Modules for automated laboratory systems

Abstract

The present invention discloses a module (106) for an automated laboratory system (100). The module (106) includes: a module connector (120) configured to be releasably connected to a component (106, 108) of the automated laboratory system (100); a detector (146) configured to detect at least one component mark (148) located at the component (106, 108) so as to obtain position data of the module (106), the position data indicating the actual position of the module (106); a processor (156) configured to calculate a position deviation of the module (106) relative to a target position defined by the component (106, 108) based on the position data, and calculate position alignment data based on the position deviation; and an alignment device (164) configured to align the module (106) to the target position based on the position alignment data. In addition, the present invention discloses an automated laboratory system (100) and a method for aligning a module (106).

Description

Technical Field

[0001] The invention relates to a module for an automated laboratory system, an automated laboratory system and a method for aligning a module. Background Art

[0002] Recently, labor-saving has been achieved for inspection work in the medical field by introducing various automated devices. For example, when testing in a hospital, samples of inpatients and outpatients are collected from several departments of the hospital and processed centrally in the inspection room. The test items for each sample are sent from the doctor to the inspection room using an online information processing system. Then, the inspection results are reported to the doctor online from the inspection room. For many test items on blood or urine, pre-processing for testing is required, such as centrifugation process, plug removal, distribution, etc. A lot of time is spent on such pre-processing work during the entire testing working time.

[0003] Next, the flow of a process performed by a general automated sample testing system is described. A container (such as a test tube) containing a body fluid such as blood collected from a patient is held by a container carrier. Such container carriers are known and described, for example, in EP 2907576, WO 2016 / 012517 or US 5651941. The container carrier holding the container (such as a test tube) is loaded into the general automated sample testing system. The barcode information of the loaded sample is read in the system to identify the sample type. As described above, a centrifugation process, plugging, dispensing, etc. are performed as pretreatment for the test process.

[0004] The content of the pre-processing depends on the sample type, for example, for urine tests or hematology samples, a centrifugation process is not necessarily required. The type of samples that require centrifugation are those that are uncorked and dispensed after centrifugation. However, the sample may also have been centrifuged without centrifugation within the system, but require additional pre-processing steps. The dispense process, often called aliquoting, is the process of generating subsamples from a parent sample. For example, the dispensed subsamples can be transported simultaneously to multiple analyzers that are connected online to the system. The samples that have completed all the processes are stored in the storage module.

[0005] Automated sample testing systems are introduced into relatively large facilities where hundreds to thousands of samples can be processed in a day or even every hour. In such large facilities, many samples are collected from one patient and a variety of tests are performed, such as biochemical tests, immunological tests, coagulation tests, and hematological tests. Therefore, it is necessary to load sample carriers of hundreds to thousands of patients into the automated sample testing system, and therefore, space is required for installing such sample testing systems.

[0006] Modern automated integrated laboratory solutions usually have a transport system with sample tubes as the backbone. Sample tubes can be transported using single tube carriers or racks. Individual modular system components (hereinafter also referred to as modules) with pre / post analysis or analysis functions are attached to the transport backbone. The positions are precisely defined according to a defined grid, but should be flexible so as to be rearranged or reconfigured as needed. Such modular system components (hereinafter also referred to as modules) are well known, for example, from US2006 / 229763 A1.

[0007] The installation of this module should be completed within a reasonable time. For repair and maintenance purposes, it may be necessary to temporarily disconnect the module and remove it from the transport system. This is the case if parts within the module or the transport system cannot be reached from the front or the back, because the reach exceeds the permitted range. This is especially the case if the depth of the module or the width of the transport system exceeds the permitted range. Disconnection may also be necessary if modular system parts must be removed for replacement. Ideally, it should be possible to remove the module without removing adjacent parts.

[0008] The replacement and positioning of the modules relative to the transport system is very complex and must be done with high precision. Currently, this is a very time-consuming process or impractical if additional parts of the system have to be removed. While purely mechanical solutions allow for pre-positioning or process positioning with high reproducibility, these methods do not offer very high precision without manual alignment and cannot react to changes in the system, for example due to mechanical or thermal drift over time or ground movement (shifts within the ground level due to settlement, etc.). Summary of the invention

[0009] Embodiments of the disclosed modules and automated laboratory systems are directed to providing a standardized interface to align a modular system component or module to a transport system or another modular system component or module with high precision and accuracy.

[0010] The disclosed embodiments of the module, the automated laboratory system and the method have the features of the independent claims. Further embodiments of the invention are disclosed in the dependent claims, which can be realized individually or in any arbitrary combination.

[0011] As used below, the terms "having", "including" or "comprising" or any grammatical variations thereof are used in a non-exclusive manner. Thus, these terms may refer to the absence of other features in the entity described in this context in addition to the features introduced by these terms, as well as the presence of one or more other features. As an example, the expressions "A has B", "A includes B" and "A contains B" may all refer to the absence of any other elements in A in addition to B (i.e., A consists only of B), as well as the presence of one or more other elements in entity A in addition to B, such as element C, elements C and D, or even other elements.

[0012] In addition, it should be noted that the terms "at least one", "one or more" or similar expressions indicating that a feature or element may exist once or multiple times are usually used only once when introducing the corresponding feature or element. In the following, in most cases, when referring to the corresponding feature or element, the expression "at least one" or "one or more" is not repeated even though the corresponding feature or element may exist only once or multiple times.

[0013] Furthermore, as used below, the terms "preferably", "more preferably", "particularly", "more particularly", "specifically", "more specifically" or similar terms are used in conjunction with optional features without limiting the alternative possibilities. Therefore, the features introduced by these terms are optional features and are not intended to limit the scope of the claims in any way. As the skilled person will recognize, the present invention may be implemented by using alternative features. Similarly, the features introduced by "in an embodiment of the present invention" or similar expressions are intended to be optional features without any limitation on alternative embodiments of the present invention, without any limitation on the scope of the present invention, and without any limitation on the possibility of combining the features introduced in this manner with other optional or non-optional features of the present invention.

[0014] According to a first aspect, the present disclosure provides a module for an automated laboratory system. The module includes a module connector configured to be releasably connected to a component of the automated laboratory system. The module further includes a detector configured at least to detect at least one component mark located at the component so as to obtain position data of the module indicating an actual position of the module. The module further includes a processor configured to calculate a position deviation of the module relative to a target position defined by the component based on the position data, and to calculate position alignment data based on the position deviation. The module further includes an alignment device configured to align the module to the target position based on the position alignment data.

[0015] Therefore, the module can be detachably connected to a component, such as another module or a conveying line of an automated laboratory system, by means of a module connector. The module connector prevents the module from accidentally separating from the component. The detector allows the relative position of the module to be determined relative to the component to be connected thereto. Therefore, the connection process can be observed continuously and reliably. The processor compares the actual position of the module with the target position and outputs this comparison result to the alignment device. Therefore, the correction and / or adaptation of the actual position of the module and / or the working range of its functional components can be achieved by means of the alignment device. For example, the orientation or position of the module or functional unit can be adjusted or changed until the actual position matches the target position. As another example, the module may include a mechanical arm, a two-axis or three-axis rack, etc. as a functional component for loading and unloading samples. In this case, the operating range of the mechanical arm can be adjusted by the alignment device to allow the appropriate operability of the mechanical arm.

[0016] The detector may be further configured to detect at least one module mark located at the module. With this arrangement, since in-situ calibration can be achieved, relative alignment of the modules can be achieved without the need for precise alignment and calibration of the detector. For calibration, module marks on the module on which the detector is mounted or component marks of other components may be used.

[0017] The type, size and / or number of module markings may be the same as or different from the type of component markings. Thus, depending on the intended application, markings of the same or different types as well as markings of the same type but in different numbers may be used. Thus, depending on the available space and the respective application, a wide range of markings may be used in principle.

