Disclosure of Invention
In the present application, an action of physically connecting or separating from an object is defined as "docking". The docking may be achieved by mechanical or non-physical means, for example by the action of a force field.
According to one embodiment of the present invention, a method and apparatus for performing liquid processing by operating and transferring a consumable in a static or quasi-static liquid processing head instead of operating and transferring the liquid processing head is provided. A quasi-static liquid handling head (or pipette) is defined as a pipette that does not move between aspiration and dispensing steps. Static pipettes are strictly defined as pipettes that do not move at all, for example, also during tip insertion or replacement operations.
According to yet another embodiment of the invention, liquid handling is performed by transferring a separate, discrete consumable or tip to or from a static or quasi-static liquid handling head by means of a robotic arm.
According to still another embodiment of the present invention, in order to perform the expandable liquid treatment work, the liquid treatment is performed by transferring the consumable.
According to still another embodiment of the present invention, the liquid treatment is performed by transferring the consumable by the robot arm for durability. In fact, the arms can be provided separately in a manner independent of the size of the device.
According to a further embodiment of the invention, in the present application, in order to achieve a more convenient integration of the laboratory, a robot arm operating on consumables is proposed for performing liquid handling integrated to a standard laboratory bench.
According to still another embodiment of the present invention, in the present application, in order to improve the liquid handling performance of the same moving pipetting head, a plurality of arms are used which can handle consumables and can supply to a static or quasi-static pipetting head.
According to still another embodiment of the present invention, in order to improve the liquid handling performance of the arm for handling the consumable part, a method of using the buffer area of the consumable part is adopted.
According to still another embodiment of the present invention, the area for storing the consumable part in a permanent or temporary manner is subjected to temperature control, and the temperature of the consumable part storing the sample is determined during the liquid processing operation by the transfer of the consumable part.
According to a further embodiment of the invention, in the present application, a storage device for consumables is used which is constructed in a vertically aligned position accessible from the front, in order to minimize the space occupied by the device provided with an arm for moving one or more consumables in order to carry out the liquid treatment.
According to still another embodiment of the present invention, in the present application, as a consumable moving device designed to perform liquid processing, a tip tank design that can be automatically opened and stacked for continuously performing liquid processing work is adopted.
According to a further embodiment of the present invention, the application is characterized in that the arm moving the consumable in order to perform the liquid treatment is a magnetic docking connector (magnetic docking connector) capable of performing a quick and vibration-free operation while avoiding the liquid from flowing out.
According to a further embodiment of the invention, in the present application, the arm for moving the consumable is designed to detect the presence of magnetism in the mated consumable connector, and for optimal mating, there is a magnetic mating connector that can actively change the magnetic field.
According to a further embodiment of the invention, in the present application, the arm for moving the consumable has a magnetic docking connector which is designed to detect a magnetic vector field which changes on the basis of the presence or absence of a consumable connector which is matched for the purpose of accurately positioning the position of the arm.
According to still another embodiment of the present invention, in the present application, a method of recognizing a position of an object by image analysis based on color (tone) analysis and object recognition is disclosed.
According to still another embodiment of the present invention, in the present application, a docking connector designed by a specific color tone distinguished from the environment with a specific color as a ground color is disclosed.
According to still another embodiment of the present invention, the present application discloses a device for attaching a label for identifying a consumable article by a barcode label identified from an upper and side position.
According to yet another embodiment of the present invention, a sleeve expandable around a robot arm for preventing a worker from bodily injury is disclosed in the present application.
According to yet another embodiment of the invention, in the present application, a sleeve expandable around a robot arm in order to prevent contamination of the arm is disclosed.
According to still another embodiment of the present invention, a robot arm for operating a consumable part for performing a liquid process is disclosed, wherein a camera provided in the arm is used for confirming and recognizing a position of the consumable part, performing a service, and supporting a work.
According to yet another embodiment of the invention, in the present application, a liquid treatment device is disclosed, wherein the position determination of the raw or target consumable under the liquid treatment head is performed by an external arm.
According to yet another embodiment of the invention, in the present application, a liquid handling device is disclosed, wherein the position determination of raw or target consumables in a suitable, preferably spatial position is performed by an external robotic arm.
According to still another embodiment of the present invention, in the present application, a liquid processing apparatus is disclosed in which quality control in a tip when liquid processing is performed by a static camera.
