge 1 and comprises a mechanical arm 31, so that the centrifugal tube 10 can be taken and placed by the mechanical arm 31. The image acquiring device 4 is provided in the revolving unit 3, and can acquire an image of the centrifugal part 11 in the centrifuge 1 with the top cover 12 in an open state, and the control unit 5 can control the pick-and-place operation of the robot arm 31 by analyzing at least the stop position of the centrifugal part 11 based on the image acquired by the image acquiring device 4.

In contrast to the conventional technique, the reagent centrifugation system according to the present embodiment acquires an image of the centrifugation portion 11 in the centrifuge 1 with the top cover 12 open by the image acquisition device 4, and transmits the acquired image information to the control unit 5. The control unit 5 analyzes the position and the direction of the placement groove 11a in the centrifuge unit 11 according to the obtained image information to calculate the operation program of the robot arm 31, and then the control unit 5 sends an operation command to the robot arm 31 of the circulation unit 3 according to the operation program, and the robot arm 31 operates according to the operation command to take and place the centrifugal tube 10 and transfer the position.

In short, through setting up image acquisition device 4, turnover unit 3 and utilizing the action of control unit 5 control the two, can realize getting in reagent centrifugation system centrifuging tube 10 automatically, mechanizedly and get and put and the position shifts for centrifuge 1, need not manual work, greatly improved the efficiency that centrifuging tube 10 got and put and the position shifts to reagent centrifugation system's centrifugal efficiency has correspondingly been improved. Meanwhile, the control unit 5 is used for controlling the action of the reagent centrifugation system, so that manual operation is reduced, errors can be reduced, and the system efficiency of the reagent centrifugation system is further improved.

The image acquired by the image acquisition means 4 provides one or a combination of several of the following information: the stop position of the centrifuge section 11, the orientation of the placement groove 11a, the position of the centrifugal tube 10, and the orientation of the centrifugal tube 10. So set up, the information that image acquisition device 4 obtained is comparatively comprehensive, can accurate acquisition corresponding positional information, and then is favorable to the control unit 5 to calculate the work form of arm 31 according to positional information accuracy to issue accurate action instruction and control the action of arm 31, be favorable to improving reagent for centrifuge 1 get put and the efficiency that the position shifts.

The picking and placing actions of the robot arm 31 controlled by the control unit 5 at least include: grasping the centrifugal tube 10 in a direction perpendicular to the axial direction of the centrifugal tube 10, and taking and placing the centrifugal tube 10 in a direction of the central axis of the placement groove 11 a. Snatch centrifuging tube 10 with the axial direction of perpendicular to centrifuging tube 10, can snatch centrifuging tube 10 steadily for centrifuging tube 10 is for getting of centrifuge 1 and put and the position shifts, thereby improves the efficiency that centrifuging tube 10 shifted. Arm 31 snatchs centrifuging tube 10 steadily, and centrifuging tube 10 is difficult for dropping to avoid centrifuging tube 10 damaged because of dropping, reduce centrifuge sample access system's cost. The centrifugal tube 10 is inserted into the placing groove 11a or taken out from the placing groove 11a in the axial direction of the placing groove 11a, so that collision between the centrifugal tube 10 and the placing groove 11a can be avoided, and the centrifugal tube 10 is protected.

As shown in fig. 1 and 5, the robot arm 31 includes a first jaw 31a and a second jaw 31b that can be opened and closed to grip an article, and the first jaw 31a and the second jaw 31b form a diamond-shaped gripping space when closed. The first clamping jaw 31a and the second clamping jaw 31b of the mechanical arm 31 form a rhombic grabbing space when being closed, and can grab different centrifuge tubes 10 in a compatible mode, and the grabbing stability is guaranteed. The arm 31 snatchs centrifuging tube 10 steadily for getting of centrifuging tube 10 is put and the position shifts, thereby improves the efficiency that centrifuging tube 10 shifted.

It should be noted that, referring to fig. 4 to 6, the centrifuge tube 10 herein includes a reagent tube for containing, for example, an amplification solution, a reaction solution, an antibody solution or a diluent, and a PCR tube for PCR amplification. The centrifuge 1 has two kinds of placement grooves 11a therein, which are respectively adapted to different reagent tubes and PCR tubes. Meanwhile, there are two mechanical arms 31, and the two mechanical arms 31 can take and place two centrifuge tubes 10 at the same time. The first jaw 31a and the second jaw 31b of one of the two jaws can form a diamond-shaped gripping space when the two jaws are closed on the mechanical arm 31 for gripping a reagent tube, and the first jaw 31a and the second jaw 31b of the other mechanical arm 31 form a gripping space adapted to a tube cover of a PCR tube when the two jaws are closed on the mechanical arm 31 for gripping the PCR tube.