[0018] The component mark and the module mark can be positioned so that the component mark and the module mark can be detected by the detector in unison. Therefore, two marks can be detected within a single field of view or detection range, which improves detection accuracy.

[0019] The component labels and module labels may each have a predetermined size and orientation. Thus, the size and orientation may be adapted to the intended application and available space.

[0020] The component marking may be configured to provide a component coordinate system, and the module marking may be configured to provide a module coordinate system. The processor may be configured to calculate the positional deviation of the module from the target position based on the relative distance between the component coordinate system and the module coordinate system. Thus, a digital detection result such as an image of the coordinate system may be obtained, and the relative distance and alignment between the two coordinate systems of the module and the component may be calculated. This may be converted into a position correction, which is input into the alignment device.

[0021] Part and module markings can be configured to allow in-situ calibration of the detector. The results calculated for position correction are therefore independent of the position and alignment of the detector, as the calculation and calibration of image distortions can be done in-situ. For example, by using a combination of ArUco markings and calibration patterns, only the relative distance between the landmark and the surface needs to be determined. No complex alignment of the detector is required, only the landmark and calibration pattern need to be placed in the detector's field of view.

[0022] The position data may include information about the horizontal position and / or vertical position of the module. Thus, the orientation of the module may be determined in three-dimensional space.

[0023] The detector may be a camera. Thus, a relatively cost-effective detection device may be used.

[0024] The module may further include a distance sensor configured to determine a relative vertical position with respect to the component.

[0025] The distance sensor may be configured to determine the relative vertical position based on the distance of a reference point at the component from a predetermined module plane. The predetermined module plane may be a loading and unloading plane of the module. The detector determines the relative vertical position between a reference point from the component to the module, such as the loading and unloading plane of the module. The distance sensor may be any type of sensor suitable for detecting distance, such as an optical sensor, a capacitive resistive sensor, an electromechanical or mechanical distance sensor. Non-exhaustive examples are a micrometer, a position sensor, a displacement sensor or any other sensor configured to provide a longitudinal dimension or an angular position as an electrical signal. The signal may be an analog signal, such as with a resistor or may also be a digital signal, such as with an incremental encoder.

[0026] The processor may be configured to calculate the positional deviation with the aid of an algorithm. Thus, an algorithm may be applied to analyze the image generated by the detector and calculate the relative distance and alignment between the module and the component. This is converted into a positional correction that is input into the fine alignment device of the module.

[0027] The module may further comprise an analytical instrument, wherein the alignment means may be configured to align the analytical instrument to the target position based on the position alignment data. Thus, fine alignment may be achieved by slightly adjusting the orientation of the analytical instrument.

[0028] The alignment device may be configured to move the analytical instrument in three dimensions. Thus, the orientation of the analytical instrument may be varied in at least three directions that are perpendicular to each other.

[0029] The target position may be defined by a reference point of a reference plane of the component or by a reference point within the reference plane. The reference point of the reference plane or within the reference plane may be a coordinate system, a plane within the coordinate system, or a known position (such as a point in the reference plane). Furthermore, if the orientation of the reference plane within a given three-dimensional space is known, the position relative to the reference plane may be determined. Thus, the relative orientation may be defined with respect to a given plane that facilitates alignment of the module.

[0030] The component can be a conveying line of the automated laboratory system or can also be another module of the automated laboratory system. Thus, the module can be connected to different components.

[0031] The target position may be defined by the known position of a point of a conveying surface of a conveying line or a loading and unloading plane of another module or a point within the conveying surface or loading and unloading plane. Thus, the target position may be defined with the aid of a known reference position located at that surface or plane. Furthermore, if the orientation of the conveying surface or loading and unloading plane in a given three-dimensional space is known, the position relative to the conveying surface or loading and unloading plane may be determined.

[0032] The module connection may comprise an engagement member configured to engage a bearing of a component, in particular a beam or a truss. Thus, the module may be reliably and safely connected to the component. Furthermore, the engagement member provides a coarse alignment of the module.

[0033] The engagement member may include a hook-shaped protrusion configured to hook onto a bearing of the component. Thus, an accidental disengagement of the module from the component is reliably prevented.

[0034] The coupling member can be arranged at a position at the module so that the vertical position of the module in the state connected to the component is defined by the bearing. Thus, the module can be positioned vertically with respect to the component. In addition, a tilting of the module about a vertical axis and / or a pivoting of the module are achieved.

[0035] The module may further include a feed configured to receive a component protrusion of the component. This allows the module to be reliably and securely coupled to the component and provides a rough alignment of the module. Alternatively, the module may further include a module protrusion configured to be inserted into the component feed of the component.

[0036] The feed portion may be arranged at a position at the module such that the horizontal position of the module in a state connected to the component is defined by the component protrusion. Thus, the cooperation of the feed portion and the component protrusion provides a rough horizontal alignment of the module.

[0037] The component protrusion may be formed substantially in a wedge shape. Thus, when the module is further moved along the component protrusion, horizontal alignment is facilitated even if the tilted orientation of the module relative to the component is corrected.

[0038] Alternatively or additionally, pins or cones with rounded, truncated or chamfered corners may be provided at the module or component configured to guide the module vertically and laterally.

[0039] The module according to any of the three preceding embodiments, wherein the feed portion comprises a guide surface configured to engage a lateral outer surface of the component protrusion. Thus, the module is safely guided to a final position at the component protrusion.

[0040] The module may further comprise uprights which are adjustable independently of one another and are configured to define the vertical orientation of the module. Thus, the horizontal plane of the module may be adjusted. Furthermore, the module may be fixed in a raised position so as to be disengaged from the base plate. Thus, the propagation of vibrations to the analytical instrument is reduced or even prevented.

[0041] The module may further comprise castors, in particular swivel castors, so that the module can be easily moved.

[0042] The module may further comprise a lifting mechanism configured to at least partially lift the module. Thus, the module may be raised and lowered for coupling and decoupling processes. Needless to say, the module may be lifted by means of an external lifting device such as a lifting table.

[0043] The module may further comprise a frame configured to support the analytical instrument. Thus, the analytical instrument is carried by the frame.

[0044] According to a second aspect, the present disclosure provides an automated laboratory system comprising a transport line and at least one module according to the above details.

[0045] According to a third aspect, the present disclosure provides a method for aligning a module according to the above details. The method comprises the following steps:

[0046] - releasably connect the module to components of an automated laboratory system,

[0047] - detecting at least one component marking located at the component in order to obtain position data of the module, said position data being indicative of the actual position of the module,

[0048] - calculating a position deviation of the module relative to a target position defined by the component based on the position data, and calculating position alignment data based on the position deviation, and

[0049] - Align the module to the target position based on the position alignment data.

[0050] Thus, an automatic fine alignment of the module relative to the component is provided.

[0051] Releasably connecting the module to a component of an automated laboratory system can provide a rough or coarse alignment of the module relative to the component. Thus, the method comprises an automated fine alignment based on at least one detector and predetermined markings, which can optionally be combined with a coarse alignment, such as a manual coarse alignment of the module that occurs consistently when the module is coupled to the component. The method of fine alignment uses a (mechanical) alignment device that includes planar (front-to-back and left-to-right) and vertical (up-down) position determination.

[0052] The described method of the automatic alignment concept enables the relative and absolute alignment of modular system components to the transport system. Serviceability and accessibility are ensured by the rapid connection and disconnection of modular system components within minutes.

[0053] Additionally, the method enables continuous monitoring of alignment and can compensate for drift and thermal expansion or other effects due to, for example, pushing or pulling or ground movement (due to, for example, thermal displacements or settlements in the ground level).

[0054] By using a point calibration pattern for in-situ calibration, the calculated result for position correction is independent of the position and alignment of the detector or camera, as the calculation and correction of image distortion can be done in-situ. By using a combination of ArUco markers and calibration patterns, only the relative distance between the landmark and the surface needs to be determined. No complex alignment of the detector or camera is required, only the landmark and calibration pattern need to be set in the detector range or camera field of view. The detector or camera can be attached to the modular system component and can be part of the modular system component or part of the transport system (if attached to the transport system). In addition, the detector or camera can also be portable and only installed during the connection process.