According to still another embodiment of the present invention, the present application discloses a capping or uncapping apparatus for a tube, wherein the tube is operated by an external robot arm, and the cap is operated by the apparatus.
According to still another embodiment of the present invention, there is disclosed an apparatus for applying a cover or removing a cover to a microplate, wherein the microplate is manipulated by an external robot arm and the cover is manipulated by the apparatus.
According to still another aspect of the present invention, the present application discloses an apparatus for detecting a liquid level of a sample in a consumable, wherein the liquid level is determined based on a spatial position of the consumable by operating the consumable with an external robot arm.
According to yet another embodiment of the present invention, an apparatus for identifying a consumable item is disclosed, wherein the consumable item is operated by an external robot arm and is identifiable by a static camera image of a fixed volume of space.
According to yet another embodiment of the present invention, a method of adjusting an environmental parameter such as temperature or humidity inside a liquid treatment table in order to achieve optimal liquid treatment performance is disclosed.
According to still another embodiment of the present invention, the present application discloses a method of using imaging inside a liquid processing table as a method of detecting whether or not there is an insertion error or a tip that is broken or has a defect.
According to yet another embodiment of the invention, in the present application, a method of tilting a consumable by a robotic arm in order to achieve optimal aspiration and dispensing of a liquid or to minimize interference with a substance inside a liquid volume is disclosed.
According to yet another embodiment of the present invention, a method in a system for operating a consumable part for performing a liquid treatment in which the consumable part is moved by a consumable part operating arm to stir a liquid is disclosed in the present application.
According to still another embodiment of the present invention, there is disclosed a method of stirring a liquid contained in a consumable handled by a robot arm by moving the consumable in contact with a vibrating head, wherein a force of the vibrating head of the consumable is equal to or greater than a force of the robot arm.
Detailed Description
From the viewpoint of the work flow, a method of transferring a consumable part in place of a liquid treatment head in a liquid treatment process is a new solution. In particular, modern biological and biochemical analyses are performed in smaller volumes due to the reduction in the amount of sample required and the cost. Therefore, the weight of the sample gradually decreases with time, and in most biological experiments, the sample is currently in a weight range of less than 50g, and systematically in a weight range of less than 200 g.
When considering the trend of replacing glass products with plastic products of low density, in the present application, it is observed that the weight of consumables and samples is greatly reduced with respect to the liquid treatment solution. On the contrary, since the weight of the liquid treatment head is increased systematically and accuracy is required to be improved, the volume of the liquid treatment apparatus for moving the heavy liquid treatment head becomes larger, the mechanical structure increases the weight of several tens of kilograms or several hundreds of kilograms, and the price becomes very high. Fig. 1 shows an example of a liquid treatment apparatus. The pipetting head, indicated by reference numeral 24, is spatially translated by a linear movement 16, 14, 12 over the space 18 comprising the consumable. The consumable 32 may be adapted to perform aspiration and dispensing through the head 24 in order to perform liquid handling.
According to the present invention, referring to fig. 2, a lightweight mechanical arm 109 placed on a table 110 is designed to move lightweight consumables such as consumables 101, 102, 103, and 108. The low consumable mass is reflected in lower inertia, enabling faster accelerations, considerably reducing the cost of mechanical solutions for the arm 109, and enabling specific speeds of typical trajectories. In contrast, the pipetting head required for the aspiration and dispensing operation becomes considerably simpler and can be designed with fewer restrictions by removing the necessity of displacement. In particular, standard electronic or mechanical pipettes (single or multi-channel) can be used as 106 and 107 in fig. 2, and thus additional reductions in design and manufacturing costs can be achieved. The pipette may be in a completely or quasi-static state in one or more of the stages 104, 105, in the second case small and simple movements can be integrated in the pipetting stage without translation in the third dimension. For example, a simple tip ejection mechanism may be incorporated whenever required, or a tip may be inserted by moving vertically between two fixed positions. For example, vertical movement for inserting the tip may be selectively integrated below the pipettes 106, 107 by a lift located directly below the tip rack. In practice, the insertion of the pipette tip is achieved by applying a force greater than the design possibilities of the arm, thus allowing the pipette tip insertion functionality to be achieved on the pipette platform itself. Specifically, the liquid handling functionality of the arm 109 is completed by other functions that make the system more useful and productive than existing liquid handlers, e.g., the consumables 101, 102, 103 can be stored in a stack and, if desired, the arm can dispose of the consumables as dedicated waste.
