GB2568932A

GB2568932A - Modular system

Info

Publication number: GB2568932A
Application number: GB1720031.2A
Authority: GB
Inventors: Stuart Marsay James; Lofthouse Garry; Lee Raywood Donald
Original assignee: Applied Scientific Technologies Uk Ltd; Applied Scientific Tech Uk Ltd
Current assignee: Applied Scientific Technologies Uk Ltd; Applied Scientific Tech Uk Ltd
Priority date: 2017-12-01
Filing date: 2017-12-01
Publication date: 2019-06-05
Anticipated expiration: 2037-12-01
Also published as: GB201720031D0; GB2568932B; WO2019106364A1; EP3717180A1

Abstract

A modular robotic system for automating laboratory tasks comprises one or more cells 101, each of which cells comprises a plurality of geometrically shaped segments 102 to 107 and each segment comprises hardware 109a to 109f for performing a processing function. The cell 101 may have a planar work surface made up of work surfaces of the main bodies of each segment 102 to 107. The main body of each segment 102 to 107 may correspond in shape and size and the segments may be interchangeable. An external control device 112 and a data connection 113 may be provided for the hardware units 109a to 109f. A robot arm handler 111 and a camera unit 115 may be provided. The cells 102 to 107 may be mounted on a base 110 with wheels 114 and service ports 116.

Description

Technical Field

The present invention relates to robotic systems, and in particular modular robotic systems.

Background

It is well known to use robotic systems for automation. For example, robotic systems that automate laboratory tasks are well known and widely available. Such systems can automate complex processes, often performing steps more quickly, consistently and accurately than a human operator.

In accordance with common practice in the field of automation, and in particular in the field of laboratory automation, if a system is required to automate a laboratory process, a customised system is commissioned. That is, a system is designed and built specifically for performing the process in question. This approach is often considered effective because a custom built automated system is optimised for undertaking a specific process.

Such custom-built systems are often designed so that certain aspects can be modified to accommodate changes in requirements. However, substantial changes in the way in which the process is undertaken, or if the process needs to be scaled up or scaled down, often require any existing systems to be discarded and entirely new systems to be commissioned. This can be costly, particularly if it is impossible or impractical to recycle parts of the original system.

It is an object of certain embodiments of the invention to address such drawbacks.

Summary of the Invention

In accordance with a first aspect of the invention, there is provided a modular robotic system comprising one or more cells. Each cell comprises a plurality of geometrically shaped segments. Each segment comprises hardware for performing a processing function.

Advantageously, modular robotic systems in accordance with certain aspects of the invention comprise one or more cells each of which comprise a number of geometric segments loaded with specific processing hardware. By physically configuring each segment in accordance with a geometric shape, cell design is easier and can be undertaken more quickly. Further, the exact space occupied by any given cell can be predicted irrespective of the processing hardware it provides. Moreover, as a result of the segments having a geometric shape, cells of the system themselves will typically have predictable geometric configurations, again irrespective of the processing functions they provide making system design, and in particular system modification and system scaling, easier than conventional custom designed systems.

Optionally, each segment comprises a geometrically shaped main body.

Optionally, the main body of each segment has a work surface part configured such that the work surface part of each of the segments together form a substantially planar work surface of the cell.

Advantageously, in certain embodiments, each segment is provided with a work surface part which, together with work surface parts from other segments of a cell, provide a substantially continuous work surface. This arrangement makes it easier for human operators to work with and visually supervise the system. Moreover, in certain embodiments, each cell can be configured so that the work surface is at conventional laboratory bench height, for example 1100mm, meaning that the system can be readily and conveniently integrated into a laboratory environment.

Optionally, the geometrically shaped main body of each segment substantially correspond in shape and size with each other.

In certain embodiments, the shape and size of the geometrically shaped main body of each segment is the same. This improves the ease with which systems can be designed because, irrespective of the function provided by a segment, it will always occupy a position within a cell in the same predictable way.

Optionally, the geometrically shaped main body of each segment is such that the cell forms a substantially hexagonal shape.

Advantageously, in certain embodiments, the main bodies of each segment are geometrically shaped so that the cell has a substantially hexagonal shape. As a result, multiple cells forming a system can be arranged optimising the use of space because hexagons can be “tiled” without gaps. Further, a continuous work surface, substantially without gaps, can be provided for the system allowing easy interaction with human operators and allow easy interaction between cells.