[0055] As used herein, the term "automated laboratory system" is a broad term and is given a common and customary meaning to those of ordinary skill in the art, and is not limited to a special or custom meaning. Specifically, the term may refer to, but is not limited to, a mechanical system for processing various samples with random streams by different analytical instruments. This mechanical system encompasses a method for processing samples using laboratory appliances such as microtiter plates, filter plates, pipette tip boxes, sample tubes, covers, etc. The automated laboratory system has a modular architecture that includes a central trunk and an arrangement of detachable modules connected to the trunk. The structure of the automated laboratory system can facilitate the attachment of modules on both sides of the trunk, which means that a single-sided or double-sided mechanical system can be constructed.

[0056] As used herein, the term "module" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or custom meaning. Specifically, the term may refer to, but is not limited to, a single modular system component of an automated laboratory system that is configured to carry analytical instruments for performing specific operations on samples processed by the automated laboratory system, preferably in sequence. The analytical instruments may be mounted on the countertop of the module, below the countertop, or at a level above the countertop. Preferably, the module represents an independent processing unit with an analytical instrument and can be connected to the central backbone of the automated laboratory system in a modular and interchangeable manner.

[0057] As used herein, the term "analytical instrument" is a broad term and is given the ordinary and customary meaning to those of ordinary skill in the art, and is not limited to a special or customized meaning. Specifically, the term may refer to, but is not limited to, any device or device component that is operable to perform one or more processing steps / workflow steps on one or more biological samples and / or one or more reagents. Thus, the term "processing step" refers to a physically performed processing step, such as centrifugation, aliquoting, sample analysis, etc. The term "analytical instrument" covers pre-analytical sample working units, post-analytical sample working units, and analytical working units.

[0058] As used herein, the term "component" is a broad term and is given the ordinary and customary meaning to those of ordinary skill in the art and is not limited to a special or customized meaning. Specifically, the term may refer to, but is not limited to, any device to which a module is to be coupled. Specifically, the term may refer to a single modular system component of an automated laboratory system or a delivery line representing the backbone of an automated laboratory system.

[0059] As used herein, the term "laboratory diagnostic container" is a broad term and is given the ordinary and customary meaning to those of ordinary skill in the art and is not limited to a special or customized meaning. Specifically, the term may refer to, but is not limited to, any type of container suitable for storing samples or reagents in the field of analysis, especially medical analysis. Such containers are usually designed as tubes.

[0060] As used herein, the term "laboratory diagnostic container carrier" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or custom meaning. Specifically, the term may refer to, but is not limited to, any device configured to hold one or more laboratory diagnostic containers and supplied by a conveying or delivery line. Therefore, the container carrier may be configured as a single container carrier suitable for receiving a single laboratory diagnostic container or a support suitable for receiving multiple containers. Without any restrictions, a specific embodiment is described with reference to a so-called test tube holder. This test tube holder can hold a single test tube containing a sample or reagent, and the test tube is transferred to different modules of an automated laboratory system (such as an automated sample testing system) via a conveyor or a delivery line. The test tube holder includes a housing with a spring for fixing the test tube, a test tube support body housing, and a bottom cover housing. The housing with a spring for fixing the test tube has a columnar structure, the central portion of which is rounded to allow the test tube to be inserted, and a spring portion is provided inside the protrusion extending upward. It should be noted that the housing with the spring generally has a columnar shape, but it can have any shape, as long as the housing can vertically hold the test tube by the spring parts arranged equidistantly or equiangularly, and the outer shape of the housing can be a polygonal column shape. The test tube holder body housing has a cylindrical shape, and it is desirable to have a cavity portion therein. In the cavity portion, a label with a unique ID number, a weight for stably conveying the test tube, etc. are accommodated. Moreover, the outer diameter of the test tube holder body housing and the bottom cover housing is greater than the outer diameter of the test tube to be conveyed, and is less than the width of the conveying line. It should be noted that the shape of the test tube holder body housing and the bottom cover housing can be, for example, a polygonal shape. Even in that case, the maximum length in the cross-sectional direction is also desired to be less than the width of the conveyor or conveying line. A specific test tube holder that can be used with the present invention is described in EP 2 902 790 A1, and its content about the design or construction of the container carrier is incorporated into this application by reference.

[0061] As used herein, the term "module connector" is a broad term and is given a common and customary meaning to those of ordinary skill in the art, and is not limited to a special or custom meaning. Specifically, the term may refer to, but is not limited to, any device configured to allow a module to be connected to another component of an automated laboratory system. In particular, the module connector allows the connection to be released by using a tool or without using a tool without destroying the connected components. Specifically, the connector may be or may include a hook, latch, hook, coupler, etc. that allows a releasable connection to be provided.

[0062] As used herein, the term "releasably connect" or (releasably connecting) is a broad term and is given the ordinary and customary meaning to ordinary technicians in the field and is not limited to a special or customized meaning. In particular, the term can refer to but is not limited to a reversible type of connection. Therefore, the connection can cover a process of coupling or connecting and releasing the connection that can be repeated any number of times.

[0063] As used herein, the term "detector" is a broad term and is given the ordinary and customary meaning to those of ordinary skill in the art and is not limited to a special or customized meaning. Specifically, the term may refer to, but is not limited to, a device, module, machine, or subsystem configured to detect events or changes in its environment and send the information to other electronic devices (usually a computer processor). Detectors are often used with other electronic devices. In particular, the detector is configured to detect or read information provided by the presence of an information carrier such as a tag. More particularly, the detector is configured to image the tag to provide a digital image.

[0064] As used herein, the term "marker" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or custom meaning. Specifically, the term may refer to, but is not limited to, a machine-readable optical label that may contain information about the item to which it is attached. In particular, the information may be the identification of the item to which it is attached, so as to allow the presence or absence of the item to be detected. This may be achieved by a certain pattern as a mark. Needless to say, the information about the identification of the item may be more detailed, such as type, size, date of manufacture, etc. In particular, the target is equipped with a mark that forms a known pattern of a known size. Light sources such as visible light or infrared light (active and passive), visible markers such as QR codes (or they may be circular) are generally used as markers for optical tracking. One or more cameras constantly look for markers, and then various algorithms (e.g., POSIT algorithms) are used to extract the position of the object from the markers. Such algorithms must also cope with lost data in the event that one or more markers are out of the camera's view or temporarily blocked. Markers may be active or passive. The former (active markers) are usually infrared lights that flash or glow constantly. By synchronizing them with the camera's on time, it is easier to block out other IR lights in the tracking area. The latter (passive markers) are retroreflectors that reflect IR light back to the source with little scattering.

[0065] As used herein, the term "processor" is a broad term and is given the ordinary and customary meaning to those of ordinary skill in the art and is not limited to a special or customized meaning. Specifically, the term may refer to, but is not limited to, an electronic circuit that performs operations on some external data source, typically a memory or some other data stream. The term is often used to refer to the central processing unit (CPU) in a system, but a typical computer system (especially a SoC) combines many specialized "processors".

[0066] As used herein, the term "computing" is a broad term and is given the ordinary and customary meaning to those of ordinary skill in the art and is not limited to a special or customized meaning. Specifically, the term may refer to, but is not limited to, the deliberate process of converting one or more inputs into one or more results. The term is used to describe a determined arithmetic calculation performed by using an algorithm.

[0067] As used herein, the term "algorithm" is a broad term and is given the ordinary and customary meaning to those of ordinary skill in the art and is not limited to a special or custom meaning. Specifically, the term may refer to, but is not limited to, a finite sequence of well-defined, computer-implementable instructions, typically for solving a class of problems or performing calculations. Algorithms are always unambiguous and are used as specifications for performing calculations, data processing, automated reasoning, and other tasks. Algorithms are an efficient way to compute functions in a finite space and time domain and in a well-defined formal language. Starting with an initial state and an initial input (which may be empty), the instructions describe a computation that, when executed, passes through a finite number of well-defined successive states, ultimately producing an "output" and terminating in a final end state. The transition from one state to another is not necessarily deterministic; some algorithms (called randomized algorithms) contain randomized inputs.