In another embodiment of the present invention, consumables can be moved from the pipette station in an aggregated or individual manner, in the first case, the possibility of parallel operation can increase throughput, and in the second case, greater flexibility can be achieved when performing a process on a particular sample in an independent manner.
In another embodiment of the invention, the use of a robotic arm for moving consumables can be used to achieve dual functionality and a more expansive workflow for liquid handling. For example, the system may be close to a stack of consumables, and only the uppermost consumable in the stack may be brought close to the liquid treatment device, and thus may be used continuously in a manner that cannot be achieved by a mobile liquid treatment processor. The robotic arm moving the consumable may perform the liquid handling operation and may perform the function of supplying the consumable to a subsequent step of the process, either simultaneously or in series, for example, to a microplate identifier or mass analyzer, or may supply the consumable from another arm performing a previous liquid handling step in a line selectively adapted to the individual step. The possibility of the line of the arm moving the consumable in order to perform the liquid treatment does not exist in the existing liquid head moving around the liquid treatment head, and an additional automated solution for coordinating the time and the work flow of the worker by another method is required. In this respect, an arm that moves the consumable in order to perform liquid treatment may be considered as a more expansive solution than existing liquid handlers.
Another advantage of a lightweight arm for moving consumables is that it is more useful than existing liquid handlers by being designed with less engineering requirements and weight optimization. In particular, the arm can be detached from the work table, and the service can be provided more efficiently and the transportation can be facilitated for supporting the model. Because of the high cost of service and support, this embodiment is suitable for existing liquid handling systems that replace heavy pipette heads, and is strategically advantageous for arms used to move light consumables.
In another embodiment of the invention, the robotic arm is fixed to a standard laboratory bench. In this configuration, the use of a new liquid processor eliminates the need for complicated changes in the basic settings, which reduces costs and facilitates adoption.
In other embodiments of the invention, the system may utilize or update a double or triple arm structure (which may be added as desired). Each time more than one arm works at the same liquid treatment station, it will present a newer, more interesting advantage over existing liquid handlers. In a conventional liquid processing apparatus having a transfer head that moves relative to consumables that do not move relative to each other, the trajectory of the transfer head between the raw material, the target consumable and the tip holder cannot be optimized for all consumables, and in particular, the process is continuously performed by the transfer head. In configurations where more than two arms operate in the same process, the arm used for collecting the tip may be different from the arm used for collecting the raw consumable or the arm used for collecting the target consumable. In this way, the movement of the plurality of arms can be simultaneously generated, and the time loss can be minimized by the parallel operation of the processes.
In particular, in the present application, a typical sequence of operations (cycle) of the liquid treatment head comprises determining the position on the tip, inserting the tip, determining the position on the material, aspirating the material, determining the position on the target, dispensing to the target, determining the position on the tip waste and discharging of the tip. The same cycle on the single arm assembly includes connecting to the tip, determining the position of the tip on the fluid handling station, loading the tip, connecting to the material, determining the position of the material on the fluid handling station, loading the material, connecting to the target consumable, determining the position of the target consumable on the fluid handling station, connecting to the waste collector (or the same tip rack), determining the position of the waste collector relative to the waste, and discharging the waste.
Unlike the number of arbitrary predetermined steps, the total time consumed in each step is clear, and the movement of a light-weight object is faster than that of a larger and more complicated apparatus (connected to a vacuum pipe to form a compressed air contact or an electric contact). Importantly, the same sequence with two arms (e.g., referred to as a and B) can benefit from parallel operation with equivalent parts. A is connected with the suction head when B is connected with the raw material, A and B move to the liquid transfer platform and insert A into the suction head, A takes the suction head again when B moves the raw material to the inside of the liquid transfer platform, A collects the target object when A sucks the liquid, B inserts the target object into the liquid transfer platform when A lowers the raw material, A is connected with the waste collector when A sucks the liquid, A moves the waste collector inside the liquid transfer platform when B drops the suction head, and B is connected with the suction head when A moves to the waste collector moving inside the waste arm. Where three arms (labeled A, B, C) are provided, efficiency is even more improved. In the process of collecting the target object B and collecting the tip C, the raw material is collected by A, whereby all movements can be minimized to a minimum distance that can avoid collision, and a structure can be realized in which the liquid processing stage operates at the fastest speed with respect to a small-sized, high-speed liquid processor.
