GB2567487A - Path control in a laboratory automation system - Google Patents

Path control in a laboratory automation system Download PDF

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Publication number
GB2567487A
GB2567487A GB1716921.0A GB201716921A GB2567487A GB 2567487 A GB2567487 A GB 2567487A GB 201716921 A GB201716921 A GB 201716921A GB 2567487 A GB2567487 A GB 2567487A
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Prior art keywords
path
computing
obstacle
axis
intermediate point
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GB1716921.0A
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GB201716921D0 (en
Inventor
Bürk Oliver
Fritze Roland
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Stratec Biomedical AG
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Stratec Biomedical AG
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Priority to GB1716921.0A priority Critical patent/GB2567487A/en
Publication of GB201716921D0 publication Critical patent/GB201716921D0/en
Publication of GB2567487A publication Critical patent/GB2567487A/en
Withdrawn legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/00584—Control arrangements for automatic analysers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N35/1009—Characterised by arrangements for controlling the aspiration or dispense of liquids
    • G01N35/1011—Control of the position or alignment of the transfer device
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N35/1081—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices characterised by the means for relatively moving the transfer device and the containers in an horizontal plane
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4061—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0474—Details of actuating means for conveyors or pipettes
    • G01N2035/0491—Position sensing, encoding; closed-loop control

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Automatic Analysis And Handling Materials Therefor (AREA)

Abstract

A method of Cartesian path control for a pipetting system and/or a transport system to circumnavigate an obstacle 8 in a laboratory automation system, comprises; determining at least one intermediate point 3 per obstacle; specifying a blending radius 4 for every intermediate point; computing entry points 9 into the blending radius; computing a circular path within the blending radius; determining a maximum acceleration and velocity of axes in path segments 6; computing for every axis a partly or fully synchronous PTP path considering adapted acceleration and velocity and support points for v-t diagrams; computing for every axis the circular path within the blending radius considering the adapted acceleration and velocity and support points for v-t diagrams; putting v-t diagrams comprising the support points together to create a path 5 for every axis; and circumnavigating the obstacle in the laboratory automation system without stopping the pipetting/transport system at the intermediate point.