[0068] As used herein, the term "alignment" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art and is not limited to a special or customized meaning. Specifically, the term may refer to, but is not limited to, the process of arranging a construction member or device according to a predetermined orientation in three-dimensional space. The predefined orientation may be given by another device used as a reference. Thus, the device is arranged according to a reference that defines the target position of the device to be aligned. In addition, the term also refers to the adjustment of the operating range of a module and its functional components (such as a potential robotic arm or any other handling device). In this way, the functional components of the module can be adjusted within their operating range so that they can operate without any obstacles or with the size or number of any obstacles minimized.

[0069] As used herein, the term "alignment device" is a broad term and is given the ordinary and customary meaning to those of ordinary skill in the art and is not limited to a special or customized meaning. Specifically, the term may refer to, but is not limited to, any device configured to provide or perform alignment as described above. Thus, the alignment device may be a mechanical and / or electrical alignment device.

[0070] As used herein, the term "coordinate system" is a broad term and is given the ordinary and customary meaning to one of ordinary skill in the art and is not limited to a special or customized meaning. In particular, the term may refer to, but is not limited to, a system that uses one or more numbers or coordinates to uniquely determine the position of a point or other geometric element on a manifold such as Euclidean space. The order of the coordinates is important, and they are sometimes identified by their position in an ordered tuple and sometimes by letters, as in "x-coordinate". In elementary mathematics, coordinates are treated as real numbers, but may also be complex numbers or elements of more abstract systems such as commutative rings. Using a coordinate system, geometric problems can be transformed into numerical problems, vice versa . Specifically, the term may refer to a Cartesian coordinate system such as the three-dimensional Cartesian coordinate system, which is a coordinate system that uniquely specifies every point in a plane by a set of numerical coordinates that are the signed distances from two fixed perpendicularly oriented lines to the point, measured in the same units of length. Each reference line is called a coordinate axis of the system or just an axis(es), and the point at which they intersect is its origin, located at the ordered pair (0, 0). A coordinate may also be defined as the position of the perpendicular projection of a point on two axes, expressed as a signed distance from the origin.

[0071] As used herein, the term "vertical" is a broad term and is given the ordinary and customary meaning to ordinary technicians in the field, and is not limited to a special or customized meaning. Specifically, the term may refer to, but is not limited to, an orientation parallel to the direction of gravity.

[0072] As used herein, the term "horizontal" is a broad term and is given the ordinary and customary meaning to ordinary technicians in the field, and is not limited to a special or customized meaning. Specifically, the term may refer to, but is not limited to, an orientation perpendicular to the direction of gravity.

[0073] As used herein, the term "distance sensor" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or custom meaning. Specifically, the term may refer to, but is not limited to, a sensor that facilitates measuring the change in distance or length of an object from a reference point. The result may be output as a mechanical position. The distance sensor may indicate an absolute position (position) or a relative position (displacement) based on a linear stroke, a rotation angle, or a three-dimensional space. Common types of distance sensors include capacitive displacement sensors, eddy current sensors, Hall effect sensors, inductive sensors, laser Doppler vibrometers (optical), linear variable differential transformers (LVDTs), photodiode arrays, piezoelectric transducers (piezoelectric), absolute encoders, incremental encoders, linear encoders, rotary encoders, potentiometers, proximity sensors (optical), string potentiometers (also known as string potentiometers, string encoders, cable position transducers), ultrasonic sensors, and optical sensors, such as camera-based distance sensors.

[0074] As used herein, the term "loading plane" is a broad term and is given the ordinary and customary meaning to those of ordinary skill in the art and is not limited to a special or customized meaning. Specifically, the term may refer to, but is not limited to, the plane of a module where sample loading and unloading occurs. The loading and unloading plane may be intended to provide a stepless transition to a reference plane of a component to which the module is coupled, such as a conveying surface of a conveying line.

[0075] As used herein, the term "engagement member" is a broad term and is given a meaning that is ordinary and customary to one of ordinary skill in the art and is not limited to a special or customized meaning. Specifically, the term may refer to, but is not limited to, any construction member configured to fit a portion of a device into or onto a portion of another device to be integrally coupled thereto. Engagement may be achieved with a positive locking fit. Engagement may be achieved with a releasable connection.

[0076] As used herein, the term "feed" is a broad term and is given a meaning that is ordinary and customary to those of ordinary skill in the art and is not limited to a special or customized meaning. Specifically, the term may refer to, but is not limited to, any portion of a device that is configured to receive another portion of another device when the two devices are moved toward each other and coupled. In particular, another portion of the other device may be inserted into the feed to provide guided movement for the device having the feed.

[0077] As used herein, the term "wedge-shaped" is a broad term and is given the ordinary and customary meaning to those of ordinary skill in the art and is not limited to a special or customized meaning. Specifically, the term may refer to, but is not limited to, a wedge-like shape. The term "wedge-shaped" may refer to an object having a tapered shape. More specifically, the object may have a substantially triangular shape, such as an object having one sharp edge and one thick edge.

[0078] As used herein, the term "adjustable column" is a broad term and is given the ordinary and customary meaning to those of ordinary skill in the art and is not limited to a special or customized meaning. Specifically, the term may refer to, but is not limited to, a column that can change its length. In particular, the column can be designed to be able to mechanically telescope to about twice its shortest length. The column can use a movable pin for coarse adjustment and a jack screw for fine adjustment, but there are many variations.

[0079] As used herein, the term "caster" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or custom meaning. Specifically, the term may refer to, but is not limited to, a non-driven wheel, a single wheel, a double wheel, or a composite wheel designed to be attached to the bottom of a larger object ("vehicle") to enable the object to move. They are available in various sizes and are typically made of rubber, plastic, nylon, aluminum, or stainless steel. The caster may be fixed to roll along a straight path, or may also be mounted on a pivot (pivot / pintle) so that the wheel automatically aligns with the direction of travel. The basic rigid caster consists of a wheel mounted to a fixed fork. When the caster is mounted to a vehicle, the orientation of the fork fixed relative to the vehicle is determined. Rigid casters tend to restrict vehicle movement, so that the vehicle travels in a straight line. Like the simpler rigid caster, the swivel caster includes a wheel mounted to a fork, but an additional swivel joint located above the fork allows the fork to rotate freely about 360°, so that the wheel can roll in any direction. This makes it easy to move the vehicle in any direction without changing its orientation.

[0080] This article further discloses and proposes a computer program including computer executable instructions, when the program is executed on a computer or a computer network, the computer executable instructions are used to perform the method according to the present invention in one or more embodiments disclosed herein. Specifically, the computer program can be stored on a computer readable data carrier and / or on a computer readable storage medium.

[0081] As used herein, the terms "computer-readable data carrier" and "computer-readable storage medium" may specifically refer to a non-transitory data storage device, such as a hardware storage medium having computer-executable instructions stored thereon. A computer-readable data carrier or storage medium may specifically be or may include a storage medium such as a random access memory (RAM) and / or a read-only memory (ROM).

[0082] Thus, in particular, one, more than one or even all method steps a) to d) as indicated above may be performed by using a computer or a computer network, preferably by using a computer program.

[0083] This article further discloses and proposes a computer program product with program code means, so that when the program is executed on a computer or computer network, the method according to the present invention is performed in one or more embodiments attached herein. Specifically, the program code means can be stored on a computer-readable data carrier and / or on a computer-readable storage medium.

[0084] The present invention further discloses and proposes a data carrier having a data structure stored thereon, which, after being loaded into a computer or a computer network, such as after being loaded into a working memory or a main memory of the computer or the computer network, can execute a method according to one or more embodiments disclosed herein.

