JP7390834B2 - workbench equipment - Google Patents

Description

The present invention relates to a workbench device.

In recent years, in various fields such as regenerative medicine, food hygiene, experiments, research, and testing, workbench devices called isolators, safety cabinets, and clean benches have been used to perform various tasks such as culturing and observing biological samples. ing.

For example, Patent Document 1 discloses that a work instruction sheet is displayed on a monitor attached to the side of a safety cabinet, and a worker performs work while checking the display on the monitor.

JP2007-82424A

However, in the safety cabinet described in Patent Document 1, the monitor is attached to the side of the safety cabinet, so a worker working at a workbench must use his or her own monitor to check the display on the monitor. You must move your line of sight from your hands and work equipment to the monitor. Therefore, there was a problem that the work efficiency of the worker was reduced.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a workbench device that can improve the work efficiency of a worker.

The present invention solves the above problems, and a workbench device according to an embodiment of the present invention includes:
a workbench on which work is performed on biological samples;
a ceiling section disposed above the workbench;
a peripheral wall portion that is arranged to surround a work space between the workbench and the ceiling portion, has a transparent front side, and has an opening on the front side;
The apparatus includes an image projection unit that projects an image onto a projection plane that includes at least one of the upper surface of the workbench and the wall surface of the peripheral wall.

According to the workbench device according to an embodiment of the present invention, the image projection section projects an image onto a projection surface including at least one of the top surface of the workbench and the wall surface of the peripheral wall. Therefore, the worker can visually recognize the image projected onto the projection surface while working on the workbench and the work space, so that the worker's work efficiency can be improved.

FIG. 1 is a front view showing an example of a workbench device 1 according to an embodiment of the present invention. 1 is a side sectional view showing an example of a workbench device 1 according to an embodiment of the present invention. 1 is a top view showing an example of a workbench device 1 according to an embodiment of the present invention. FIG. 1 is a block diagram showing an example of a workbench device 1 according to an embodiment of the present invention. An example of an image including instruction information 13A and 13B according to an embodiment of the present invention is shown, (a) an image projected onto the inner wall surface 420 (projection surface 100) of the rear wall section 42 by the first image projection section 7A, (b) It is a figure which shows the image projected on the inner wall surface 410 (projection surface 100) of the front side wall part 41 by the 2nd image projection part 7B. FIG. 3 is a diagram showing a visual recognition state when images (instruction information 13A, 13B) projected by first and second image projection units 7A, 7B according to the embodiment of the present invention are viewed by a worker U. FIG. 3 is a diagram showing a visual recognition state when images (alert information 14A, 14B) projected by first and second image projection units 7A, 7B according to an embodiment of the present invention are viewed by a worker U. .

Hereinafter, one embodiment of the present invention will be described with reference to the accompanying drawings.

FIG. 1 is a front view showing an example of a workbench device 1 according to an embodiment of the present invention. FIG. 2 is a side sectional view showing an example of the workbench device 1 according to the embodiment of the present invention. FIG. 3 is a top view showing an example of the workbench device 1 according to the embodiment of the present invention. FIG. 4 is a block diagram showing an example of the workbench device 1 according to the embodiment of the present invention.

The workbench device 1 is, for example, a device called an isolator, a safety cabinet, or a clean bench, and is used when working on a biological sample S. The biological sample S is, for example, cells, tissues or blood of animals including humans, cells or tissues of plants, microorganisms, viruses, or the like. The work on the biological sample S is, for example, any work performed for the purpose of regenerative medicine, food hygiene, experiment, research, inspection, etc.

In this embodiment, as an example of the work on the biological sample S, a case will be described in which a medium exchange work is performed to replace the medium M for culturing cells. Therefore, the working tools 12 used in the replacement work include a culture container 120 such as a dish or a flask for storing the biological sample S, a first culture container pedestal 121A on which the culture container 120 to be worked is placed, A second culture container pedestal 121B on which the culture container 120 that is waiting for work or has been worked is placed, a first culture container pedestal 123A that places the culture medium container 122 to be worked on, and a culture medium container 122 that is waiting to be worked on or has been worked on. Examples include a second culture medium container pedestal 123B to be placed, an electric pipetter 124, a microscope 125 for observing the state of the biological sample S, a culture medium supply device 126 for supplying a replacement medium M to the culture medium container 122, and the like.