During the time when the operation being performed is completed by the arm B, C, the arm a that carries the material can be freely docked to the next material, and therefore, during the continuation of the operation, the arm a can start to overlap with the next pipetting operation. If the consumable is not in the optimal position relative to the liquid treatment station, it does not have to be returned to the original position. This advantage is present in the work of various arms and single arms, for example, a buffer area (or volume in space) can be created around an interesting specific liquid treatment table capable of temporarily storing consumables during critical work, and when instructions of a program are cached in a local cache memory, a search can be easily made by simulating the action of the program. The space and size of the buffer area can be optimized according to the available physical space, and the operation schedule can be effectively constructed by simulation software that optimizes the track, position and movement in consideration of the actual process in operation.
For example, to be effectively close to a particular pipetting station, the positions A, B, C may be optimally ordered in the same order. The consumable items to be moved toward the same pipette table a plurality of times can be divided into the position a according to the preference degree, and if the position a is selected, the consumable items can be moved to the position B, and if the position B is selected, the consumable items can be moved to the position C. Similar space optimization may be performed in order to reach a desired temperature, for example, for permanent or temporary storage of consumables and samples in areas that are heated or cooled relative to room temperature. Thus, the arm for moving the consumable performing the liquid treatment brings the temperature in the surface or volume to the desired temperature, and thus the temperature of a specific consumable can be set simultaneously during the process. The same applies to other physical fields such as Ultraviolet (UV) irradiation, pumping process, radiation irradiation, and radioactive ray sealing.
Another advantage of a lightweight arm that moves lightweight consumables compared to existing liquid handler arrangements is that the range of implementation can be applied in a more general and positive manner by designing a lightweight arm. In particular, although a structure in which a consumable part cannot be prepared for performing a liquid process has been conventionally formed, a consumable part can now be stored. Thus, the consumable can be stored in a stack of Last In First Out (LIFO) configuration or in a vertical rack (which requires a pipetting head to approach the open surface of the liquid) which cannot be brought close to the consumable for liquid handling purposes, but which can be brought close by an arm designed to move the consumable. Thus, consumables can be stored close to the front face and in racks with higher density and smaller laboratory space occupancy than existing liquid handling devices.
In a further embodiment of the invention, the suction head frame can be operated by an arm for moving the same consumable used for performing the liquid treatment. In this way, another important problem can be solved when approaching the suction head. In existing liquid processors, it is necessary to open the pipette tip and close the liquid processing head before all work can be performed. In this case, the method of moving the consumable can be applied to a special case where the tip is moved by separating the tip box cover from the tip itself, and the tip can be stored in a sterile state until the liquid processing operation is actually performed. This function is an important improvement for a specific protocol, and a longer protocol can be executed, so that the possibility of the liquid processing apparatus based on the movement of the consumable is further expanded, and if not, contamination may be caused.
In another embodiment of the invention, the liquid handler based on the movement of the consumable is primarily characterized by a high speed docking operation. Indeed, docking does not exist in standard liquid handlers, and slow execution may imply a loss of competition. Also, it is not preferable to guide the vibration and sudden movement of the liquid-containing consumable, since partial or complete outflow of the liquid would likely result in contamination and loss of material. According to the invention, the counter connector is formed by two mating half structures (half) which are conventionally referred to as female counter connector and male counter connector, the connection between the two half structures being realized by magnetic force. In the present application, magnetic forces are considered that are more suitable for other solutions, such as electrostatic forces or mechanical forces, for a number of reasons. First, since the magnetic forces may attract or repel each other, the arms may be able to capture the respective connectors at a distance, and may be separated from the respective connectors by repulsive forces that may predict the trajectory of arm separation. Also, since the present invention has no actuating part, the cost of the connector can be saved and the life and reliability can be improved. Also within the scope of the invention, the presence of the mated connector enables the detection of a magnetic field, for example by means of a simple hall sensor and/or a mechanical connector or a triaxial sensor not implying electrical contacts.