[0085] Further disclosed herein is a computer program product having program code means stored on a machine-readable carrier, so that when the program is executed on a computer or a computer network, a method according to one or more embodiments disclosed herein is performed. As used herein, a computer program product refers to a program that is a tradable product. The product can generally exist in any format (such as paper format), or exist on a computer-readable data carrier and / or a computer-readable storage medium. Specifically, the computer program product can be distributed on a data network.

[0086] Further disclosed and proposed herein is a modulated data signal containing instructions readable by a computer system or a computer network for executing a method according to one or more embodiments disclosed herein.

[0087] With reference to the computer-implemented aspects of the present invention, one or more method steps or even all method steps of the method according to one or more embodiments disclosed herein may be performed using a computer or a computer network. Thus, generally speaking, any method step including providing and / or processing data may be performed using a computer or a computer network. Generally speaking, these method steps may include any method steps other than those that typically require manual operation (such as providing samples and / or performing certain aspects of the actual measurement).

[0088] Specifically, this article further discloses the following:

[0089] - a computer or a computer network comprising at least one processor, wherein the processor is adapted to perform a method according to one of the embodiments described in this specification,

[0090] - a computer loadable data structure, which is suitable for performing a method according to one of the embodiments described in this specification when the data structure is executed on a computer,

[0091] - a computer program, wherein the computer program is adapted to perform a method according to one of the embodiments described in this description when the program is executed on a computer,

[0092] - a computer program comprising program means for carrying out a method according to one of the embodiments described in the present description when the computer program is executed on a computer or on a computer network,

[0093] - a computer program comprising program means according to the preceding embodiment, wherein the program means is stored on a computer-readable storage medium,

[0094] - a storage medium, on which a data structure is stored and wherein the data structure is suitable, after being loaded into a main memory and / or a working memory of a computer or a computer network, for executing a method according to one of the embodiments described in this description, and

[0095] - A computer program product having program code means, wherein the program code means can be stored or are stored on a storage medium for executing the method according to one of the embodiments described in the present description when the program code means are executed on a computer or a computer network.

[0096] In summary and without excluding further possible embodiments, the following embodiments may be envisaged:

[0097] Embodiment 1: A module for an automated laboratory system, comprising

[0098] a modular connector configured to releasably connect to a component of an automated laboratory system,

[0099] a detector configured at least to detect at least one component mark located at the component so as to obtain position data of the module, the position data indicating an actual position of the module,

[0100] a processor configured to calculate a position deviation of the module relative to a target position defined by the component based on the position data, and to calculate position alignment data based on the position deviation, and

[0101] An alignment device is configured to align the module or its functional unit to a target position based on the position alignment data.

[0102] Embodiment 2: The module according to the preceding embodiment, wherein the detector is further configured to detect at least one module mark located at the module.

[0103] Embodiment 3: A module according to the preceding embodiment, wherein the type, size and / or quantity of the module markings may be the same as or different from the type of the component markings.

[0104] Embodiment 4: The module according to any one of the two preceding embodiments, wherein the component marking and the module marking are positioned such that the component marking and the module marking are detectable consistently by a detector.

[0105] Embodiment 5: A module according to any one of the three preceding embodiments, wherein the component markings and the module markings each have a predetermined size and orientation.

[0106] Embodiment 6: A module according to any one of the four preceding embodiments, wherein the component marking is configured to provide a component coordinate system, and the module marking is configured to provide a module coordinate system, wherein the processor is configured to calculate the position deviation of the module relative to the target position based on the relative distance between the component coordinate system and the module coordinate system.

[0107] Embodiment 7: The module according to any one of the five preceding embodiments, wherein the component markings and module markings are configured to allow in-situ calibration of the detector.

[0108] Embodiment 8: A module according to any preceding embodiment, wherein the position data comprises information about the horizontal position and / or vertical position of the module.

[0109] Embodiment 9: A module according to any preceding embodiment, wherein the detector is a camera.

[0110] Embodiment 10: The module according to any preceding embodiment, further comprising a distance sensor configured to determine a relative vertical position with respect to the component.

[0111] Embodiment 11: The module according to the preceding embodiment, wherein the distance sensor is configured to determine the relative vertical position based on the distance of a reference point at the component from a predetermined module plane.

[0112] Embodiment 12: A module according to the preceding embodiment, wherein the predetermined module plane is a loading and unloading plane of the module.

[0113] Embodiment 13: A module according to any one of the three preceding embodiments, wherein the distance sensor is an optical sensor, a capacitive resistive sensor, an electromechanical or mechanical distance sensor.

[0114] Embodiment 14: The module according to any preceding embodiment, wherein the processor is configured to calculate the position deviation by means of an algorithm.

[0115] Embodiment 15: The module according to any preceding embodiment, further comprising an analytical instrument, wherein the alignment device is configured to align the analytical instrument to the target position based on the position alignment data.

[0116] Embodiment 16: The module according to the preceding embodiment, wherein the alignment device is configured to move the analytical instrument in three-dimensional space.

[0117] Embodiment 17: The module according to any preceding embodiment, wherein the target position is defined by a reference point of a reference plane of the component or by a reference point within a reference plane.

[0118] Embodiment 18: The module according to any preceding embodiment, wherein the component is a conveying line of an automated laboratory system or is another module of an automated laboratory system.

[0119] Embodiment 19: The module according to the preceding embodiment, wherein the target position is defined by a point of or within a conveying surface of a conveying line or a loading and unloading plane of another module.

[0120] Embodiment 20: The module according to any of the preceding embodiments, wherein the module connection comprises a joint member configured to engage a bearing of a component, in particular a beam or a truss.

[0121] Embodiment 21: The module of the preceding embodiment, wherein the engagement member comprises a hook-shaped protrusion configured to hook onto a bearing of the component.

[0122] Embodiment 22: The module according to any of the two preceding embodiments, wherein the engagement member is arranged at a position at the module such that the vertical position of the module in a state of being connected to the component is defined by the bearing.

[0123] Embodiment 23: The module according to any preceding embodiment, further comprising a feed portion configured to receive a component protrusion of a component, or further comprising a module protrusion configured to be inserted into the component feed portion of the component.

[0124] Embodiment 24: The module according to the preceding embodiment, wherein the feed portion is arranged at a position at the module such that the horizontal position of the module in a state of being connected to the component is defined by the component protrusion.

[0125] Embodiment 25: The module according to any one of the two preceding embodiments, wherein the component protrusion can be formed substantially in a wedge shape.

[0126] Embodiment 26: The module according to any of the three preceding embodiments, wherein the feed portion comprises a guide surface configured to engage a lateral outer surface of a component protrusion.

[0127] Embodiment 27: The module according to any preceding embodiment, further comprising columns that are independently adjustable from each other and configured to define a vertical orientation of the module.

[0128] Embodiment 28: A module according to any of the preceding embodiments, further comprising castors, in particular swivel castors.

[0129] Embodiment 29: The module according to any preceding embodiment, further comprising a lifting mechanism configured to at least partially lift the module.

[0130] Embodiment 30: The module according to any preceding embodiment, further comprising a frame configured to support an analytical instrument.

[0131] Embodiment 31: An automated laboratory system comprising a transport line and at least one module according to any preceding embodiment.

[0132] Embodiment 21: A method for aligning a module according to any one of embodiments 1 to 30, the method comprising:

[0133] - releasably connect the module to a component of an automated laboratory system,

[0134] - detecting at least one component marking located at the component in order to obtain position data of the module, said position data being indicative of the actual position of the module,

[0135] - calculating a position deviation of the module relative to a target position defined by the component based on the position data, and calculating position alignment data based on the position deviation, and

[0136] - Align the module to the target position based on the position alignment data.