The workbench device 1 includes a workbench 2 on which a worker U performs work on a biological sample S (in this embodiment, medium replacement work), a ceiling 3 disposed above the workbench 2, and a workbench 2. A working space 10 is formed between the front side and the ceiling part 3, and the peripheral wall part 4 is transparent on the front side and has an opening part 40 on the front side.

The workbench device 1 also includes a state recognition unit 5 that recognizes the work status on the workbench 2 and the workspace 10, and a first and a state recognition unit 5 installed on the top surface 20 of the workbench 2 to support the work of the worker U. The second work support robot 6A, 6B, the first and second image projection units 7A, 7B that project images onto the projection surface 100, and the work support based on the work state recognized by the state recognition unit 5. It further includes a control device 8 that controls the robots 6A, 6B and image projection units 7A, 7B.

The workbench 2 has a desk-like structure, and its upper surface 20 is supported by left and right legs 21 so that the height is such that the worker U can easily work while sitting on a chair. Further, the workbench 2 is provided with a waste container 22 formed in a concave shape and a suction port 23 for sucking air in the workspace 10 on the upper surface 20, and a work implement 12 is provided at a predetermined position on the upper surface 20. Placed.

The ceiling part 3 is provided with an air outlet 31 on its ceiling surface 30 for blowing out clean air into the work space 10. Moreover, the ceiling part 3 is equipped with a ventilation fan 32 for circulating the air in the work space 10 and a filter 33 for maintaining the air in the work space 10 at a predetermined level of cleanliness.

The peripheral wall 4 includes a front wall 41, a rear wall 42, a left wall 43, and a right wall 44, which are arranged on the front, back, left, and right sides of the work space 10 so as to surround the work space 10 on all sides. Further, the peripheral wall portion 4 includes an air passage 45 therein for returning the air sucked in by the suction port 23 to the blower fan 32 side.

The front wall 41 is made of a transparent plate-like member made of glass, acrylic resin, or the like, and has a rectangular opening 40 formed in its lower part. Therefore, the worker U inserts his/her own hands H1 and H2 into the work space 10 through the opening 40, and passes through the work table 2, the biological sample S present in the work space 10, and the culture medium through the transparent front wall part 41. The worker U performs work on the biological sample S in the work space 10 while visually recognizing objects such as the worker U, the work implement 12, the work support robots 6A and 6B, and the worker's own hands (hands H1, H2, and arms). Note that the shape of the opening 40 is not limited to a rectangular shape, and may be any shape, for example, a circular shape. Furthermore, a glove or the like may be attached to the opening 40.

The peripheral wall 4 has an inner wall surface 410 of the front wall 41 , an inner wall surface 420 of the rear wall 42 , an inner wall surface 430 of the left wall 43 , and a right wall 44 as a projection surface 100 located on the work space 10 side. An inner wall surface 440 is provided. Further, the peripheral wall portion 4 includes an outer wall surface 411 of the front wall portion 41 as a projection surface 100 located on the external space 11 side. In this embodiment, the projection surface 100 for the first image projection section 7A is the inner wall surface 420 of the rear wall section 42, and the projection surface 100 for the second image projection section 7B is the inner wall surface 410 of the front wall section 41. A case will be explained below.

The state recognition unit 5 recognizes two cameras 50 that are attached to the ceiling surface 30 and capture images of the upper surface 20 of the workbench 2 and the entire work space 10, and imaged data captured by the two cameras 50, respectively. It includes a recognition processing unit 51 that acquires the working status in the workbench 2 and the workspace 10 by performing processing.

The recognition processing unit 51 acquires, for example, the positions of the work implement 12, the positions of both hands H1 and H2 of the worker U, etc. as the work state. In addition, the recognition processing unit 51 performs recognition processing on identification codes such as QR codes (registered trademark) attached to the culture container 120 and the culture medium container 122, thereby recognizing the biological sample S stored in the culture container 120. Information regarding the medium M (for example, biological sample ID) and information regarding the medium M stored in the medium container 122 (for example, medium ID) is acquired as the working status. Then, the state recognition section 5 sends work state information 500 including the work state acquired by the camera 50 and the recognition processing section 51 to the control device 8 . Note that the state recognition unit 5 may acquire the face, direction of line of sight, etc. of the worker U as the work state.