Referring to fig. 6, the reagent centrifugation system further comprises a reagent carrier 6 for carrying the centrifuge tube 10, the image acquisition device 4 being capable of acquiring an image of the reagent carrier 6. Through setting up reagent bracket 6, can bear centrifuging tube 10, place centrifuging tube 10 is integrated, be convenient for to the management of centrifuging tube 10. Simultaneously, through discernment reagent bracket 6's position, can accurately take out centrifuge tube 10 from reagent bracket 6, perhaps put into reagent bracket 6 with centrifuge tube 10 on, can realize that centrifuge tube 10 is for getting of reagent bracket 6 in reagent centrifugal system to put and the position shifts voluntarily, mechanizedly, need not manual work, greatly improved centrifuge tube 10 and got the efficiency of putting and the position shifts to reagent centrifugal system's centrifugal efficiency has correspondingly been improved.

Correspondingly, the image acquired by the image acquisition device 4 also provides the position of the reagent tray 6, and if the reagent slot 61 is provided on the reagent tray 6, the image acquired by the image acquisition device 4 also provides the position and orientation of the reagent slot 61.

If the image acquiring device 4 acquires the configuration information of different components in the reagent centrifugation system, the control unit 5 further has preset configuration information of various components for reference, and the control unit 5 identifies information such as the names and the numbers of the corresponding components by comparing the image information transmitted by the image acquiring device 4 with the preset configuration information. In another embodiment of the present invention, labels are provided near the centrifuge 1 and the placement grooves 11a thereof, on the centrifuge tube 10, and near the reagent carrier 6 and the reagent grooves 61 thereof, and the labels are two-dimensional codes or electronic labels, so that the image acquisition device 4 can obtain information such as names and numbers of the corresponding parts by identifying the label information.

The image acquisition device 4 is connected with a positioning driving mechanism or is integrally arranged with the turnover unit 3, and the image acquisition device 4 is driven by the positioning driving mechanism or the turnover unit 3 to acquire images from multiple angles. Image acquisition device 4 can move about to from the multi-angle acquisition image, acquire image information comprehensively and accurately, control unit 5 can be according to the accurate control of the image information who acquires turnover unit 3's of, with effectively carrying out the transfer of centrifuging tube 10.

In the present embodiment, referring to fig. 6, the image capturing device 4 is integrally disposed with the mechanical arm 31 in the revolving unit 3, and preferably, the image capturing device 4 is embedded in the grabbing end of the mechanical arm 31, and the mechanical arm 31 acts to flexibly drive the image capturing device 4 to change the position, so as to capture images at multiple angles. The image acquisition device 4 is arranged at the grabbing end of the mechanical arm 31, so that the image acquisition of the image acquisition device 4 can be prevented from being blocked due to the arrangement of the mechanical arm 31. The image capturing apparatus 4 is integrated with the robot arm 31, and the number of components can be reduced, thereby simplifying the structure.

In other embodiments of the present invention, the positioning driving mechanism may be a three-axis linkage mechanism, the image capturing device 4 is disposed in the positioning driving mechanism, and the positioning driving mechanism is in communication with the control unit 5 and operates under the control of the control unit 5 to drive the image capturing device 4 to operate.

The robot arm 31 is disposed on a carrier 32, and the carrier 32 can move and drive the robot arm 31 thereon to perform position transfer, and convey the robot arm 31 to an optimal position for taking and placing the centrifuge tube 10, thereby stably grasping the centrifuge tube 10. Meanwhile, the carrier 32 drives the mechanical arm 31 to move, so that the position of the centrifugal tube 10 can be transferred, and the position transfer of the centrifugal tube 10 at different positions is realized.

In this embodiment, the carrier 32 is an AGV cart, but in other embodiments, the carrier 32 may be a conventional cart. In particular, the control unit 5 is arranged in communication with the vehicle 32 to control the displacement of the vehicle 32. Utilize the displacement of control unit 5 control carrier 32, can realize the displacement of carrier 32 and the centrifugation of centrifuging tube 10, the linkage of arm 31 action, need not manual action, can realize that carrier 32 drives centrifuging tube 10 and carries out automatic, intelligent accurate displacement.

To facilitate handling of the centrifuge tube 10 by the robotic arm 31 relative to the centrifuge 1, see fig. 1, the centrifuge 1 is positioned below and in the optimum space of movement of the robotic arm 31, and the centrifuge 1 is positioned on a table 7.

Referring to fig. 2, the centrifuge 1 has a receiver 8 and is capable of controlling the opening and closing of the top cover 12 according to instructions received by the receiver 8. The receiver 8 may be provided inside or on the surface of the centrifuge 1, or may be provided independently of the centrifuge 1, as long as it can achieve linkage between the top cover driving mechanism 2 and the control unit 5. The opening and closing of the top cover 12 is controlled by the control unit 5, and the opening and closing of the top cover 12 can be linked with the operation of the robot arm 31, so that the opening and closing of the top cover 12 can be automated and intelligentized.