[0137] Embodiment 33: The method according to the preceding embodiment, wherein releasably connecting the module to the component of the automated laboratory system provides a rough alignment of the module relative to the component. BRIEF DESCRIPTION OF THE DRAWINGS

[0138] Further optional features and embodiments will be disclosed in more detail in the subsequent description of the embodiments, preferably in conjunction with the dependent claims. Wherein, as will be appreciated by those skilled in the art, each optional feature can be implemented in an isolated manner and in any arbitrary feasible combination. The scope of the present invention is not limited by the preferred embodiments. Embodiments are schematically depicted in the accompanying drawings. Wherein, the same reference numerals in these figures refer to the same or functionally comparable elements.

[0139] In the attached figure:

[0140] FIG1 shows a perspective view of an automated laboratory system;

[0141] FIG2 shows a perspective view of a portion of a module;

[0142] FIG3 shows an enlarged side view of a portion of the module in a coupled state;

[0143] FIG4 shows an enlarged rear view of a portion of the module in a coupled state;

[0144] FIG5 shows an enlarged view of a portion of the module in a coupled state;

[0145] FIG6 shows an enlarged side view of a portion of the module in a coupled state;

[0146] FIG7 shows a perspective view of a portion of the module;

[0147] FIG8 shows a top view of a portion of the module;

[0148] FIG9 shows a cross-sectional view of a portion of a module;

[0149] 10A and 10B illustrate different arrangements of markers suitable for use with the present disclosure;

[0150] 11A to 11H illustrate the operation of coupling the module to the component; and

[0151] 12A to 12G illustrate the operation of detaching the module from the component. DETAILED DESCRIPTION

[0152] FIG. 1 shows a perspective view of an automated laboratory system 100. The automated laboratory system 100 is configured to process multiple or various samples 102 in a random flow through different process or analytical instruments 104. The automated laboratory system 100 encompasses a method for processing samples 102 using laboratory appliances such as microtiter plates, filter plates, pipette tip boxes, etc. (not shown). The automated laboratory system 100 has a modular architecture consisting of several components 106, 108. In particular, the automated laboratory system 100 has a central backbone 108 and an arrangement of detachable modules 106 coupled to the backbone 108. The central backbone 108 can be a transport line for transporting samples 102 to or from the modules 106. The transport line can be a conveyor belt transport line, a mechanically driven carrier transport line, a magnetic transport line, a self-propelled carrier transport line, a separate single sample transport line, a rack transport line, or any other type of sample transport line.

[0153] The module 106 carries the analytical instrument 104 for performing a specific operation on the sample 102, such as in sequence. The analytical instrument 104 can be mounted above the countertop 110 of the module 106, below the countertop 110, or at a level above the countertop 110, as further described below. The structure of the automated laboratory system 100 facilitates the attachment of the module 106 on both sides of the backbone 108, which means that a single-sided or double-sided automated laboratory system 100 can be constructed. Preferably, the module 106 represents an independent processing unit with an analytical instrument 104, and can be connected to the central backbone 108 in a modular and interchangeable manner. The analytical instrument 104 can be accommodated by a housing 112 of the module 106, which at least partially surrounds the countertop 110.

[0154] FIG. 2 shows a perspective view of a portion of the module 106. The module 106 includes a frame 114 that supports the table top 110. The frame 114 includes vertical frame members 116 and horizontal frame members 118. For example, four vertical frame members 116 and six horizontal frame members 118 are arranged to provide the frame 114 with a substantially rectangular or cuboid shape. Needless to say, the number of vertical frame members 116 and horizontal frame members 118 may vary depending on the respective application. The vertical frame members 116 and horizontal frame members 118 may be beams having a rectangular or square cross-section. The frame 114 is configured to support the housing 112. For example, the housing may be releasably mounted to the frame 114. Needless to say, the frame 114 may be designed in any other manner, such as depending on the respective application of the module 106.

[0155] FIG. 3 shows an enlarged side view of a portion of the module 106 in a coupled state. FIG. 4 shows an enlarged rear view of a portion of the module 106 in a coupled state. The module 106 further includes a module connector 120 configured to be releasably connected to the components 106, 108 of the automated laboratory system 110. The module connector 120 includes an engagement member 122 configured to engage a bearing 124 (such as a beam or truss) of the components 106, 108 (such as the backbone 108). The engagement member 122 includes a hook-shaped protrusion 126 configured to hook onto the bearing 124 of the components 106, 108. The engagement member 122 is arranged at a position at the module 106 such that the vertical position of the module 106 in a state of being connected to the components 106, 108 is defined by the bearing 124. In this embodiment, the module connector 120 and the engagement member 122 are respectively arranged adjacent to the lower end 128 of the frame 114 at the rear side 130 of the module 106. The module connector 120 protrudes from the frame 114. The bearing 124 is referenced to the transport plane of the transport line 108 to achieve vertical alignment and tilting of the module 106. Optionally, the bearing 124 can be mechanically disengaged from the transport line 108 to prevent vibration coupling.

[0156] FIG. 5 shows an enlarged view of a portion of the module 106 in a coupled state. The module 106 further includes a feed portion 132 configured to receive a component protrusion 134 of the components 106, 108. The feed portion 132 is arranged at a position at the module 106 such that the horizontal position of the module 106 in a state of being connected to the components 106, 108 is defined by the component protrusion 134. In the present embodiment, the feed portion 132 is horizontally arranged in a central horizontal portion of the frame 114. In addition, the feed portion 132 is vertically arranged between the engagement member 122 and the lower end 128 of the frame 114. As shown in FIG. 5, the component protrusion 134 is substantially formed in a wedge shape, which facilitates the sliding movement of the feed portion 132 on the component protrusion 134. For this purpose, the feed portion 132 includes a guide surface 136 configured to engage a lateral outer surface 138 of the component protrusion 134. The wedge-shaped protrusion 134 forms a predetermined clearance with the feed portion 132, positioned at the bearing 124 and with reference to the target position of the module 106 at the conveying line 108 with respect to the left-right orientation. The module 106 may optionally further include a tapered pin in a horizontal or vertical orientation, which engages in the bearing hole and locks with each other.

[0157] FIG6 shows an enlarged side view of a portion of the module 106 in a coupled state. The module 106 further includes columns 140 that are adjustable independently of one another and are configured to define the vertical orientation of the module 106. The adjustable columns 140 also allow the module to tilt when connected to the backbone 108. For this reason, the module 106 includes at least two adjustable columns 140. For example, there are four adjustable columns 140. The adjustable columns 140 are slidably received within the vertical frame members 116. The module 106 further includes casters 142. For example, there are four casters 142. At least some of the casters 142 may be swivel casters. For example, two casters 142 at the front side 144 of the frame 114 are swivel casters.

[0158] FIG. 7 shows a perspective view of a portion of the module 106. FIG. 8 shows a top view of a portion of the module 106. The module 106 further includes a detector 146. The detector 146 is configured at least to detect at least one component mark 148 located at the components 106, 108 so as to obtain position data of the module 106, which indicates the actual position of the module 106. The position data includes information about the horizontal position and / or the vertical position of the module 106. The detector 146 may be a camera. If desired, the camera may be provided with visible or invisible lighting and is attached to the module 106 and pointed at the conveying line 108. The detector 146 is further configured to detect at least one module mark 150 located at the module 106. The component mark 148 and the module mark 150 are positioned so that the component mark 148 and the module mark 150 can be detected by the detector 146 in a consistent manner. In other words, the component mark 148 and the module mark 150 are both located within the detection range or field of view of the detector 146. The component mark 148 and the module mark 150 each have a predetermined size and orientation. The predetermined size and orientation of the component mark 148 and the module mark 150 can be the same, but need not be the same. The component mark 148 is configured to provide a component coordinate system 152, and the module mark 150 is configured to provide a module coordinate system 154. In this embodiment, the module mark 150 is located at the transition of the lower vertical frame member 116 and the horizontal frame member 118 at the rear side 130 of the module 106. The component mark 148 can provide a calibration pattern such as a dot or dot matrix pattern. The calibration pattern is not limited to a dot matrix pattern, and can also be implemented as a cross pattern, a checkerboard, or any kind of dot matrix pattern that can be analyzed by image processing.