The first and second work support robots 6A and 6B are configured by, for example, vertically articulated robots, and perform work on the biological sample S in place of the worker U or in cooperation with the worker U. to support worker U. In this embodiment, the first and second work support robots 6A and 6B move the culture container 120 or the culture medium container 122, open/close the lid of the culture container 120 or the culture medium container 122, etc., for example.

The first and second work support robots 6A and 6B operate on the workbench 2 and the workspace by performing recognition processing on the camera 60 attached to the tip of the robot arm and the imaged data taken by the camera 60. 10, and a robot controller 62 that operates an actuator such as a motor based on robot operation information 800 sent from the control device 8.

The camera 60 and the recognition processing section 61 have the same functions as the camera 50 and the recognition processing section 51 of the state recognition section 5. The work state information 600 including the work state obtained by the above is sent to the control device 8.

The first and second image projection units 7A and 7B are each attached to the ceiling surface 30, and are configured by, for example, a projector using a laser or an LED as a light source. Note that the first and second image projection units 7A and 7B may project images through optical members such as mirrors, and the projection surface 100 may have a predetermined transmittance or reflectance. A projection film or the like may be attached.

The first image projection section 7A employs a front projection method, and projects an image based on the image projection information 801 sent from the control device 8 using the inner wall surface 420 of the rear wall section 42 as the projection surface 100. The second image projection section 7B employs a rear projection method, and projects an image based on the image projection information 801 sent from the control device 8 using the inner wall surface 410 of the front wall section 41 as the projection surface 100. When projecting images toward the projection surface 100, the first and second image projection units 7A and 7B are configured to display objects to be visually recognized (for example, a biological sample S, a working instrument 12, and the first and second work support robots 6A). , 6B or the worker U's own hand), the images are projected so as to be superimposed.

The images projected by the first and second image projection units 7A and 7B include, for example, at least one of work instruction information and attention-calling information regarding the work support robots 6A and 6B. Note that details of the image and each information will be described later.

The control device 8 controls the work support robots 6A, 6B and the image projection units 7A, 7B based on the work state information 500, 600 sent from the state recognition unit 5 and the work support robots 6A, 6B.

The control device 8 is composed of a general-purpose computer, and includes, for example, a storage section 81 composed of an HDD, a memory, etc., a control section 82 composed of a processor such as a CPU, and various parts of the workbench device 1 (image The communication unit 83 functions as a communication interface with the projection units 7A, 7B, the state recognition unit 5, the work support robots 6A, 6B, etc.). Note that the control device 8 may be connected to a network such as the Internet or a LAN via the communication unit 83, and may acquire various information from devices connected to the network.

In the storage unit 81, a work support program 810 and a work management database 811 are written.

The work management database 811 stores the type of biological sample S, work plan, work history, etc. using the biological sample ID as a key, and also stores the type, capacity, etc. of the medium M using the medium ID as a key.

The control unit 82 functions as a robot motion information generation unit 820 and an image projection information generation unit 821 by executing the work support program 810 stored in the storage unit 81.

The robot motion information generation unit 820 generates robot motion information 800 based on the work management database 811 and the work status information 500 and 600. The robot operation information 800 is sent to the first and second work support robots 6A and 6B via the communication unit 83.

For example, the robot operation information generation unit 820 may refer to the work plan of the biological sample S in the work management database 811 and the positions of the culture container 120, culture medium container 122, electric pipetter 124, etc. in the work state information 500 and 600. As a result, robot motion information 800 including the planned movement routes and movement speeds of the first and second work support robots 6A and 6B is generated.

The image projection information generation unit 821 generates image projection information 801 based on the work management database 811, the work status information 500, 600, and the robot operation information 800. Image projection information 801 is sent to the first and second image projection sections 7A and 7B via the communication section 83.