Referring to fig. 3 and 4, the top cover driving mechanism 2 includes a guide groove 21, a driving shaft 22, and a driving motor 23. Driven shafts 24 are arranged on two sides of the top cover 12, two guide grooves 21 are formed integrally with the two driven shafts 24 respectively and are arranged in a V shape, two ends of a driving shaft 22 respectively extend into the two guide grooves 21, a sleeve shaft 25 is coaxially sleeved outside the driving shaft 22 in a rotating mode, and a power end of a driving motor 23 is vertical and is connected with the sleeve shaft 25. The driving motor 23 is operated to drive the driving shaft 22 to move up and down and slide in the guide groove 21, so as to drive the guide groove 21 to rotate, and open and close the top cover 12. Meanwhile, the body of the driving motor 23 is fixed on the centrifuge 1 through the fixing plate 26, one end of the optical axis 27 is fixed with the sleeve shaft 25, the other end of the optical axis 27 passes through the fixing plate 26 and slides up and down relative to the fixing plate 26, and the setting of the optical axis 27 plays a role in limiting the up-and-down movement direction of the sleeve shaft 25 and avoiding the position deviation of the driving shaft 22 driven by the sleeve shaft 25 when the top cover 12 is opened and closed.

More preferably, referring to fig. 2, centrifuge 1 has a sensor 9, and in response to sensor 9 detecting entry of epicyclic unit 3 into a particular zone, top cover 12 is opened. The sensor 9 may be provided inside or on the surface of the centrifuge 1, or may be provided independently of the centrifuge 1, as long as it can detect whether the revolving unit 3 enters a specific area, and can send the information detected by the sensor to the control unit 5 for linkage. The sensor 9 can respond to the position of the turnover unit 3, once the turnover unit 3 enters a specific area, the top cover 12 is automatically opened, and the opening and closing of the top cover 12 are more automatic and intelligent. The top cover 12 is opened in advance, time is effectively utilized, the top cover 12 is opened after the turnover unit 3 moves to a corresponding position, time can be saved, and efficiency of a reagent centrifugal system is improved.

It will be appreciated by those of ordinary skill in the art that in the embodiments described above, numerous technical details are set forth in order to provide a better understanding of the present application. However, the technical solutions claimed in the claims of the present application can be basically implemented without these technical details and various changes and modifications based on the above-described embodiments. Accordingly, in actual practice, various changes in form and detail may be made to the above-described embodiments without departing from the spirit and scope of the invention.

Claims

1. A reagent centrifugation system, comprising:

an image acquisition device provided in the circulation unit and capable of acquiring an image of the centrifugal unit in the centrifuge with the top cover in an open state;

and the control unit is in communication connection with the image acquisition device and the mechanical arm and can control the picking and placing actions of the mechanical arm at least by analyzing the stop position of the centrifugal part according to the image acquired by the image acquisition device.

2. The reagent centrifugation system of claim 1, wherein the image acquired by the image acquisition device provides one or a combination of the following information:

the centrifuge unit is stopped, the orientation of the placement groove, the position of the centrifugal tube, and the orientation of the centrifugal tube.

3. Reagent centrifugation system according to claim 2, wherein the pick-and-place action of the robotic arm controlled by the control unit comprises at least: grabbing the centrifugal tube in the direction perpendicular to the axial direction of the centrifugal tube, and taking and placing the centrifugal tube in the direction of the central axis of the placing groove.

4. The reagent centrifugation system of any one of claims 1-3, further comprising:

the reagent bracket is used for bearing a centrifuge tube, and the image acquisition device can acquire the image of the reagent bracket.

5. The reagent centrifugation system of any one of claims 1-3, wherein the robotic arm comprises first and second jaws that can be opened and closed to grasp an item, the first and second jaws forming a diamond-shaped grasping volume when closed.

6. The reagent centrifugation system of any one of claims 1 to 3, wherein the image acquisition device is connected to a positioning drive mechanism or is provided integrally with the turnaround unit, and the image acquisition device acquires the image from multiple angles by being driven by the positioning drive mechanism or the turnaround unit.

7. The reagent centrifugation system of any one of claims 1-3, wherein the robotic arm is disposed on a carrier.

8. The reagent centrifugation system of claim 7, wherein the control unit is communicatively connected to the carrier to control displacement of the carrier.

9. The reagent centrifugation system of any one of claims 1-3 or 8, wherein the centrifuge has a receiver and is capable of controlling the opening and closing of the cap in accordance with instructions received by the receiver.

10. The reagent centrifugation system of any one of claims 1-3 or 8, wherein the centrifuge has a sensor that opens the cap in response to the sensor detecting entry of the epicyclic unit into a particular zone.