Description

CharlottenstraBe 80,10117, Berlin, Germany (54) Title of the Invention: Path control in a laboratory automation system Abstract Title: Cartesian path control in laboratory automation system (57) A method of Cartesian path control for a pipetting system and/or a transport system to circumnavigate an obstacle in a laboratory automation system, comprises; determining at least one intermediate point 3 per obstacle; specifying a blending radius 4 for every intermediate point; computing entry points 9 into the blending radius; computing a circular path within the blending radius; determining a maximum acceleration and velocity of axes in path segments 6; computing for every axis a partly or fully synchronous PTP path considering adapted acceleration and velocity and support points for v-t diagrams; computing for every axis the circular path within the blending radius considering the adapted acceleration and velocity and support points for v-t diagrams; putting v-t diagrams comprising the support points together to create a path 5 for every axis; and circumnavigating the obstacle in the laboratory automation system without stopping the pipetting/transport system at the intermediate point.
Fig. 5
At least one drawing originally filed was informal and the print reproduced here is taken from a later filed formal copy.
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PATH CONTROL IN A LABORATORY AUTOMATION SYSTEM
DESCRIPTION
Field of the invention [0001] The field of the invention relates to a method of Cartesian path control for a pipetting or transport systems to circumnavigate an obstacle in a laboratory automation systems.
Background of the invention [0002] Laboratory automation systems such as automated analyzers are commonly used in clinical diagnostics and life sciences for tasks such as specimen handling, specimen preparation, detection and analysis. Such laboratory automation systems often comprise pipetting systems and transport systems. The pipetting and transport systems are usually confronted with obstacles such as modules that need to be circumnavigated. Obstacles are for example caused by the deck layout. Path control can be used to move or transport objects, such as for example empty or filled pipetting tips, pipettors, scanners, cuvettes, tubes, microplates, stripes or paper tape, from one point to another and allow circumnavigation of various obstacles in an elegant and time-optimized way.
[0003] Currently, the deck layout is typically engineered in a way to avoid or minimize the number of obstacles. Most often, this measure results in taller or bigger devices. If obstacles can’t be avoided, they are circumnavigated over intermediate points at which the pipetting or transport system needs to be stopped at the moment for a short time. The stopping at an intermediate point leads to time delay.
[0004] It is state of the art to use Cartesian path control with stopping, wherein a point-topoint (PTP) drive is realized. Multiple PTP motions are concatenated to obtain a path. The path control can still be optimized via the selection of the PTP motion, which can be asynchronous, partly synchronous or fully synchronous. In Cartesian path control the path comprises any number of points including starting point, end point and any number of intermediate points.
[0005] Asynchronous PTP control corresponds to immediate implementation. The axes target their set point with maximum acceleration and velocity and therefore reach their axis set point at different points in time. The next motion starts only after both axes have reached their set point. The maximum distance between the theoretically ideal route corresponding to a direct line and the obstacle needs to be maintained.
[0006] In partly synchronous PTP control all axes start and stop at the same time. The maximum duration of motion is computed for each axis. The axis with the longest duration of motion becomes the leading axis. The motion of every other axis is slowed down. The path doesn’t correspond to the direct line between the points, because the acceleration phases aren’t synchronized. In contrast to asynchronous PTP control, the distance between the obstacle and the direct line can be reduced.
[0007] In fully synchronous PTP control all axes start and stop at the same time. The maximum duration of motion and acceleration are computed for each axis. The axis with the lowest velocity becomes the leading axis during the constant drive. The axis showing the lowest acceleration becomes the leading axis during the phase of acceleration. The motion and acceleration of every other axis are slowed down. The path corresponds to the direct line between the points. Only obstacles being exactly located on the direct line need to be avoided. Intermediate points are employed to circumnavigate obstacles lying exactly on the direct line.
[0008] The known PTP solutions are related to the disadvantage of stopping at multiple or at least one intermediate point causing delays and an increased mechanical stress.
Object of the invention [0009] It is an object of the invention to provide a method of Cartesian path control without intermediate stopping.
Summary of the invention [0010] The instant invention provides a method of Cartesian path control for a pipetting system and/or a transport system to circumnavigate at least one obstacle in a laboratory automation system without stopping, the method comprising the steps of:
determining at least one intermediate point per obstacle, specifying a blending radius for every intermediate point, computing entry points into the blending radius, computing of a circular path within the blending radius, determining a maximum acceleration and velocity of axes in path segments, computing for every axis a partly synchronous or fully synchronous PTP path considering adapted acceleration and velocity and support points for v-t diagrams, computing for every axis the circular path within the blending radius considering the adapted acceleration and velocity and support points for v-t diagrams, and Putting the v-t diagrams comprising the support points together to create a path for every axis, and circumnavigating the obstacle in the laboratory automation systems without stopping the pipetting system and/or the transport system at the intermediate point.
[0011] In a further aspect of the invention, all axes start and stop at the same time is intended.
[0012] It is intended that the blending radius corresponds to the shortest distance between the obstacle and the intermediate point.
[0013] In a further aspect of the invention, the number of intermediate points corresponds to the number of obstacles.