Specifically, the image projection information generation unit 821 generates the work plan for the biological sample S in the work management database 811 and the positions of the culture container 120, culture medium container 122, electric pipetter 124, etc. in the work state information 500 and 600. By referring to it, image projection information 801 is generated that causes the first and second image projection units 7A and 7B to project an image (see FIGS. 5 and 6) including the instruction information 13A and 13B for the culture medium replacement work.

FIG. 5 shows an example of an image including the instruction information 13A and 13B according to the embodiment of the present invention, (a) projected onto the inner wall surface 420 (projection surface 100) of the rear wall section 42 by the first image projection section 7A. and (b) an image projected onto the inner wall surface 410 (projection surface 100) of the front wall section 41 by the second image projection section 7B. FIG. 6 shows the visual recognition state when the images (instruction information 13A, 13B) projected by the first and second image projection units 7A, 7B according to the embodiment of the present invention are viewed by the worker U. It is a diagram.

The instruction information 13A shown in FIG. 5A is an image projected near the center of the inner wall surface 420 of the rear wall section 42 by the first image projection section 7A. The instruction information 13A is, for example, a procedure manual 130 indicating the procedure for medium exchange work.

The procedure manual 130 includes, for example, instruction contents indicating the types and volumes of the biological sample S and the medium M used in the medium exchange operation, contents indicating the work implement 12 used in the medium exchange operation, and information on how to use them. This includes content indicating the procedure for the medium replacement work to be performed.

The procedure manual 130 also includes, for example, the biological sample S, the medium M, and the work implement 12 in the procedure of the medium exchange work, which are associated with the actual biological sample S, the medium M, and the work implement 12 on the workbench 2 and the work space 10. Indication marks 131A to 131C are included.

The instruction information 13B shown in FIG. 5(b) indicates that when the worker U visually recognizes the workbench 2 and workspace 10 through the transparent front wall 41, This is an image projected onto the inner wall surface 410 of the front wall section 41 by the second image projection section 7B so as to be superimposed on each other.

The instruction information 13B includes, for example, superimposed marks 132A to 132C that surround and indicate the positions of the biological sample S, culture medium M, and work implement 12 associated with the instruction marks 131A to 131C, and the workbench 2 and workspace 10. includes superimposed arrows 133A and 133B that indicate the moving direction when moving the biological sample S, the culture medium M, and the working instrument 12.

The instruction marks 131A to 131C and the superimposed marks 132A to 132C are generated using a common display mode (for example, color, shape, pattern, blinking state, etc.) so that the correspondence between them can be seen.

Therefore, when the worker U inserts his/her own hands H1 and H2 into the work space 10 through the opening 40 and performs the culture medium exchange work, the worker U can project the image onto the inner wall surface 420 of the rear wall section 42 as shown in FIG. By visually recognizing the instruction information 13A and the instruction information 13B projected on the inner wall surface 410 of the front wall portion 41, the user understands the procedure for the culture medium exchange operation and performs the culture medium exchange operation.

That is, the worker U can check the instruction marks 131A to 131C included in the procedure manual 130 projected on the inner wall surface 420 of the rear wall section 42 and the superimposition marks 132A to 132C projected on the inner wall surface 410 of the front wall section 41. While using the electric pipettor 124, the culture medium container 122 that stores the medium M, and the culture container 120 that stores the biological sample S, which are located at the positions surrounded by the superimposed marks 132A to 132C, while referring to the correspondence between the By moving the electric pipetter 124 along the superimposed arrows 133A and 133B projected on the inner wall surface 410 of the front wall portion 41, the medium exchange operation shown in the procedure manual 130 can be performed.

The image projection information generation unit 821 also generates a work plan for the biological sample S in the work management database 811, the positions of the work implement 12 in the work state information 500 and 600, the positions of both hands H1 and H2 of the worker U, and the robot By referring to the scheduled moving routes and scheduled moving speeds of the work support robots 6A and 6B in the motion information 800, it is possible to determine the possibility of a collision in which the work support robots 6A and 6B collide with either of the hands H1 and H2 of the worker U. Determine whether it exists or not.

Then, when it is determined that there is a possibility of a collision, the image projection information generation unit 821 projects an image (see FIG. 7) containing the alert information 14A, 14B regarding the work support robots 6A, 6B into the first and second image projections. Image projection information 801 to be projected by units 7A and 7B is generated.