Further, the presence or absence of magnetic field disturbances can be detected by appropriate sensors or induction, and can be used to adjust the magnetic force in a manner that allows control and mastering of the docking process. For example, excessive acceleration of the docking is adjusted by adjusting the magnetic force by detecting the docking posture, and adjustment in the related art can be avoided by adjustment of current or displacement of a magnet. However, the detection of the magnetic field vector (e.g., direction and force) may also be used to simply detect the relative position (and attitude) of the consumable with respect to the female docking connector.
Magnetic detection can be largely localized by short distance of the consumable, and is not effective when located in the detection range or when the detection range is generally relatively large (meaning high magnetic sensitivity that may be affected by the earth magnetic field). Therefore, in order to recognize a consumable product at a long distance by an arm designed to move the consumable product in order to perform a liquid handling operation, in the present application, a technique of imaging with a camera or the like may be employed. The docking connector can be identified by a bar code with or without characteristics through camera imaging. In the case of long distances, barcode recognition may be difficult due to the resolution of the camera sensor or the corresponding optical device.
According to another embodiment of the present invention, magnetic and barcode recognition by recognizing the color tone of the connector different from the surrounding environment using the color of the characteristic of the connector falls within the scope of the present invention. Also, in the Chroma Key (Chroma Key) technology, arms that move consumables in order to perform liquid processing may employ blue or green docking connectors in order to easily detect their presence and grasp the position from a remote place, and then, for example, based on a case where a camera can be enlarged to a distance at which a barcode can be recognized (thus, consumables can be naturally recognized), a short-distance docking trajectory guided in two dimensions or three dimensions based on a magnetic field structure may be followed. According to another exemplary embodiment of the present invention, in order to detect their orientation or height at a distance, for example, one of the two hues may form the uppermost horizontal plane and the other hue the vertical front plane, both half-surfaces being easily distinguishable from the surrounding environment.
According to a further embodiment of the invention, a suitably configured bar code is connected to the consumer-related counter connector so as to be visible from at least two directions, for example from the front and from above. The bar code may be arranged by simple duplication and/or at an angle of 45 degrees, and thus may have a projection surface identical to the upper and front views. Although there is clear possibility, the present invention is not limited thereto, and the linear barcode does not need any projection correction.
According to another embodiment of the invention, the arms are suitably designed in such a way as to work in a cooperative environment. Even with limited mass to achieve a considerable degree of acceleration by using limited force, it is not preferred in the case of a worker being injured or affected by the arm itself, for example, in the case of a pinching injury in which fingers are pinched between arm joints (or between arm joints that move in close proximity to each other). In accordance with yet another embodiment of the present invention, in order to prevent the user from easily accessing the space between the joints, an inflatable sleeve (or a sleeve comprising light weight blisters) will be used in this application. According to another embodiment, such an expandable sleeve may serve to prevent substantial contamination of the arm with a sample displaced by the arm used to perform the liquid processing.
According to another embodiment of the present invention, it relates to a liquid handling station wherein the step of determining the position of the feedstock or target is performed below the liquid handling head by an external robotic arm physically separated from the liquid handling station. For example, the liquid treatment head may be vertically movable for sliding toward and away from the sample, but may be externally positioned with respect to the selection of the sample and the precise location on the horizontal plane. According to another embodiment of the invention, the external arm allows the consumables of the liquid treatment head to be placed completely locally, including the vertical position and its mechanics, for example, to allow the pipette tip to maintain a certain degree of penetration below the surface of the liquid level, allowing the material to rise as suction is applied.
According to another embodiment of the invention, the application relates to a liquid treatment station in which the tip is observed and monitored during the step of inserting a static camera or during the aspiration step or the dispensing step or between the aspiration step and the dispensing step, depending on the nature of the arm used to move the consumable and the static or quasi-static nature of the liquid treatment head. The static camera monitoring comprises suction head insertion, liquid suction, volume information, bubble detection function and liquid discharge quality control. The static camera may be completed by a static photometer or other optical device and electromagnetic means that can extract information from the liquid in which the tip is contained.
According to a further embodiment of the invention, the capping or uncapping device with the function of a robot arm is designed to move the consumable in order to perform a liquid treatment, wherein the tube is operated by the arm and the cap is operated by the capping or uncapping device. In particular, the device may be limited to rotation with the arm by grasping the cap. The cover can be placed in a jig or as a suitable waste to let it fall off easily in the system.