Summary of the figures [0014] The invention will now be described on the basis of figures. It will be understood that the embodiments and aspects of the invention described in the figures are only examples and do not limit the protective scope of the claims in any way. The invention is defined by the claims and their equivalents. It will be understood that features of one aspect or embodiment of the invention can be combined with a feature of a different aspect or aspects of other embodiments of the invention. It shows:
Figure 1: Schematic of asynchronous PTP control.
Figure 2: Schematic of partly synchronous PTP control.
Figure 3: Schematic of fully synchronous PTP control.
Figure 4: Schematic of a path with fully synchronously controlled PTP path segments.
Figure 5: Schematic of Cartesian path control without stopping.
Figure 6: Schematic of polynomial path control.
Detailed description of the invention [0015] The invention provides a method of Cartesian path control for a pipetting or transport system to circumnavigate an obstacle in a laboratory automation system, without stopping the pipetting or transport system leading to reduced time loss and reduced mechanical stress.
[0016] Objects may be selected from the group comprising but not limited to scanners, pipettors, pipetting tips, cuvettes, tubes, microplates, stripes and paper tape.
[0017] Pipetting tips, cuvettes, tubes, microplates or other receptacles may comprise at least one liquid and/or solid particle.
[0018] Liquids within the meaning of the instant invention comprise a sample, buffer, reagent, reaction mixture, and/or mixtures of liquids and solids like particles or beads. A sample may be liquid or solid and stem from a patient for example or may be a mixture coming from a binding reaction. Buffers might be without limitation dissolving, washing, neutralizing, stabilizing and/or a reaction buffers necessary for performing a chemical or enzymatic reaction. The reagents might be selected from the group comprising but not limited to: solvents, enzymes, antibodies, primers, nucleotides, adenosine triphosphates, and dyes. The sample may comprise DNA and/or RNA, a quencher and/or a reporter, fluorescent, luminescent or radiolabeled dyes or components and antibodies possibly linked to a reporter molecule. Solid particles may for example be stripes, magnetic beads and paper tapes.
[0019] The invention describes a method of Cartesian path control without stopping. The method can be used for pipetting systems and/or all transport systems such as for example to transport empty or filled pipetting tips, pipettors, scanners, cuvettes, tubes, microplates, stripes or paper tape. The method is new in conjunction with laboratory automation systems.
[0020] In the method of the present invention, all axes start and stop at the same time, the path comprises any number of points including starting point, end point and any number of intermediate points, and the path is followed without stopping. In addition, a blending radius is given with every intermediate point.
[0021] The method comprises the steps of:
computing the entry points into a blending radius, computing a circular path within the blending radius, determining the maximum acceleration and velocity of the axes in the path segments, computing the partly synchronous or fully synchronous PTP path considering the adapted acceleration and velocity, as well as support points for velocity versus time (v-t) diagrams for every axis, computing the circular path within the blending radius considering the adapted acceleration and velocity, as well as support points for v-t diagrams for every axis, and assembling the v-t diagrams comprising the support points for every axis to a path.
[0022] Alternatively, a polynomial path control is used, wherein all axes start and stop at the same time and the path comprises maximally three points, namely start point, end point and intermediate point. The method of polynomial path control comprises the steps of:
computing the path using a polynomial of third order, determining the axis without change of direction to be the leading axis, determining the maximum acceleration and velocity of the subordinate axis, adapting the velocity and acceleration of the leading axis with respect to the values determined for the subordinate axis in the prior step, computing the v-t diagram for the leading axis, and computing the v-t diagram for the subordinate axis.
The advantages of the invention of the present disclosure can be summarized as follows:
a. The method allows for faster processing, because the system isn’t stopped at intermediate points, leading to a gain of time.
b. The mechanical load of the system is reduced.
c. The method allows for greater freedom of deck layout design and for designs leading to smaller devices.
Detailed description of the figures [0023] Figure 1 shows a schematic of asynchronous PTP control without any obstacles 8 on the left side and with an obstacle 8 on the right side respectively. The paths 5 comprise a start point 1 and an end point 2.
[0024] Figure 2 shows a schematic of partly synchronous PTP control without any obstacles 8 on the left side and with an obstacle 8 on the right side respectively. The paths 5 comprise a start point 1 and an end point 2. The direct line 7 directly connects start point 1 and end point 2.
[0025] Figure 3 shows a schematic of fully synchronous PTP control without an obstacle 8 on the direct line 7 on the left side and with an obstacle 8 located on the direct line 7 between start point 1 and end point 2 on the right side respectively. The direct line 7 is identical to the paths 5.
[0026] Figure 4 shows a schematic of fully synchronously controlled paths 5 comprising a starting point 1, an end point 2, one intermediate point 3 and two path segments 6. The schematic further shows an obstacle 8.
[0027] Figure 5 shows a schematic of Cartesian path control to circumnavigate an obstacle 8 without stopping. The path 5 comprises a starting point 1, an end point 2, one intermediate point 3, a blending radius 4 around the intermediate point 3, an entry point 9 into the blending radius 4 and three path segments 6. A direct line 7 between start point 1 and intermediate point 3 and a direct line 7 between intermediate point 3 and end point 2 is shown.
[0028] Figure 6 shows a schematic of polynomial path control. The paths 5 comprise a start point 1, an end point 2 and an intermediate point 3. In addition, an obstacle 8 is shown.
Reference numerals start point end point intermediate point blending radius path path segment direct line obstacle entry point