FIG. 7 shows the visual recognition state when the images (alert information 14A, 14B) projected by the first and second image projection units 7A, 7B according to the embodiment of the present invention are viewed by the worker U. FIG.

The attention calling information 14A shown in FIG. This is an image projected near the center of 420.

The alerting information 14A is, for example, an alerting message 140 that urges the worker U to be alert. The attention message 140 includes, for example, the expected collision time (3 seconds) when it is determined that there is a possibility of a collision, and the collision location (right hand H2) for the worker U.

Further, the caution information 14B shown in FIG. The second image projection unit 7B projects an image on the inside of the front wall 41 so that it is superimposed on the second work support robot 6B and the right hand H2 of the worker U when the workbench 2 and the workspace 10 are viewed. This is an image projected onto a wall surface 410.

The alert information 14B includes, for example, an alert indicating the possibility of a collision between the planned movement route 141 of the second work support robot 6B and the second work support robot 6B in a manner surrounding the right hand H2 of the worker U. mark 142. Note that even if the image projection information generation unit 821 determines that there is no possibility of a collision, for example, the warning information including the planned travel route 141 is displayed on the front wall 41 by the second image projection unit 7B. It may also be projected onto the inner wall surface 410.

Therefore, when the worker U inserts his/her own hands H1 and H2 into the work space 10 through the opening 40 and performs the culture medium exchange work, the worker U can project the image onto the inner wall surface 420 of the rear wall section 42 as shown in FIG. By visually checking the caution information 14A projected on the front wall 41 and the caution information 14B projected on the inner wall surface 410 of the front wall 41, the possibility of collision with the work support robots 6A and 6B can be grasped in advance, and work support can be performed. Collisions with the robots 6A and 6B can be avoided.

(Other embodiments)
Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and can be modified as appropriate without departing from the technical idea of the present invention.

For example, in the above embodiment, the workbench device 1 includes a state recognition section 5, first and second work support robots 6A, 6B, first and second image projection sections 7A, 7B, and a control device 8. However, at least one of the state recognition unit 5, the first and second work support robots 6A and 6B, and the control device 8 may be omitted.

In the above embodiment, two cameras 50 and two image projectors 7A and 7B of the state recognition unit 5 are installed on the ceiling 3, and two work support robots 6A and 6B are installed on the workbench 2. Although the description has been made assuming that several units are installed, the number and installation position of these units may be changed as appropriate.

In addition, the recognition processing section 51 of the state recognition section 5, the recognition processing section 61 of the first and second work support robots 6A and 6B, the robot motion information generation section 820 of the control device 8, and the image projection information generation section 821 are optional. For example, the control device 8 may include the recognition processing section 51 of the state recognition section 5 and the recognition processing section 61 of the first and second work support robots 6A and 6B. good.

Furthermore, in the embodiment described above, the projection plane 100 was explained as being the inner wall surface 410 of the front wall 41 and the inner wall surface 420 of the rear wall 42; , at least one of the wall surfaces 410, 411, 420, 430, and 440 of the peripheral wall portion 4 is sufficient. Any one or more of the inner wall surface 430 of the portion 43 and the inner wall surface 440 of the right side wall portion 44 may be selected. Furthermore, the projection surface 100 may be the outer wall surface 411 of the front wall section 41 instead of the inner wall surface 410 of the front wall section 41, and in that case, a front projection method may be adopted. Further, the projection plane 100 may be all the surfaces or some of the surfaces.

In the embodiment described above, the second image projection unit 7B allows the worker U to view an object (for example, the work implement 12, the work support robots 6A, 6B, or the worker U's own hand) through the front wall 41. etc.), the image is projected onto the inner wall surface 410 of the front wall section 41 so that the object to be visually recognized and the image projected onto the inner wall surface 410 of the front wall section 41 indirectly overlap. Although the image projection unit has been described as projecting an image on the surface of the visible object as a part of the projection surface 100 by superimposing an image on the visible object, as in projection mapping, the image projection unit may be directly projected. For example, when the image projection unit projects an image toward the top surface 20 of the workbench 2, the image is directly projected onto the surface of the visible object that exists between the image projection unit and the top surface 20 of the workbench 2. You may also do so. In this case, the image projection unit may project the image onto the surface of the visible object at the same time as projecting the image onto the upper surface 20 of the workbench 2, or may project the image onto the surface of the visible object at the same time. The image may be projected only when the image is displayed.