According to another embodiment of the invention, the level detector, which has to measure the distance between consumables operated by a robot arm designed for performing liquid handling and knowledge about the geometry of the arm, can determine the level position for performing the additional liquid handling operation.
According to another embodiment of the invention, consumable identification is generated by moving the consumable from the robotic arm to the area of interest, wherein the camera captures a static image of a fixed volume of space, and the consumable label, consumable barcode, and other identifiers all contribute partially or fully to the identification of the sample contained or the sample.
According to another embodiment of the invention, in order to achieve optimal liquid handling performance, a method of using the apparatus according to environmental parameters that regulate the temperature or humidity, etc., inside the liquid handling stage (but may include acoustic resonance waves and/or a number of other physical characteristics of the pipette support structure, etc.) is contemplated within the scope of the invention. In particular, it is well known to those skilled in the art that the temperature in the environment and air in contact with the pipette or tip assembly will have an effect on the liquid handling properties. An advantage of a static or quasi-static pipetting station is that the pipetting action is generated in a small and spatially limited environment, for example, easier control in terms of temperature and humidity. Also, for example, the stage may be partially enclosed when not in use to thermally treat and stabilize the local environment with a piezoelectric humidifier that locally increases air humidity (i.e., reduces evaporation) and/or a Peltier cell for thermal treatment.
According to another embodiment of the invention, imaging inside the liquid treatment station may be performed by a method of detecting the presence of a tip that is inserted incorrectly or is broken or has defects. The advantage of a static or quasi-static pipetting station is that it belongs to a static device that can image a static area in space due to the structure in which the camera is fixed to the station. This minimizes movement of the cable, variation in focus and unnecessary complexity in operation, and the use of a low cost camera can be easily applied to embodiments where it is not economical to move the camera with the pipetting head. In particular, the camera can be used for quality management in the process, for example, it can identify (by determining the position and with the aid of an image recognition unit) tips that are not correctly inserted and may contain visually unidentifiable defects.
According to another embodiment of the invention, a method of tilting a consumable by a robotic arm in order to achieve optimal aspiration and dispensing of a liquid or to minimize interference with a substance inside a liquid volume. By tilting the consumable, so that the trajectory of the tip vector is arbitrarily linked with respect to position and direction in space, an arbitrary movement designed for the orientation of the consumable is achieved in space combined or not with another translation that can form a continuous trajectory (including an unguided trajectory).
In order to tilt the consumable, various ways may be used. For example, it is advantageous to perform a so-called tip-off on the side of the consumable when dispensing liquid. The known technique of touching the side of the consumable by means of a tip for a manual operator is not suitable for liquid handlers because it is not easy to tilt the pipetting head and to operate it not in the correct trajectory. In a system operating on a consumable for performing a liquid treatment, since this task is very natural, the distribution of the liquid can start in the centre of the consumable, in order to minimize wetting of the outer wall of the tip, a trajectory is adopted during the distribution such that the variation of the liquid level is finally removed from the liquid in the vertical direction and the tip of the tip is brought into contact in correspondence with the wall surface of the consumable.
The method of the invention allows the liquid in the tip to be drained completely, depending on the surface tension properties and the affinity of the tip for the liquid. In yet another embodiment, a tilt may be used during the pumping process in order to confine the liquid to the area of the consumable that uses gravity and is more suitable for pumping, in particular, to minimize dead volumes (e.g., liquid loss during the process), to achieve complete drainage of the liquid, or to improve liquid drainage. In yet another example, the tilt, while not affecting the substance, such as the adhered cells at the bottom of the consumable being unaffected by the pipette, may effectively affect the proper spray or thorough expulsion of liquid (without again disturbing the substance) in terms of liquid aspiration or dispensing.
According to another embodiment of the invention, a method in a system for operating a consumable for liquid processing for agitating a liquid by moving the consumable with a consumable operating arm is disclosed. In one embodiment, the trajectory of the arms may have the sole purpose of mixing the liquids. The stirring includes a wide range of combinations of operations that can be designed to have a homogeneous mixture of two or more liquids, for example, to distribute a liquid over a specific substance such as beads, cells, or bacteria to homogenize the liquid, to emit or collect a gas as in a process performed by a red wine taster to emit a red wine flavor, to realize a very rapid vibration such as a vortex, to inject bubbles into the interior during the liquid and/or bubble operation, or to maintain a slurry mixture such as concrete or a liquid such as a eutectic or non-newtonian liquid. As described above, the trajectory may be a simple translation in space or a normal tilt, and may have the purpose of causing a pile to a specific area of the consumable.
