Experiment control method and automatic experiment device

Abstract

To provide an experiment control method which can inhibit a next step of an experiment from being continued in a state that an arrangement position of a held object is shifted, and to provide an automatic experiment device.SOLUTION: An experiment control method is an experiment control method of an automatic experiment device including a holding part configured to hold a held object and includes: a step in which the holding part is controlled to place the held object in a predetermined position; a step in which a position of the placed held object is detected; and a step in which control is exercised to conduct recovery operation when shifting of the position of the held object from the predetermined position is detected.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to experimental control methods and automated laboratory equipment. [Background technology]

[0002] In recent years, it has become known to use robotic devices to automatically carry out chemical experiments, etc. As the robotic device, for example, a device capable of holding an experimental instrument, such as a robot hand, is used in the automatic experiment (for example, see Patent Document 1).

[0003] In an automatic experiment, for example, a gripping unit of a robot device grips an object to be gripped (for example, a reaction tube such as a sample bottle), and then moves the object to another location to place the object. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2016-30316 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, when the gripping unit is unable to grip the object properly, the position of the object may shift at the destination. If the position of the object shifts, there is a risk that the next step of the experiment cannot be carried out properly.

[0006] An object of the present disclosure is to provide an experiment control method and an automatic experiment apparatus that can prevent the next step of an experiment from being continued in a state where the placement position of the grasped object has shifted. [Means for solving the problem]

[0007] The experiment control method according to the present disclosure includes: A method for controlling an experiment using an automatic experiment device including a gripping unit that grips an object to be gripped, Controlling the gripping unit to place the object to be gripped at a predetermined position; Detecting the position of the placed object to be grasped; a step of controlling the robot to execute a recovery operation when it is detected that the position of the object to be grasped is deviated from the predetermined position; has.

[0008] The automated laboratory equipment according to the present disclosure comprises: A gripping unit that grips an object to be gripped; A control unit that controls the gripping unit so as to place the object to be gripped at a predetermined position; A detection unit that detects the position of the object to be grasped; Equipped with The control unit controls the robot to execute a recovery operation when it detects that the position of the object to be grasped is deviated from the predetermined position. Effect of the Invention

[0009] According to the present disclosure, it is possible to prevent the next step of the experiment from being continued in a state where the position of the grasped object has shifted. [Brief description of the drawings]

[0010] [Figure 1A] 1 is a diagram showing a schematic configuration of an automatic laboratory apparatus according to a first embodiment of the present disclosure. [Figure 1B] 1 is a diagram showing a schematic configuration of an automatic laboratory apparatus according to a first embodiment of the present disclosure. [Diagram 2] 5 is a flowchart showing an example of the operation of automatic experiment control in the robot device according to the first embodiment. [Diagram 3] FIG. 13 is a diagram showing a schematic configuration of an automatic experiment device according to a second embodiment. [Figure 4] FIG. 2 is a diagram illustrating an example of a pattern portion. [Diagram 5] FIG. 13 is a diagram showing a schematic configuration of an automatic experiment device according to a third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, the first embodiment of the present disclosure will be described in detail with reference to the drawings. Fig. 1A and Fig. 1B are diagrams showing a schematic configuration of an automatic laboratory apparatus 1 according to the first embodiment of the present disclosure. In the explanation of Fig. 1A etc., a Cartesian coordinate system (X, Y) is used. The same Cartesian coordinate system (X, Y) is used in the drawings to be described later. For example, the X direction indicates the left-right direction, and the Y direction indicates the up-down direction.

[0012] As shown in Fig. 1A and Fig. 1B, the automatic experiment device 1 is a device that automatically performs experiments such as chemical experiments. For example, as shown in Fig. 1A, the automatic experiment device 1 grasps a container 2 placed at a predetermined location. Then, as shown in Fig. 1B, the automatic experiment device 1 moves the grasped container 2 (object to be grasped) to another location and places it at a specific placement position. The container 2 placed at the specific placement position is used in the next step of the experiment.

[0013] The next step of the experiment may be, for example, a step of discharging a solution into the container 2 via a discharging device by the automatic experimental device 1, a step of sucking the solution in the container 2 via a suction device by the automatic experimental device 1, etc. The discharging device and the suction device may be, for example, a dropper, etc. The next step of the experiment may also be, for example, a step of weighing the container 2 with a weighing device, a step of stirring the solution in the container 2 with a stirring device, etc.

[0014] The automatic experiment device 1 includes a robot device 20 and a detection unit 30 .

[0015] The robot device 20 is, for example, a robot device modeled after a human hand, and has a function of gripping and transporting the container 2. The robot device 20 includes an arm unit 21, a hand unit 22, and a control unit .