Furthermore, in the above embodiment, the first and second image projection units 7A and 7B are provided in one-to-one correspondence with the projection plane 100, but with respect to one projection plane 100, A plurality of image projection sections may be provided for a plurality of projection surfaces 100, or one image projection section may be provided for a plurality of projection surfaces 100. Furthermore, the image projection unit may change the position and range of the projection surface 100 as appropriate by changing the projection range and projection angle.

Furthermore, in the above embodiment, the images projected by the first and second image projection units 7A and 7B were described as including at least one of the instruction information 13A and 13B and the attention-calling information 14A and 14B. The information included in the image is not limited to these, and may be any information, for example, an image observed by the microscope 125, a setting screen for setting the operation of the control stand device 1 (for example, the rotation speed of the blower fan 32, etc.), etc. good.

As described above, according to the workbench device 1 according to the embodiment of the present invention, the image projection units 7A and 7B are arranged on the upper surface 20 of the workbench 2 and the wall surfaces 410, 411, 420, 430, 440 of the peripheral wall portion 4. An image is projected onto a projection surface 100 that includes at least one of the following. The projection surface 100 may include the inner wall surface 410 or the outer wall surface 411 of the front wall section 41, or at least one of the inner wall surfaces 420, 430, and 440 of the rear wall section 42, the left wall section 43, and the right wall section 44. It is also good to include. Therefore, while working on the workbench 2 and the workspace 10, the worker U can visually recognize the image projected onto the projection surface 100 without shifting his line of sight to the external space 11 of the workbench device 1. Therefore, it is possible to improve the work efficiency of the worker U.

Further, the state recognition section 5 recognizes the working state on the workbench 2 and the work space 10, and the control device 8 controls the image projection sections 7A and 7B based on the working state recognized by the state recognition section 5. . Therefore, since the control device 8 controls the image projection units 7A and 7B to project an image according to the working state, it is possible to improve the work efficiency of the worker U.

The image projection units 7A and 7B also superimpose images on visible objects (for example, the biological sample S, the culture medium M, the work implement 12, the work support robots 6A and 6B, or the hand of the worker U himself). to project. Therefore, the worker U can easily discover the visible object on which the image is superimposed, and can easily grasp information regarding the visible object.

For example, when the projection surface 100 is the top surface 20 of the workbench 2, the image projection parts 7A, 7B are not only provided on the top surface 20, but also between the image projection parts 7A, 7B and the top surface 20 of the workbench 2. An image is projected so as to be superimposed on an existing visible object. That is, the image projection units 7A, 7B directly project images onto the surface of the visible object that exists between the image projection units 7A, 7B and the projection surface 100.

Further, when the projection surface 100 is the inner wall surface 410 or the outer wall surface 411 of the front wall section 41, the image projection sections 7A and 7B are configured to display images that the worker U visually recognized through the front wall section 41. Sometimes, the image is projected so that the visible object and the image projected on the inner wall surface 410 or the outer wall surface 411 of the front wall section 41 indirectly overlap. Therefore, images can be reliably superimposed and projected onto the visible object without being affected by the surface shape of the visible object.

Furthermore, since the images projected by the image projection units 7A and 7B include at least one of the work instruction information 13A and 13B and the alert information 14A and 14B regarding the work support robots 6A and 6B, the work efficiency of the worker U is improved. In addition to improving safety, it is also possible to improve safety.

