Dispensing system and method for dispensing carriers

Abstract

The present invention discloses a distribution system. The distribution system comprises: a transport plane, the transport plane comprises logical positions, a carrier, the carrier is used to transport objects, a drive system, the drive system is used to move the carrier between logical positions on the transport plane, and a control system, the control system is configured to control the carrier to move from a starting position to a final destination position on a planned route via the logical positions on the transport plane, wherein the control system comprises a route planning system, the route planning system is configured to calculate a route on the transport plane for at least two carriers by modeling the transport plane with a graph of nodes. In addition, the present invention discloses a method for distributing carriers using the distribution system.

Description

Technical Field

[0001] The present invention relates to a dispensing system and a method for dispensing carriers using a dispensing system. As an example, the system and method of the present invention can be used to control the movement of carriers that transport sample containers, specifically: sample tubes filled with biological fluids or reagents to be analyzed; and / or boxes filled with reagents, sample slides, tissue materials, waste, disposables (such as pipette tips or tube caps); and / or empty tubes, which are used for packaging, especially in the field of diagnostic laboratories. The system and method can also be used for other applications that require controlling the movement of carriers on a transport plane, such as carriers that transport payloads (such as cargo, warehouse cargo, products to be manufactured at a manufacturing site, or other objects). Background Art

[0002] In the field of diagnostic laboratories, a plurality of samples, for example liquid samples, must often be processed automatically. The automated processing of samples may include the automated transport of sample containers, in particular sample containers containing samples to be processed, via carriers in the diagnostic laboratory by means of one or more dispensing systems.

[0003] WO 2012 / 158520 A1 discloses a laboratory product transport element for a laboratory transport system, which has: an energy receiver and / or an energy accumulator for providing driving power; at least one signal receiver for receiving a control signal; a control unit for generating a driving signal according to at least one control signal obtained from at least one signal receiver; a moving device for independently moving the laboratory product transport element on a transport path according to the driving signal of the control unit, wherein the driving device is driven by the driving power; and at least one holder for holding the laboratory product being transported. The document also describes a laboratory transport system having at least one laboratory product transport element and a transport path arrangement. The document also describes an operating method of the laboratory transport system.

[0004] EP 3 251 986 A1 describes a method for operating a long stator linear motor with a transport track, wherein a plurality of drive coils are arranged along the transport track and at least one separate transport unit moves along the transport track. The method comprises: superimposing control variables of the drive coils of the long stator linear motor with an excitation signal having a predetermined frequency band; determining an actual variable of the drive coil control; determining a frequency response based on the control variables superimposed with the excitation signal and based on the determined actual variable; and determining control parameters for the transport unit based on the frequency response, and controlling the transport unit to move along the transport track using these determined control parameters.

[0005] Despite the advantages achieved by the known methods and devices, in particular for dispensing systems in which the carriers contact and / or slide on the conveying surface, several technical challenges remain. In particular, depending on the number of carriers moved on the conveying surface and / or the number of starts and stops on the conveying surface, the automatic conveying of carriers may result in increased wear of specific areas on the conveying surface of the dispensing system due to an unbalanced use of the conveying surface.

[0006] Typically, areas of increased wear can be identified by determining delayed and / or failed plans and these areas on the transport surface can be avoided, for example as described in EP 3 537 159 A1. This document describes a method of operating a laboratory sample dispensing system, wherein the laboratory sample dispensing system comprises: a plurality of sample container carriers, wherein the sample container carriers are adapted to carry laboratory sample containers; a transport plane, wherein the transport plane is adapted to support the sample container carriers; and a plurality of drive elements, wherein the drive elements are adapted to move the sample container carriers on the transport plane. The method comprises the steps of: a) planning a movement path for one of the sample container carriers from a starting position on a transport plane to a destination position, wherein the transport plane is logically modeled by a plurality of nodes, wherein the nodes are free within at least one time window or are reserved within at least one time window, wherein the planning comprises analyzing the reachability from the free time window of one of the nodes to the free time windows of at least one next node and at least one next node, so that the planned movement of the one sample container carrier is uninterrupted from one node through the next node to at least one next node, and reserving a planned movement path comprising a sequence of time windows of the nodes; and b) executing by controlling at least one of the drive elements so that the one sample container carrier moves along the reserved movement path on the transport plane. However, the planning may begin to fail because actual wear affects predictability, slows down the movement speed of the carrier, etc. If the route planner still plans using a model suitable for relatively new surfaces and carriers, the planning will begin to fail when the system wears. The system can avoid identified areas of increased wear. However, in order to be able to reach a specific target location, certain areas of the transport surface cannot be avoided. Areas of increased wear generally need to be updated earlier than areas with less wear. Therefore, the maintenance costs of the conveyor system will be largely determined by the relatively short maintenance intervals in the areas of increased wear.

[0007] In addition, a dispensing system that performs a linear movement, in particular avoiding stops on a linear path, may be able to reduce wear. A route planner mechanism may allow linear movement while minimizing stops during movement on a conveying surface. However, this principle may not be applicable to a dispensing system with a high carrier flow density.