[0016] The arm unit 21 is, for example, a vertical articulated robot, a SCARA robot, or the like, and has a base end fixed to a stage or the like and a tip connected to a hand unit 22 capable of gripping a container 2. The arm unit 21 is configured to be capable of moving the hand unit 22 in all directions, such as up and down, left and right, front and back, etc.

[0017] The hand unit 22 is a hand portion for gripping the container 2. The hand unit 22 has a base 22A and a pair of gripping units 22B. The base 22A is a portion attached to the tip of the arm unit 21. The pair of gripping units 22B are connected to the base 22A, and are configured to be capable of performing opening and closing operations by a drive mechanism (not shown) to which torque is transmitted from an actuator or the like.

[0018] The control unit 23 includes a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), and an input / output circuit (not shown). The control unit 23 transmits control signals to the arm unit 21 and the hand unit 22 via a cable (not shown) or the like to control the operations of the arm unit 21 and the hand unit 22.

[0019] The control unit 23 may be a control device connected to the robot device 20, or may be an external control device (e.g., a PC (Personal Computer), a mobile terminal, etc.) capable of communicating with the control device connected to the robot device 20.

[0020] For example, as shown in FIG. 1A, the control unit 23 lowers the arm unit 21 to adjust the position of the hand unit 22 in the Y direction, while controlling the opening and closing operation of a pair of gripping units 22B, thereby causing the hand unit 22 to grip the container 2.

[0021] 1B, the control unit 23 controls the arm unit 21 to move the hand unit 22 gripping the container 2 to a predetermined position. The predetermined position is a position different from the position where the container 2 is placed in FIG. 1A, and is a position where the next step of the experiment described above is performed. In FIG. 1B, for example, a position on the + side in the X direction from the position where the container 2 is placed in FIG. 1A is shown as the predetermined position. Note that the next step of the experiment may be performed by a robot device other than the robot device 20 that moved the container 2.

[0022] The detection unit 30 is a device, such as a camera, capable of detecting the container 2 placed at a predetermined position, and is disposed at a position (eg, a ceiling, etc.) opposite the predetermined position.

[0023] The control unit 23 determines whether or not the container 2 is located at a predetermined position based on the detection result of the detection unit 30. For example, the control unit 23 compares the image information acquired from the detection unit 30 with a correct image stored in advance in a storage unit (not shown) or the like to determine whether or not the container 2 is located at a predetermined position. The correct image may be, for example, image information showing a state in which the container 2 is located at a predetermined position.

[0024] When the position of the container 2 in the image information is shifted compared to the correct image, the control unit 23 determines that the container 2 is not located at the predetermined position. In other words, it is detected that the position of the container 2 is shifted from the predetermined position.

[0025] When the control unit 23 detects that the position of the container 2 is deviated from the predetermined position, the control unit 23 controls to execute a recovery operation.

[0026] The recovery operation is an operation for correcting deviation of the container 2 from a predetermined position, and may be, for example, an operation for resetting the placed container 2 to a predetermined position by the hand unit 22.

[0027] Specifically, the control unit 23 controls the arm unit 21 and the hand unit 22 to again grip the container 2. Then, the control unit 23 controls the arm unit 21 and the hand unit 22 to again place the container 2 at a predetermined position.

[0028] This allows the container 2 to be accurately placed at a predetermined position.

[0029] Next, a description will be given of an example of the operation of the robot device 20. Fig. 2 is a flow chart showing an example of the operation of automatic experiment control in the robot device 20 according to the first embodiment.

[0030] 2, the control unit 23 of the robot device 20 controls the arm unit 21 and the hand unit 22 to grip the container 2 and move it toward a predetermined position (step S101). Next, the control unit 23 controls the arm unit 21 and the hand unit 22 to place the container 2 at the predetermined position (step S102).

[0031] Next, the control unit 23 acquires the image information detected by the detection unit 30 and determines whether the position of the container 2 is a predetermined position (step S103). If the result of the determination is that the position of the container 2 is a predetermined position (step S103, YES), this control ends.

[0032] On the other hand, if the container 2 is not at the predetermined position (step S103, NO), the control unit 23 executes a recovery operation (step S104). After step S104, this control ends.

[0033] According to the first embodiment described above, the control unit 23 controls the hand unit 22 to place the container 2 at a predetermined position, and then detects the position of the placed container 2. If it is detected that the position of the container 2 is deviated from the predetermined position, a recovery operation is performed.

[0034] When the hand unit 22 is unable to properly grip the container 2, the position of the container 2 may shift at the destination. Examples of cases in which the hand unit 22 is unable to properly grip the container 2 include when the container 2 is gripped in an inclined state by the gripping unit 22B, and when the gripping position of the container 2 by the gripping unit 22B shifts. In such cases, even if the control unit 23 attempts to position the container 2 toward a predetermined position, the position of the container 2 shifts from the predetermined position when the container 2 is positioned.