Claims (4)

1. A method of Cartesian path control for a pipetting system and/or a transport system to circumnavigate at least one obstacle in a laboratory automation system without stopping, the method comprising the steps of:
determining at least one intermediate point per obstacle, specifying a blending radius for every intermediate point, computing entry points into the blending radius, computing of a circular path within the blending radius, determining a maximum acceleration and velocity of axes in path segments, computing for every axis a partly synchronous or fully synchronous PTP path considering adapted acceleration and velocity and support points for v-t diagrams, computing for every axis the circular path within the blending radius considering the adapted acceleration and velocity and support points for v-t diagrams, and
Putting the v-t diagrams comprising the support points together to create a path for every axis, and circumnavigating the obstacle in the laboratory automation systems without stopping the pipetting system and/or the transport system at the intermediate point.
2. The method according to claim 1, wherein all axes start and stop at the same time.
3. The method according to any one of claims 1 to 2, wherein the blending radius corresponds to the shortest distance between the obstacle and the intermediate point.
4. The method according to any one of claims 1 to 3, wherein the number of intermediate points corresponds to the number of obstacles.
Intellectual Property Office
Application No: GB1716921.0
Claims searched: 1-4
Examiner: Simon Colcombe
Date of search: 9 April 2018
Patents Act 1977: Search Report under Section 17
Documents considered to be relevant:
Category Relevant to claims Identity of document and passage or figure of particular relevance A - US2015/251315 Al (BRANDENBERGER) A - WO2014/074684 A2 (BECKMAN COULTER) A - US2005/067995 Al (WEINHOFER)
Categories:
X Document indicating lack of novelty or inventive step A Document indicating technological background and/or state of the art. Y Document indicating lack of inventive step if P Document published on or after the declared priority date but combined with one or more other documents of before the filing date of this invention. same category. & Member of the same patent family E Patent document published on or after, but with priority date earlier than, the filing date of this application.
Field of Search:
Search of GB, EP, WO & US patent documents classified in the following areas of the UKCX :
Worldwide search of patent documents classified in the following areas of the IPC____________
GOIN; G05B_________________________________________________
GB1716921.0A 2017-10-16 2017-10-16 Path control in a laboratory automation system Withdrawn GB2567487A (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050067995A1 (en) * 2003-09-30 2005-03-31 Rockwell Automation Technologies, Inc. Method and system for generating multi-dimensional motion profiles
WO2014074684A2 (en) * 2012-11-07 2014-05-15 Beckman Coulter, Inc. Automated sample processing system
US20150251315A1 (en) * 2014-03-10 2015-09-10 Tecan Trading Ag Process for Finding A Path in an Automated Handling System, and Handling System with Corresponding Control Module for Finding A Path

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050067995A1 (en) * 2003-09-30 2005-03-31 Rockwell Automation Technologies, Inc. Method and system for generating multi-dimensional motion profiles
WO2014074684A2 (en) * 2012-11-07 2014-05-15 Beckman Coulter, Inc. Automated sample processing system
US20150251315A1 (en) * 2014-03-10 2015-09-10 Tecan Trading Ag Process for Finding A Path in an Automated Handling System, and Handling System with Corresponding Control Module for Finding A Path

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