Optionally, the segments are interchangeable.

Optionally, each segment is connected to a control device for controlling the hardware of each segment.

Optionally, the control device is an external control device.

Optionally, the control device is adapted to detect an identity associated with each segment.

Optionally, the control device is adapted to determine from the detected identity, a processing function provided by the hardware of the segment and to present configuration information corresponding to the processing function on a user interface associated with the control device.

Optionally, the user interface enables a process to be performed by the system to be configured using the configuration information.

Optionally, the system further comprises a robot arm handler unit operable to handle 5 items.

Optionally, a camera unit is positioned on the robot arm handler unit.

In accordance with a second aspect of the invention, there is provided a geometrically 10 shaped segment for a modular robotic system according to the first aspect, comprising hardware for performing a processing function.

Various further features and aspects of the invention are defined in the claims.

Brief Description of the Drawings

Embodiments of the present invention will now be described by way of example only with reference to the accompanying drawings where like parts are provided with corresponding reference numerals and in which:

Figure 1 provides a simplified schematic diagram of a cell of a modular robotic system in accordance with certain embodiments of the invention;

Figure 2 provides a simplified schematic diagram of an example segment of a cell of a modular robotic system in accordance with certain embodiments of the invention;

Figure 3 provides a simplified schematic diagram of a graphical user interface in accordance with certain embodiments of the invention;

Figure 4 provides a simplified schematic diagram depicting a modular robotic system in accordance with certain embodiments of the invention, and

Figures 5a to 5h provide schematic diagrams depicting various possible segment shapes and cell configurations in accordance with certain embodiments of the invention.

Detailed Description

Figure 1 shows a simplified schematic diagram of a cell 101 of a modular robotic system in accordance with certain embodiments of the invention. Modular robotic systems in accordance with examples of the invention can include one or more such cells.

The cell 101 comprises a number of discrete, geometrically shaped, segments 102, 103, 104, 105, 106, 107. In the embodiment shown in Figure 1, the cell 101 comprises six such geometrically shaped segments.

More specifically, each segment comprises a geometrically shaped main body 108 and a hardware unit 109a - 109f for providing a processing function, such as a laboratory processing function.

The main body of each segment 102, 103, 104, 105, 106, 107 is configured to be the same size and shape as the main body of each other segment. More specifically, the main body of each segment 102, 103, 104, 105, 106, 107 is a geometric “wedge” shape such that when the six segments are positioned adjacent, a polyhedron with a uniform hexagon shaped upper and lower face is formed. The upper surface of the cell forms a substantially planar work surface made from work surface parts of each segment - i.e. an upper surface of the main body of each segment.

In certain embodiments, the segments are configured so that the work surface is at conventional laboratory bench height, e.g. approximately 1100mm from the floor.

Typically, the shape of the main body of each segment is selected such that the cell forms a shape (e.g. a hexagon) which is such that when multiple cells are brought together, a continuous surface is formed.

In Figure 1, the hardware unit of each segment is depicted schematically as having the same shape and configuration (a simple cylinder shape is shown for clarity). However, as explained below, different hardware units may provide different functions therefore will typically be of differing shape and configuration. Although being of different vertical heights, typically, hardware associated with each segment will typically be substantially confined to the surface area defined by the upper surface of the segment.

The cell 101 further comprises a base 110 which corresponds in shape to the hexagon formed by the six wedge shaped segments 102, 103, 104, 105, 106, 107. Typically, the base comprises a hexagonal bed on top of a correspondingly shaped pedestal. The bed comprises six predetermined segment positions into which segments are inserted.

The processing function hardware unit of each segment typically provides a different processing function. For example, the processing function hardware unit from the first segment 102 may provide a sample container loading and unloading function for loading and unloading sample containers from a sample rack; the processing function hardware unit from the second segment 103 may provide a shaker function for shaking a sample container; the processing function hardware unit from the third segment 104 may provide a centrifuge function; the processing function hardware unit from the fourth segment 105 may provide a heating function for heating a sample container; the processing function hardware unit from the fifth segment 106 may provide a separating function for separating supernatant from a sample container, and the processing function hardware unit from the sixth segment 106 may provide a sample taking function for taking a sample of supernatant liquid from a sample container.