[0159] The size and type of markers 148, 150 used depends on the available space on the object where the marker is placed and the required quality and compensation capabilities. The marker 148 can be of ArUco type or other types of patterns, such as dots or checkerboard patterns with known size and orientation. These types of markers can provide 2d calibration and position determination with the camera and cross-checking. For example, for dot patterns, a minimum number of well-arranged dots is required. In addition, ArUco markers can provide identification information. ArUco markers are binary square fiducial markers that can be used for camera pose estimation. Their main advantage is that the detection function is powerful, fast and simple.

[0160] The module 106 further includes a processor 156 configured to calculate a position deviation of the module 106 relative to a target position defined by the components 106, 108 based on the position data, and to calculate position alignment data based on the position deviation. In particular, the processor 156 is configured to calculate a position deviation of the module from the target position based on a relative distance between the component coordinate system 152 and the module coordinate system 154. The processor 156 is configured to calculate the position deviation by means of an algorithm. The target position may be defined by a reference point of a reference plane of the components 106, 108 or by a reference point within the reference plane 158. Since the components 106, 108 may be a transport line 108 of the automated laboratory system 100 or another module 106 of the automated laboratory system 100, the target position may be defined by a point of a transport surface 160 of the transport line 108 or a loading and unloading plane 162 of another module 106 or a point within the transport surface 160 or the loading and unloading plane 162. Thus, the reference plane 158 may be a shipping surface 160 or table top 110 that serves as a loading and unloading plane 162 for such modules 106 .

[0161] The module 106 further comprises an alignment device 164, which is configured to align the module 106 to a target position based on the position alignment data. More particularly, the alignment device 164 is configured to align the analytical instrument 104 to the target position based on the position alignment data. In particular, the alignment device 164 is configured to move the analytical instrument 104 in three-dimensional space. For example, the alignment device 164 is a mechanical alignment device, such as a so-called xyz stage. It can be clearly pointed out that the alignment device 164 can align itself or any other functional component of the module 106 according to the target position to increase or maximize its operating range.

[0162] FIG9 shows a cross-sectional view of a portion of the module 106. The module 106 further comprises an optional distance sensor 166 configured to determine a relative vertical position with respect to the components 106, 108. The distance sensor 166 may be an optical or capacitive distance sensor. In particular, the distance sensor 166 is configured to determine the relative vertical position based on the distance of a reference point 168 at the components 106, 108 from a predetermined module plane 168. The predetermined module plane 168 may be the loading and unloading plane 162 of the module 106. Basically, a camera setup of the detector 146 with appropriate markings 148, 150 may also be used to determine the vertical position. FIG9 also shows an example of a detection range or field of view 170 of the detector 146 on the predetermined module plane 168.

[0163] 10A and 10B illustrate different arrangements of markings suitable for use with the present disclosure. As further detailed, the type, size, and / or quantity of the module markings 150 may be the same or different than the type of the component markings 148. Fig. 10A 10A and 10B, the detection range or field of view 170 of the detector 146 is shown. In addition, FIG10A and FIG10B show portions of the module 106 and the conveyor line 108 to which the module marker 150 and the component marker 148 are attached. FIG10A shows one large component marker 148 attached to the conveyor line 108 and two module markers 150 attached to the module 106. FIG10B shows one component marker 148 formed of four dots arranged in a square pattern and attached to the conveyor line 108 and one module marker 150 attached to the module 106.

[0164] There are multiple options for arranging the marks 148, 150. If a factory calibrated camera is used, only the part mark 148 on the part (such as the conveyor line 108) is sufficient. This means that there is no need for module marks 150 or any other part on which the camera is mounted. For example, the module 106 is not provided with a module mark 148, but there is a part mark 150 on another part 106, 108 (e.g., a conveyor line). As a result, the camera must be mounted securely and the part on which the camera is mounted must be accurately aligned and calibrated (e.g., factory calibrated). For this arrangement, relative and absolute alignment can be performed by imaging and analyzing the part mark 150 on the other part 106, 108 with knowledge of the precise position and calibration of the camera. However, any slight change in the camera alignment relative to the other parts 106, 108 may result in a calibration update process.

[0165] For this reason, it may be advantageous to provide markings on both components. For example, as described above, at least one module marking 150 is arranged on the module 106 and at least one component marking 148 is arranged on the conveyor line 108. Basically, the type of marking can be the same or different, but must contain at least three points. The number of points in the marking determines the quality and ability of calibration and alignment. With this arrangement and a set of appropriate markings, relative alignment with the module 106 can be achieved without the need for precise alignment and calibration of the camera, since in-situ calibration can be achieved. For calibration, the marking 150 on the component on which the camera is mounted or the component marking 148 of other components can be used.

[0166] 11A to 11H illustrate the operation of coupling the module 106 to the components 106, 108. In particular, the operation is explained with reference to coupling to the conveyor line 108. As shown in FIG. 11A, the coupling process begins with the module 106 being moved on casters 142 to a connection position close to the conveyor line 108. For example, the module 106 is moved manually. Subsequently, as shown in FIG. Fig. 11B11A , which shows a top view, the module 106 is pushed onto the component protrusion 134 so that the component protrusion 134 is inserted into the feed portion 132. As a result, the module is roughly aligned to the left and right. Subsequently, as shown in FIG. 11C , the module 106 is pushed onto the bearing 124 so that it is parallel to the bearing 124 and the engaging member 122 is in contact with the bearing 124. Subsequently, as shown in FIG. 11D , the module 106 is lifted at a position near the bearing 124 on the rear side 130 using a lifting mechanism (not shown in detail), as indicated by arrow 172. As a result, the caster 142 at the rear side 130 is released from the base plate. Subsequently, as shown in FIG. 11E , the module 106 is pushed over the bearing 124, as indicated by arrow 174, so that it is still parallel to the bearing 124 and the engaging member 122 is in contact with the bearing 124. Subsequently, as shown in FIG. 11F , the module 106 is gently lowered onto the bearing 124 together with the engagement member 122. Thus, the engagement member 122 engages the bearing 124, while the castor 142 at the rear side 130 remains spatially separated from the base plate. Subsequently, as shown in FIG. 11G , the module 106 is lifted at the front side 144 using a lifting mechanism until it is oriented horizontally as indicated by the arrow 176. The horizontal orientation can be checked with the aid of a bubble level or the like, which means that the edges of the table top 110 are in the same vertical position. Subsequently, as shown in FIG. 11H , the module 106 is fixed in this vertical position at the front side 144 with the aid of the adjustable column 140. Furthermore, the lifting mechanism is removed. Optionally, the module 106 can be inserted into a connector (not shown in detail).

[0167] 11A to 11H represent a rough or coarse alignment of the module 106. In the following, a process of fine alignment of the module 106 or the analytical instrument 104 will be described, which may be performed after or in parallel with the coarse alignment.

[0168] As described above, the detector 146 is attached to the module 106 in such a way that all the component marks 148 and the module marks 150 are within the detection range or field of view. FIG8 shows the detection range or field of view of the detector 146. The detection range or field of view covers the surface of the interface area of ​​the conveyor line 108 and two module marks 150, which are attached to both sides of the module 106 near the interface area of ​​the conveyor line 108. The module marks 150 of the ArUco type are used to determine the relative position of the module 106 indicated by the module coordinate system 154. The module marks 150 can also be used to identify the module 106. The component marks 148 formed as a dot or dot matrix calibration pattern (which is printed on or incorporated into the surface of the interface portion of the conveyor line 108) are used to determine the relative position of the conveyor line 108 indicated by the component coordinate system 152. In addition, this allows the image distortion to be calculated and allows the detector 146 to be calibrated in situ, so the distance between the points is strictly specified.