According to a further embodiment of the present invention, a method is described for agitating a liquid contained in a consumable handled by a robot arm by movement of the consumable in contact with an oscillating head having an oscillating head force equal to or greater than the force of the robot arm. For example, the vibrating head may be a rubber ball that moves in an elliptical direction. The movement of the consumable when held by the robotic arm in contact with the head is transferred to the consumable, the applied force may be greater than the holding force of the arm and the holding force of the connector for connecting the arm and the consumable. This will cause the consumable to move, possibly adversely affecting stirring.
Fig. 3 shows a Magnetic Interface Device (MID). The purpose of the above system is to achieve connection and disconnection quickly and efficiently by means of a magnetic field modulated by various methods (mechanically or electrically) in a manner that does not interfere with static objects. This operation is docking.
The magnetic connector is divided into two parts, the tag is connected with the object moving around, and the hand is connected with the moving arm.
The tag 100 is typically a metallic object (iron, steel or the like) having magnetic properties. Typically, the size of the label is in the range of 1mm to 100mm, but in some embodiments designed to perform liquid handling, typically up to around 10 mm. Due to cost concerns, the shapes may form squares, rounded rectangles, or similar shapes. The label contains information that is readable (or writeable) by a human user, and for example, may include an area 102 having a paper label and an area 104 containing a two-dimensional (2D) or one-dimensional (1D) barcode 101. Preferably, the area 104 is of bare metal and has a flat area exposed for use in a manner corresponding to the hand for docking purposes. For example, the label is an 8 × 16 × 1mm rectangular steel label. The two-dimensional barcode 101 and similar information can be inscribed on the label by a laser ablation method or similar method.
The label 100 is attached to the hand by its front face and is formed flat to avoid interference during docking. As shown in fig. 4, the label is denoted by reference numeral 100 in a top view of the label and by reference numeral 200 in a side view of the label 100. As shown in fig. 5, the label is designated with reference numeral 405 in a side view of the label. In fig. 4, the hand is designed for a flat connection in the region 307, as shown in fig. 5, and is designated by reference numeral 407. As shown in fig. 5, the flat metal plates 401 and 400 (shown as the upper portion 307 in fig. 4) function as magnetic guides for guiding the magnetic field generated by the coil 302 shown in fig. 4. As shown in fig. 5, the coil 302 may be divided into two portions, denoted by reference numerals 402 and 403, which may be an electromagnetic coil and a permanent magnet, respectively. A system having such a structure is preferable every time the support state of the tag 100 needs to be maintained, for example, every time a current is not caused to flow in the coil by turning off the power. The attractive force of the hand corresponding to the tag 100 is modulated by the current flowing in the coil, for example, Pulse Width Modulation (PWM) or constant in the system may be achieved by an external controller connected to other functions of the system in this specification.
Also, the coil may be completed by a hall sensor for measuring a magnetic field, or may be completed by a current detection unit that can detect a change in the loop magnetic flux induced by the presence of the tag 100 in a magnetic field generated due to a magnetic factor of a hand, for example. Also, the tag position relative to the hand can be detected by this method. Thus, the magnetic system formed by the hand and the tag can connect the hand and the tag in the presence of the required force and at the required moment. If modulation occurs over time, it may be more likely that soft docking or simple proximity may be achieved, for example, by moving an object connected to the tag to form a tight and secure connection between the two. A strong magnetic field necessarily causes strong forces, which may result in a strong connection between the object and the hand.
If such a system were easily controlled between the tag and the hand and connected without moving parts, the hall sensor or magnetic feedback of the current would not provide detailed information about the relative position during docking. To address this problem, an optical system 306 is employed, as shown in FIG. 4. The optical system 306 collects information from the label 100 through light and reflections of the light. In particular, for example, as shown in fig. 6, a light source 606(LED1) shown in fig. 7 and a laser diode 501 shown in fig. 6 are mounted on a printed circuit board 500(PCB), and the printed circuit board denoted by reference numeral 600 in fig. 7 is provided inside the hand, and an optical system is denoted by 306 in fig. 4 and 406 in fig. 5, thereby generating light for obtaining different information. In order to provide the necessary power and process additional information, the printed circuit boards 500, 600 are connected to additional hardware by cables 604 as shown in fig. 7.