The cell 101 further comprises a handler unit 111 for handling items associated with the process being performed by the cell 101. For example, the handler unit 111 may be a robotic arm equipped with a servo controlled gripper, configured to pass sample containers between processing function hardware units of the various segments. In certain embodiments, the gripper is adapted such that it has a modifiable grip size so that it can accommodate objects of different size.

Mounted on the handler unit 111 is a camera unit 115. The camera unit enables image data relating to the work surface of the cell 101 to be captured and used for control of the system.

The cell 101 is configured so that the segments are interchangeable. That is, different segments can be inserted and removed from the cell 101. Each segment is secured in place in the cell by a suitable latching mechanism. In certain embodiments, a mechanical latching mechanism can be used. In other embodiments an electromechanical latching mechanism (e.g. using one or more solenoids) can be used.

Typically, for each segment, the cell 101 includes a number of service connection points for providing services necessary for the processing hardware function units to operate. The service connection points include, for example, a power service connection point for providing electrical power; a water supply supplying cold, demineralised water; a waste extraction connection for extracting waste liquids; a fume extraction connection for extracting fumes; an air supply providing clean, dry pressurised air, and a data network connection for connecting to the segment to a computer network enabling data to be sent and received.

Correspondingly, each segment comprises a number of service connection points necessary for the functioning of its processing function hardware unit. The service connection points of each segment connect to corresponding service connection points of the cell.

Typically, the services enter the cell 101 by connecting a services umbilical to a services port. In certain embodiments, as shown in Figure 1, each face of the base 110 is provided with a services port 116. By providing a services port on each face, the most convenient services port can be used to connect services to the cell (for example the services port near an appropriate external services connection).

Typically, operation of the cell 101, specifically operation of the processing hardware function units and the handler unit 111 is controlled by an external control device 112. The control device is connected to the cell via a suitable data connection 113. Information from the cell, such as information from the hardware units and image data captured by the camera is communicated to the control device via the data connection

113. Control information to the cell 101, e.g. control information for controlling specific hardware units and the handler unit 111, is communicated from the control device to the cell 101 via the data connection 113. Typically, the control device 112 is provided by a computing device, such as a personal computer (PC), comprising a processor unit, memory unit and suitable data input/output interface.

Image data captured by the camera unit 115 can be processed by machine vision software enabling the system to track the location of items on the work surface of the cell. This enables the handler unit 111 to pass items, for example sample containers, between hardware units of different segments. This also allows the handler unit 111 to rectify problems, for example pick up and replace dropped sample containers, or correctly position sample containers incorrectly positioned by operators.

The cell 101 comprises wheel units 114 connected to the base 110 allowing the cell to be readily moved from place-to-place, for example around a laboratory or processing environment. In certain embodiments, each wheel unit 114 includes a levelling actuator operable to change the distance of the wheel unit from the base. The levelling actuators can be connected to an orientation sensor within the cell 101 arranged to detect any tilt present due, for example, to the cell being positioned on an uneven surface. Control signals, generated responsive to an orientation output of the orientation sensor, can be used to actuate the levelling actuators to ensure that the cell is level. In certain embodiments, this is an automated process, i.e. a cell levelling process occurs without any intervention from human operators.

Figure 2 provides a simplified schematic diagram showing a more detailed view of an example segment 201 in accordance with certain embodiments of the invention.

The segment 201 includes a hardware unit which comprises a fume extractor unit 202 and a sample container shaker unit 203. The segment 201 further comprises a main body 204 which houses a control unit 205 for controlling the fume extractor unit 202 and the sample container shaker unit 203. The main body 204 of the segment 201 includes three service connection points: a first service connection point 206 providing a power supply connection for providing power to the control unit 205, the fume extractor unit 202 and the sample container shaker unit 203; a second service connection point 207 a data connection point for connecting the control unit 205 to an external control device, and a third service connection point 208 for removing fumes extracted by the fume extractor unit 202. Electrical power is provided to the control unit 205, the fume extractor unit 202 and the sample container shaker unit 203 via internal power connection lines 209, 210. Data is communicated to and from the control unit 205 and the data connection point 207 via a data connection line 211. Fumes extracted from of the fume extractor unit 202 are extracted from the segment 201 via the fume extraction connection point 208 and a fume conduit 212. Control signals are sent from the control unit 205 to the fume extractor unit 202 and a sample container shaker unit 203 via control lines 213,214.