[0169] The processor 156 calculates the positional deviation of the module 106 relative to the target position defined by the conveyor line 108 based on the positional data acquired from the image generated by the detector 146, and calculates the positional alignment data based on the positional deviation. In particular, the processor 156 applies an algorithm to analyze the image generated by the detector 146 and calculates the relative distance and alignment between the component coordinate system 152 of the conveyor line 108 and the module coordinate system 154 of the module 106. This is converted into a positional correction that is input into the alignment device 164 of the module 106 to provide a fine alignment of the module 106 and the analysis instrument 104, respectively, relative to the conveyor line 108.

[0170] In summary, the detailed process of determining the position correction and position correction for fine alignment includes the following details. A detector 146, such as a camera, acquires an image of a module mark 150, such as an ArUco landmark, and a component mark 148, such as a point calibration pattern of an interface area of ​​the conveyor line 108. An algorithm is used to perform image processing to analyze the module mark 150, thereby calculating the transverse coordinate system of the module 106. The algorithm is used to perform image processing to analyze the component mark 148. Analyzing the component mark 148 can provide: extracting calibration parameters for camera calibration, calculating and subtracting image distortion, and calculating the transverse coordinate system of the conveyor line 108. In addition, the vertical distance deviation of the module 106 relative to the target position is determined by the distance sensor 166. The algorithm is used to calculate the relative distance and alignment between the module 106 and the conveyor line 108, and convert it into a position correction of the analysis instrument 104 of the module 106. The result for position correction calculated in this way is transmitted to the alignment device 164 to correct the position deviation between the module 106 and the conveyor line 108. Fine alignment may be supported by mechanical coarse alignment as described above, but is not required.

[0171] 12A to 12G illustrate the operation of disengaging the module 106 from the components 106, 108. In particular, the operation is explained with reference to the disengagement from the transport line 108. As shown in FIG. 12A, the disengagement process begins with the module 106 being coupled to the transport line 108. The optional connector has been unplugged. Subsequently, as shown in FIG. 12B, the module 106 is lifted at the front side 144 using the lifting mechanism. In addition, as indicated by arrow 178, the adjustable column 140 is rotated and lifted into the vertical frame member 116. Subsequently, as shown in FIG. 12C, the module 106 is gently lowered onto the casters 142 at the front side 144. Subsequently, as shown in FIG. 12D, the module 106 is lifted at the rear side 130 near the bearing 124 using the lifting mechanism, as indicated by arrow 180. Then, as shown in FIG. 12E , the module 106 is pulled slightly over and in front of the bearing 124 as indicated by arrow 182. Then, as shown in FIG. 12F , the module 106 is gently lowered onto the casters 142 at the rear side 130 . In addition, the module 106 is pulled out of the component protrusion 134 and out of the connected position. Then, as shown in FIG. Figure 12G As shown, the module 106 is moved on casters 142 to a desired position.

[0172] Reference numerals list

[0173] 100 Automated Laboratory Systems

[0174] 102 samples

[0175] 104 Analytical Instruments

[0176] 106 modules

[0177] 108 Delivery Line

[0178] 110 Countertop

[0179] 112 Housing

[0180] 114 Frame

[0181] 116 Vertical frame members

[0182] 118 Horizontal frame member

[0183] 120 Module connector

[0184] 122 Jointing components

[0185] 124 Bearings

[0186] 126 hook-shaped process

[0187] 128 Lower end

[0188] 130 rear side

[0189] 132 Feeding Department

[0190] 134 Component protrusion

[0191] 136 Guide Surface

[0192] 138 Lateral outer surface

[0193] 140 Adjustable Column

[0194] 142 Casters

[0195] 144 front

[0196] 146 Detector

[0197] 148 Parts marking

[0198] 150 Module Mark

[0199] 152 Component Coordinate System

[0200] 154 Module Coordinate System

[0201] 156 processors

[0202] 158 Reference plane

[0203] 160 Transport Surface

[0204] 162 Loading and unloading surface

[0205] 164 Alignment Device

[0206] 166 Distance Sensor

[0207] 168 Predetermined module plane

[0208] 170 Detection range or field of view

[0209] 172 Arrow

[0210] 174 Arrow

[0211] 176 Arrow

[0212] 178 Arrow

[0213] 180 Arrow

[0214] 182 Arrows.

Claims

1. A module (106) for an automated laboratory system (100), comprising a module connector (120) configured to releasably connect to a component (106, 108) of the automated laboratory system (100), Analytical instruments (104), a detector (146) configured at least to detect at least one component mark (148) located at the component (106, 108) so as to obtain position data of the module (106), the position data indicating an actual position of the module (106), wherein: The position data includes information about a horizontal position and a vertical position of the module (106), wherein the detector (146) is further configured to detect at least one module marker (150) located at the module (106), A processor (156) configured to calculate a position deviation of the module (106) relative to a target position defined by the components (106, 108) based on the position data, and to calculate position alignment data based on the position deviation, and an alignment device (164) configured to align the module (106) to the target position based on the position alignment data, wherein the alignment device (164) is configured to align the analytical instrument (104) to the target position based on the position alignment data, wherein the component mark (148) is configured to provide a component coordinate system (152), and the module mark (150) is configured to provide a module coordinate system (154), wherein the processor (156) is configured to calculate the position deviation of the module (106) relative to the target position based on a relative distance between the component coordinate system (152) and the module coordinate system (154).

2. The module (106) of claim 1, wherein the component marking (148) and the module marking (150) are positioned such that the component marking (148) and the module marking (150) are detectable consistently by the detector (146).

3. The module (106) of claim 1 or 2, wherein the component marking (148) and the module marking (150) each have a predetermined size and orientation.

4. The module (106) of claim 1 or 2, wherein the component marking (148) and the module marking (150) are configured to allow in-situ calibration of the detector (146).

5. The module (106) of claim 1 or 2, further comprising a distance sensor (166) configured to determine a relative vertical position with respect to the component.

6. The module (106) of claim 5, wherein the distance sensor (166) is configured to determine the relative vertical position based on a distance of a reference point at the component from a predetermined module plane.

7. The module (106) according to claim 1 or 2, wherein the processor (156) is configured to calculate the position deviation by means of an algorithm.

8. The module (106) according to claim 1 or 2, wherein the target position is defined by a reference point of a reference plane of the component or by a reference point within the reference plane.

9. The module (106) according to claim 1 or 2, wherein the component is a transport line (108) of the automated laboratory system (100) or another module (106) of the automated laboratory system (100).

10. The module (106) of claim 1 or 2, wherein the module connector (120) includes an engagement member (122) configured to engage a support (124) of the component.

11. The module (106) according to claim 1 or 2, further comprising a feed portion (132), which is configured to receive a component protrusion (134) of the component (106, 108), or further comprises a module protrusion, which is configured to be inserted into the component feed portion of the component (106, 108).

12. The module (106) according to claim 1 or 2, wherein: The detector is a camera.

13. The module (106) according to claim 1 or 2, wherein: The alignment device (164) is configured to move the analytical instrument (104) in three-dimensional space.

14. The module (106) according to claim 9, wherein: The target position is defined by a point on a conveying surface (160) of the conveying line (108) or a loading and unloading plane (160) of the further module (106) or a point within the conveying surface (160) or the loading and unloading plane (160).

15. The module (106) according to claim 10, wherein: The supporting member is a beam or a truss.

16. A method for aligning a module (106) according to any one of claims 1 to 15, the method comprising releasably connecting the module (106) to a component of the automated laboratory system (100), detecting at least one component mark (148) located at the component to obtain position data of the module (106), the position data indicating an actual position of the module (106), calculating a position deviation of the module (106) relative to a target position defined by the component based on the position data, and calculating position alignment data based on the position deviation, and The module (106) is aligned to the target position based on the position alignment data.

17. The method according to claim 16, wherein: Releasably connecting the module (106) to a component of the automated laboratory system (100) provides for rough alignment of the module (106) relative to the component.

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