[0035] If the placement position of the container 2 is shifted, there is a risk that the next step of the experiment cannot be performed properly. For example, assume that a robot device holding a suction tool moves the suction tool toward the container 2 in order to suck up the solution contained in the container 2 placed at a specified position. In this case, if the container 2 is shifted from the specified position, the suction tool cannot be properly inserted into the container 2, and the solution cannot be accurately sucked up.

[0036] Also, suppose that a robot device gripping a discharge tool moves the discharge tool toward the container 2 in order to discharge a solution into the container 2 placed at a predetermined position. In this case, if the container 2 is shifted from the predetermined position, the discharge tool may not enter the container 2 properly, and the solution may not be discharged accurately. There is also a risk that the solution may be discharged outside the container 2.

[0037] Furthermore, when weighing the container 2 placed at a predetermined position on a weighing device (e.g., a balance), if the container 2 is displaced from the predetermined position, the container 2 may not be weighed accurately. Furthermore, when stirring the container 2 placed at a predetermined position on a stirring device (e.g., a magnetic stirrer), if the container 2 is displaced from the predetermined position, the solution in the container 2 may not be stirred accurately.

[0038] In this embodiment, if the position of container 2 is shifted from the specified position, a recovery operation is performed, thereby preventing the next step of the experiment from being continued with container 2 in a shifted position.

[0039] Furthermore, since the recovery operation includes an operation of repositioning the placed container 2 to a predetermined position by the hand unit 22, it is possible to prevent the placement position of the container 2 from shifting.

[0040] 2, after step S104, the process may return to step S103. That is, the recovery operation may be repeated until the container 2 is positioned at a predetermined position. In this way, it is possible to reliably prevent the next step of the experiment from being continued with the container 2 in a misaligned position.

[0041] After step S104, the process may return to step S101. In this case, the predetermined position may be different for each container grasped by the robot device 20 in step S101. Specifically, the operation of the robot device 20 in this case is to place the multiple containers 2 at multiple positions, respectively.

[0042] Next, a second embodiment of the present disclosure will be described. As shown in Fig. 3, the automatic laboratory equipment 1 in the second embodiment has a pattern unit 40 in addition to a robot device 20 and a detection unit 30.

[0043] The pattern section 40 is disposed at a position facing the detection section 30 in the arrangement portion of the container 2. The pattern section 40 is formed with a pattern 41 indicating a predetermined position.

[0044] The pattern 41 indicating a predetermined position may be, for example, a pattern indicating the arrangement range of the container 2. For example, as shown in Fig. 4, a circular pattern 41 along the outer circumferential surface of the cylindrical container 2 is formed on the pattern portion 40.

[0045] Furthermore, the pattern indicating the predetermined position may be a shape that covers a range wider than the range along the outer circumferential surface of container 2, so long as the pattern indicates a range that will not cause any problems in the next experimental process.

[0046] In this way, by detecting image information of a predetermined position with the detection unit 30, if the image information shows that the container 2 is located inside the pattern 41, it can be determined that the container 2 is not displaced from the predetermined position. Also, if the image information shows that the container 2 is located on a line of the pattern 41, it can be determined that the container 2 is displaced from the predetermined position.

[0047] That is, by providing the pattern 41 indicating the predetermined position at the location where the container 2 is arranged, it becomes easier to detect any deviation of the container 2 from the predetermined position.

[0048] Furthermore, by arranging the detection unit 30 at a position facing the pattern unit 40, it becomes possible for the detection unit 30 to easily detect any misalignment between the pattern 41 and the arranged container 2.

[0049] The pattern portion 40 does not have to have a pattern that conforms to the container 2, such as the pattern 41, and may be, for example, a specific pattern, such as graph paper, formed repeatedly.

[0050] Next, a third embodiment of the present disclosure will be described. As shown in Fig. 5, the automatic laboratory equipment 1 in the third embodiment has a guide unit 50 in addition to a robot device 20 and a detection unit 30.

[0051] The guide part 50 is formed in a truncated cone shape, and is open on the + side in the Y direction so that the container 2 can enter inside. The bottom surface of the guide part 50 is formed to be approximately the same size as the bottom surface of the container 2.

[0052] The inner surface of the guide portion 50 is inclined so that the diameter becomes smaller toward the negative side in the Y direction, and is configured so as to be able to guide the container 2 to the position of the bottom surface (predetermined position).

[0053] By providing the guide portion 50 in this manner, even if the container 2 is slightly shifted from the predetermined position, it is guided to the predetermined position along the inclined surface on the inner surface of the guide portion 50. As a result, it is possible to suppress the execution of the recovery operation due to a slight shift. In addition, the guide portion 50 allows the container 2 to be accurately positioned at the predetermined position.

[0054] Furthermore, in the third embodiment, if the container 2 is placed within the range of the guide section 50, it is guided to a predetermined position, and therefore the container 2 is detected as being misaligned from the predetermined position only if it is placed outside the range of the guide section 50.