1...Workbench device,
2...Workbench, 20...Top surface, 21...Legs, 22...Waste container, 23...Suction port,
3... Ceiling part, 30... Ceiling surface, 31... Air outlet, 32... Ventilation fan, 33... Filter,
4...peripheral wall part,
40...Opening part, 41...Front side wall part, 410...Inner wall surface, 411...Outer wall surface,
42... Rear side wall part, 420... Inner wall surface, 43... Left side wall part, 430... Inner wall surface,
44...Right side wall part, 440...Inner wall surface, 45...Air passage,
5...Status recognition unit, 50...Camera, 51...Recognition processing unit, 500...Work status information,
6A...first work support robot, 6B...second work support robot,
60...Camera, 61...Recognition processing unit, 62...Robot controller,
600...Work status information,
7A...first image projection section, 7B...second image projection section, 70...projection surface,
8...control device,
81...Storage unit, 810...Work support program, 811...Work management database,
82...control unit, 820...robot motion information generation unit, 821...image projection information generation unit,
83...Communication department, 800...Robot operation information, 801...Image projection information,
10...Work space, 11...External space,
12...Working equipment,
120...Culture container, 121A...First culture container pedestal, 121B...Second culture container pedestal 122...Culture container, 123A...First culture medium container pedestal, 123B...Second culture medium container pedestal 124...Electric pipetter, 125 ...Microscope, 126...Medium supply device,
13A, 13B...Instruction information,
130...Procedure manual, 131A-131C...Indication mark,
132A to 132C...superimposition mark, 133A, 133B...superposition arrow,
14A, 14B... Alert information,
140... Alert message, 141... Planned travel route, 142... Alert mark,
S...Biological sample, M...Medium, U...Worker, H1, H2...Left hand

Claims (5)

a workbench on which work is performed on biological samples;
a ceiling section disposed above the workbench;
a peripheral wall portion that is arranged to surround a work space between the workbench and the ceiling portion, has a transparent front side, and has an opening on the front side;
an image projection unit that projects an image onto a projection plane that includes at least one of the upper surface of the workbench and the wall surface of the peripheral wall ;
a state recognition unit that recognizes the working state of the workbench and the workspace;
a work support robot that supports the work;
a control device that controls the work support robot and the image projection unit based on the work state recognized by the state recognition unit;
The control device includes:
a robot motion information generation unit that generates robot motion information including a scheduled movement route and a scheduled movement speed of the work support robot based on the work plan for the biological sample and the work state recognized by the state recognition unit; ,
Contains alerting information regarding the work support robot based on the work plan for the biological sample, the work state recognized by the state recognition unit, and the robot movement information generated by the robot movement information generation unit. an image projection information generation unit that generates image projection information that causes the image projection unit to project an image;
The image projection unit is
projecting the image based on the image projection information generated by the image projection information generation unit;
A workbench device characterized by: The peripheral wall portion is
a front side wall portion disposed on the front side;
The projection plane is
Including the inner wall surface or the outer wall surface of the front side wall part,
The workbench device according to claim 1, characterized in that: The peripheral wall portion is
comprising a front wall, a rear wall, a left wall, and a right wall, which are arranged on the front, rear, left, and right sides of the work space,
The projection plane is
including at least one of an inner wall surface of the rear side wall, the left side wall, and the right side wall;
The workbench device according to claim 1 or claim 2, characterized in that: a workbench on which work is performed on biological samples;
a ceiling section disposed above the workbench;
a peripheral wall portion that is arranged to surround a work space between the workbench and the ceiling portion, has a transparent front side, and has an opening on the front side;
an image projection unit that projects an image;
a state recognition unit that recognizes the working state of the workbench and the workspace;
a work support robot that supports the work;
a control device that controls the work support robot and the image projection unit based on the work state recognized by the state recognition unit;
The control device includes:
a robot motion information generation unit that generates robot motion information including a scheduled movement route and a scheduled movement speed of the work support robot based on the work plan for the biological sample and the work state recognized by the state recognition unit; ,
Contains alerting information regarding the work support robot based on the work plan for the biological sample, the work state recognized by the state recognition unit, and the robot movement information generated by the robot movement information generation unit. an image projection information generation unit that generates image projection information that causes the image projection unit to project an image;
The image projection unit includes:
Projecting the image onto the biological sample, the work tool used in the work, or the work support robot in a superimposed manner based on the image projection information generated by the image projection information generation unit;
A workbench device characterized by: The image projection information generation unit includes:
generating image projection information that causes the image projection unit to project an image including instruction information for the work, based on the work plan for the biological sample and the work state recognized by the state recognition unit;
The workbench device according to any one of claims 1 to 4, characterized in that:

Images