Returning to Figure 1, typically, the external control device 112 controlling the system has stored thereon software for controlling the operation of the system.

In certain embodiments, the software is adapted to provide a user with a graphical user interface (GUI) which displays to a user a schematic representation of the system that corresponds to the physical configuration of the system. In other words, the GUI provides a schematic depiction of the configuration of the system including the relative location of segments within a cell (and, if the system comprises multiple cells, the relative location of different cells) along with the functions provided by the hardware units of the or each cell.

The GUI provides a user with controls allowing a process to be defined comprising a sequence of operations, for example, with the hardware units from different segments of the cell performing specific steps in a specific order.

Figure 3 provides a simplified schematic diagram of a GUI 301 generated by the software as described above enabling a user to define a process to be undertaken by a modular robotic system in accordance with certain embodiments of the invention.

A first part 302 of the GUI 301 shows a schematic representation of the system being controlled by the software. In this example, the system comprises a single cell with six segments, a first segment (1) provided with loading/unloading hardware; a second segment (2) provided with shaking hardware; a third segment (3) provided with centrifuge hardware; a fourth (4) segment provided with heating hardware; a fifth segment (5) provided with separating hardware, and a sixth segment (6) provided with sampling hardware.

To define a process, the GUI 301 provides a “drag and drop” interface allowing a user to “select” a segment from the first part 302 and “drag” it to a second part 303 of the GUI 301. Once a drag and drop operation has been performed by a user in this way, a processing step is shown in the second part 303 and the user is prompted to enter in variables associated with the function performed by the hardware unit of the relevant segment. For example, when the “drag and drop” operation is performed for the second segment (2), a user is prompted to enter a period of time of the shaking operation and a shaking intensity.

The user performs the drag and drop operation on the various segments corresponding to the order with which the process is to be performed. For example, the vertical order with which the processing steps are shown in the second part 303 of the GUI determines the order in which the process is performed, the top processing step being performed first. An illustrative process shown in the second part 303 of the GUI in Figure 3 comprises the following steps in the following order:

1) Unload sample container from sample container rack

2) Shake sample container for 60 seconds with shake intensity level 2

3) Centrifuge sample container for 30 seconds at 300rpm

4) Shake sample container for 10 seconds with shake intensity level 5

5) Heat sample container for 10 minutes at 200 degrees

6) Separate 10 ml of supernatant from sample container

7) Take and store sample supernatant from sample container

8) Return sample container to sample container rack

Once the process has been defined by the user, the user can select an “execute” control. This control causes the software to control the segments of the system to perform the process specified in the second part 303 of the GUI 301. This is typically achieved by converting the process defined by the user into a series of control signals which are communicated to the control units of each segment. As will be understood, typically the conversion of the process specified by the user using the GUI into control signals “abstracts” the generation of control signals from the user. For example, the software may determine, from the order of steps defined by the user in the second part of the GUI, the requisite operation of the handler unit passing the sample container to and from hardware units. Further, the control units of each segment will typically generate feedback control information to monitor operation of the system and to identify, and where possible, rectify errors.

In certain embodiments, alternatively, or additionally to defining a process for the system to perform using the GUI, a process can be defined by alternative means. In one example, an optical code, such as a machine-readable barcode, affixed for example to a sample container, can be imaged using the camera device. Encoded on the barcode is a process identifier which identifies a predetermined process to be performed by the system. The software running on the external control device is adapted to identify a process associated with a barcode, for example by retrieving it from memory and then control the segments of the system to perform the process. Alternatively, or additionally, an optical code such as a barcode may itself be used to encode process data - e.g. specify a series of steps. The software is adapted to decode such data, extract the relevant process data and undertake the specified process.

In this way, a reduced amount of operator input is required as it is not necessary for an operator to specify a process and input an “execute” command. Instead, a sample container with a suitable optical code can simply be put on the work surface of the cell, imaged by the camera unit and then the process is performed.