[0055] Therefore, even if the detection unit 30 is not disposed at a position opposite the predetermined position, it is possible to easily detect whether the container 2 is disposed at a position shifted from the predetermined position. That is, in the third embodiment, the detection unit 30 may be disposed at a position other than the position opposite the portion where the container 2 is disposed (for example, at a position on the side of the container 2 disposed at the predetermined position).

[0056] In the above-described embodiments, the recovery operation is an operation of repositioning the container 2 to a predetermined position by the hand unit 22, but the present disclosure is not limited to this. For example, the recovery operation may include an operation of notifying that the position of the container 2 is shifted from the predetermined position.

[0057] In this case, for example, the automatic laboratory equipment 1 may include a notification unit. The notification unit may be, for example, an alarm device such as a buzzer, or a voice output device that announces that the position of the container 2 has shifted from the predetermined position. The notification unit may also be a display device that can display text information indicating that the position of the container 2 has shifted from the predetermined position.

[0058] This makes it possible to prevent the next step of the experiment from being continued with the container 2 in a misaligned position.

[0059] The recovery operation may also include an operation to stop the experiment by the automated experiment equipment 1.

[0060] This makes it possible to prevent the next step of the experiment from being continued with the container 2 in a misaligned position.

[0061] In addition, the recovery operation may include two or more of an operation of repositioning the container 2 to a predetermined position using the hand unit 22, an operation of notifying that the position of the container 2 has shifted from the predetermined position, and an operation of stopping the experiment performed by the automatic experimental equipment 1.

[0062] For example, if the container 2 is positioned away from the predetermined position even after the control unit 23 repeatedly performs an operation to reposition the container 2 to the predetermined position using the hand unit 22, an operation may be executed to stop the experiment by the automatic experiment device 1. Also, the control unit 23 may execute an operation to notify that the position of the container 2 is away from the predetermined position, and then execute an operation to stop the experiment by the automatic experiment device 1.

[0063] Further, in the above embodiment, the detector 30 is provided at a position corresponding to a predetermined position, but the present disclosure is not limited to this, and for example, the detector may be provided in a robot device.

[0064] In this case, after the robot device places the container, the detection unit obtains image information of the placed container, and the position of the container is detected based on the image information.

[0065] Furthermore, the detection unit may be provided both at a position corresponding to the predetermined position and on the robot device.

[0066] In addition, the above-mentioned embodiments are merely examples of the embodiment of the present disclosure, and the technical scope of the present disclosure should not be interpreted as being limited by them. In other words, the present disclosure can be embodied in various forms without departing from the gist or main features thereof. [Industrial Applicability]

[0067] The automatic experiment apparatus disclosed herein is useful as an experiment control method and automatic experiment apparatus that can prevent the next step of an experiment from being continued with the object to be grasped out of place. [Explanation of symbols]

[0068] 1. Automatic Experiment Equipment 2 containers 20 Robotic Device 21 Arm section 22 Hand section 22A base 22B Gripping part 23 Control Unit 30 Detection unit 40 Pattern section 50 Guide section

Claims

1. A method for controlling an experiment using an automatic experiment device including a gripping unit that grips an object to be gripped, Controlling the gripping unit to place the object to be gripped at a predetermined position; Detecting the position of the placed object to be grasped; a step of controlling the robot to execute a recovery operation when it is detected that the position of the object to be grasped is deviated from the predetermined position; The experimental control method includes:

2. The recovering operation includes an operation of repositioning the placed object to be grasped at the predetermined position by the grasping unit.

2. The method of claim 1 .

3. The recovering operation includes an operation of notifying that the position of the object to be grasped is deviated from the predetermined position.

2. The method of claim 1 .

4. The recovery operation includes an operation of stopping an experiment by the automated experiment equipment.

2. The method of claim 1 .

5. The automated laboratory equipment includes a detection unit that detects a position of the object to be grasped in the detecting step.

2. The method of claim 1 .

6. the automated experiment device includes a pattern unit that is arranged at a location where the object to be grasped is arranged and on which a pattern indicating that the object is at the predetermined position is formed; the detection unit is disposed at a position facing the pattern unit, In the detecting step, a positional deviation between the pattern and the object to be grasped is detected.

6. A method for controlling an experiment according to claim 5.

7. The automated experimental device includes a guide member capable of guiding the object to be grasped to the predetermined position.

2. The method of claim 1 .

8. A gripping unit that grips an object to be gripped; A control unit that controls the gripping unit so as to place the object to be gripped at a predetermined position; A detection unit that detects the position of the object to be grasped; Equipped with The control unit controls the device to execute a recovery operation when it is detected that the position of the object to be grasped is deviated from the predetermined position. Automated experimental equipment.

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