As shown in fig. 7, light source 606 is a light emitting diode that illuminates through the holes between plates 407 in a diffuse manner as shown in fig. 5, such that camera 502 (CCD 1 with mounted convex lenses or pin holes) is directed toward image label 100 (in particular, bar code 101). Referring to fig. 6, the purpose of the laser diode 501 is different, as shown in fig. 8, projecting a generally circular spot onto the label 100 (typically the region 104, specifically the external barcode 104) imaged by the camera 502 at position 701. The small angle between the camera axis and the laser diode axis or the position of the point image formed in the field of view of the camera 502 by simply paralleling includes information on the distance from the camera 502 to the label 100, the hand, and the contact area.
The angle should be sufficiently small under all operating conditions in such a way that the image 701 of the laser diode spot remains within the field of view of the camera 502. Finally, the laser diode 501 has a second function, whereby the laser beam on the label 100 is re-reflected to the camera 503(CCD2) at a reasonable and appropriately selected angle to the label. Since the camera 503 is not equipped with a convex lens, its image 800 forms a schematic cross-sectional view of the laser beam 801, as shown in fig. 9. If the label is located at a certain distance (as measured by the camera 502 at image position 701), the position of the point can only be predicted if the angle between the process assembly and the label surface reaches a predetermined angle. For any of the different angles, the deviation of the points is also predicted. Similar to the considerations discussed above, the laser diode angle and the position of the camera 502 are selected in such a way that the reflected spot remains on the active surface of the camera 502.
In summary, the assembly describing the hand and the label delivers six parameters that can be generated in real time, i.e., the position of the barcode 702 in the field of view 700 of the camera 502 can be measured in X and Y by the position of the two-dimensional barcode reconstructed from the image, the angle α of the barcode 702 measured by the barcode reconstruction algorithm based on the image 700 of the camera 502, the distance Z from the hand 307 to the label 100 measured by the displacement of the light spot 701 generated in the image 700 of the camera 502 by the laser diode 501, and the spatial orientation of the label 100 in two directions (Phi and Theta) according to the contact planes 307 and 407, and this parallel information is important for determining whether the approach trajectory of the hand corresponding to the label 100 is vertical.
All the angular and spatial information as described above can be used to predict the object displacement that may occur as a result of modulating the docking trajectory and modulating the magnetic field strength. The intensity can be modulated according to the expected weight and geometry of the object. For example, an operation connected with an object placed flat on a table may first be guided to the extent of the distance Z. If the distance Z exceeds a certain value, the angle (Alpha) may provide information on the natural angle of the bar code 101. If the object is placed at a prescribed level, then the determination of the angle (alpha) will provide basic information on the angle at which the tag 100 is mounted to the object. The collection of information (X and Y) allows the user to reproducibly understand the lateral displacement of the object relative to the hand. Similarly, the collection of angles (theta) provides information about the rotation of the object relative to the hand, whereas the direction (phi) may embody information about the natural angle (perpendicularity) when the tag is installed. The condition for activating the magnetic field can be determined by combining all the information. In some cases, if a minimum force is applied, the object can be rotated in the direction (phi) to generate a predetermined XY displacement and a proximity method measured along the distance Z, and if the force does not sufficiently reach a liftable strength, the object cannot be lifted in the direction (phi). If the object reaches the minimum distance Z, the hand angle may be modulated relative to the flat theta joint, after which the magnetic field may be increased in a manner to have a coupling force greater than the expected weight of the object, which may form a secure connection between the hand and the object.
Finally, once the object is securely attached to the hand by magnetic interface device technology, the position can be continuously monitored by measuring the Z, X, Y, Alpha, phi, theta parameters. Any change in the parameter may mean that the object is in contact with an obstacle or simply in contact with a surface. This information is advantageous for sensitive handling of the object, for example for flushing the side, lower or upper side, or the reference pin or an external object (in case the label position relative to the object is not predicted). Due to subtle variations or camera resolution based on vibration-sensitive imaging, a compact hand can be a very effective multi-media parameter continuous sensor similar to a human hand, more sensitive to a specific label.