The software is typically arranged to detect if a segment has been inserted into the cell or removed from the cell and to update the GUI 302 accordingly. For example, the control unit of each segment on power up may be arranged to communicate to the control device a segment identifier. The software may include a library of segment configuration information associated with different segment identifiers and present information on the GUI accordingly (e.g. the visual representation of the segment type and the variables that can be set for that segment type). The software may be able to determine a relative position of the segment within the cell by virtue of an identifier address associated with a data connection point within the cell to which the segment has been attached. Alternatively, the identity and position of segments may be determined by a marker (e.g. optical code) affixed to a part of the segment that can be imaged by the camera unit. In certain embodiments, the segments may also include “landmark” markers in predetermined positions on each segment. The landmark markers show predetermined patterns, the parallax of which can be used to determine segment position and orientation. The landmark markers are imaged by the camera device. By detecting the landmark markers the control device can identify the orientation of the segment to identify if it has been incorrectly installed and, for example, generate a corresponding error message to be displayed on the GUI 302.

Figure 4 provides a simplified schematic diagram depicting a modular robotic system 401 in accordance with certain embodiments of the invention. The system 401 comprises five cells 402, 403, 404, 405, 406 each of which correspond to the cell described with reference to Figure 1 and cell segment describe with reference to Figure 2.

As can be seen from Figure 4, by virtue of the shape of each cell, the system 301 is provided with a continuous surface. Forming a system in this fashion means that more complex processes can be performed, or aspects of a process can be performed in parallel.

A first part of a GUI associated with the system shown in Figure 4 will typically provide a schematic representation of the various cells of the system as well as their constituent segments. The second part of the GUI will enable parallel processes to be defined (e.g. processes being performed independently of each other on different cells), and collaborative processes being performed across cells. The relative position of each cell can be determined in any suitable way. In one example, each cell has an identifying optical code (e.g. barcode) which can be imaged by a camera unit of the handler of an adjacent cell and communicated back to the control device. Software running on the control device can thereby determine the relative position of each cell adjacent a given cell and thereby determine the relative position of all the cells.

In the embodiments described above, the main body of the segments of each cell are substantially of uniform (the same) shape. However, in certain embodiments, nonuniform segment configurations are possible. Figures 5a to 5g provide schematic diagrams showing certain example segment configurations. In certain embodiments, cells comprising segments which form shapes comprising more than one hexagonal are possible. Figure 5h depicts a cell comprising segments which are such that the cell comprises two hexagons.

Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature disclosed is one example only of a generic series of equivalent or similar features.

It will be appreciated that features from one embodiment may be appropriately incorporated into another embodiment unless technically unfeasible to do so.

It will be appreciated that various embodiments of the present disclosure have been described herein for purposes of illustration, and that various modifications may be made. Accordingly, the various embodiments disclosed herein are not intended to be limiting, with the scope being indicated by the following claims.

Claims

1. A modular robotic system comprising one or more cells, each cell comprising a plurality of geometrically shaped segments, each segment comprising hardware for performing a processing function.

2. A modular robotic system according to claim 1, wherein each segment comprises a geometrically shaped main body.

3. A modular robotic system according to claim 1, wherein the main body of each segment has a work surface part configured such that the work surface parts of each of the segments together form a substantially planar work surface of the cell.

4. A modular robotic system according to claim 3, wherein, in use, the planar work surface is substantially 1100mm high.

5. A modular robotic system according to any of claims 2 to 4, wherein the geometrically shaped main body of each segment substantially correspond in shape and size.

6. A modular robotic system according to any of claims 2 to 5, wherein the geometrically shaped main body of each segment is such that the cell forms a substantially hexagonal shape.

7. A modular robotic system according to any previous claim, wherein the segments are interchangeable.

8. A modular robotic system according to any previous claim, wherein each segment is connected to a control device for controlling the hardware of each segment.

9. A modular robotic system according to claim 8, wherein the control device is an external control device.

10. A modular robotic system according to claim 9, wherein the control device is adapted to detect an identity associated with each segment.

11. A modular robotic system according to claim 10, wherein the control device is adapted to determine from the detected identity, a processing function provided by the hardware of the segment and to present configuration information corresponding to the processing function on a user interface associated with the control device.

12. A modular robotic system according to claim 11, wherein the user interface enables a process to be performed by the system to be configured using the configuration information.

13. A modular robotic system according to any previous claim, further comprising a robot arm handler unit operable to handle items.

14. A modular robotic system according to claim 13, wherein a camera unit is positioned on the robot arm handler unit.

15. A geometrically shaped segment for a modular robotic system according to any of claims 1 to 14, comprising hardware for performing a processing function.