[0008] Furthermore, local wear grooves can be removed by grinding or polishing the conveying surface from time to time, in particular if the absolute thickness of the conveying surface is not critical for operation and the conveying surface can have a sufficient thickness to obtain a long technical and economic life, in particular between two service intervals. Alternatively or additionally, the conveying surface can be renewed more frequently. As an example, a carrier with virtual movement can be used for grinding or polishing. However, the workload, maintenance and material costs can generally be high, and the dispensing system can experience long downtimes due to maintenance.

[0009] Issues to be resolved

[0010] Therefore, it is desirable to provide methods and devices that at least partially address the above technical challenges. In particular, a dispensing system and method for dispensing carriers should be proposed to reduce or better distribute the wear on the conveying surfaces of the dispensing system. Summary of the invention

[0011] This problem is solved by a dispensing system and a method for dispensing carriers using a dispensing system having the features of the independent claims. In the dependent claims and throughout the description, advantageous embodiments are listed which can be realized individually or in any combination.

[0012] As used hereinafter, the terms "having", "including" or "comprising" or any of their arbitrary grammatical variations are used in a non-exclusive manner. Thus, these terms may refer both to situations in which, apart from the features introduced by these terms, no further features are present in the entity described in this context, and to situations in which one or more further features are present. As an example, the expressions "A has B", "A includes B" and "A contains B" may refer both to situations in which, apart from B, no other elements are present in A (i.e., situations in which A consists solely and exclusively of B), and to situations in which, apart from B, one or more further elements (such as element C, element C and element D or even further elements) are present in entity A.

[0013] Further, it should be noted that the terms "at least one", "one or more" or similar expressions indicating that a feature or element may be present one or more 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" will not be repeated despite the fact that the corresponding feature or element may be present once or more than once.

[0014] In addition, 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 will be appreciated by those skilled in the art, the present invention can be implemented by using alternative features. Similarly, the features introduced by "in one 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.

[0015] In a first aspect, a dispensing system is disclosed. The dispensing system comprises

[0016] - a transport plane comprising logical locations,

[0017] - a carrier for transporting objects,

[0018] a drive system for moving the carrier between logical positions on the transport plane,

[0019] - a control system configured to control the movement of the carrier from a starting position to a final destination position on a carrier transport plane via logical positions on a planned route,

[0020] The control system comprises a route planning system, which is configured to calculate a route for at least two carriers on the transport plane by modeling the transport plane with a graph of nodes, wherein the route planning system is configured to calculate the planned route taking into account a balance in surface usage of the transport plane, and wherein the route planning system is configured to take into account temporal blocking of logical positions and / or take into account variable movement lengths and / or take into account variable reservation lengths.

[0021] As used herein, the term "system" is a broad term and is to be given the ordinary and customary meaning to those of ordinary skill in the art and is not limited to a special or customized meaning. The term may specifically refer to, but is not limited to, a set of any interacting or interdependent components that form a whole. Specifically, the components may interact with each other to achieve at least one common function. At least two components may be processed independently, or may be coupled or connectable.

[0022] As used herein, the term "distribution system" is a broad term and will be 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. The term specifically may refer to, but is not limited to, a system configured to distribute carriers from an initial position to a target destination. A distribution system may be an element of a laboratory automation system that allows carriers to be distributed to a target destination within the laboratory automation system. A distribution system may be used for a laboratory automation system, including a plurality of laboratory stations, such as a pre-analysis station, an analysis station, and / or a post-analysis station. Distribution systems are generally known to those skilled in the art, such as from EP 3 095 739 A1 or WO2012 / 158541.

[0023] As used herein, the term "object" is a broad term and will be given the ordinary and customary meaning to those of ordinary skill in the art and is not limited to a special or customized meaning. The term may specifically refer to, but is not limited to, any payload. An object may be at least one sample container, such as a laboratory diagnostic container or vessel, for example, a sample container, specifically: a sample tube filled with a biological fluid or reagent to be analyzed; and / or a box filled with reagents, sample slides, tissue materials, waste, disposables (such as pipette tips or tube caps); and / or an empty tube for packaging; etc.

[0024] As used herein, the term "carrier" is a broad term and is to be given the ordinary and customary meaning to one of ordinary skill in the art and is not limited to a special or customized meaning. The term may specifically refer to, but is not limited to, a support structure configured to support and transport a payload. The carrier may be equipped with appropriate retaining devices to support the payload and, if necessary, secure the payload in a desired manner and orientation. The carrier may be self-propelled or may be propelled by and move on a transport plane.

[0025] The term "transportation plane" as used herein is a broad term and will be given the common and customary meaning for those of ordinary skill in the art, and is not limited to a special or custom meaning. The term may specifically refer to, but is not limited to, any type of two-dimensional plane, bed, layer, platform or base configured to transport a carrier. The transport plane may be configured so that the carrier can be positioned on the transport plane, specifically positioned on the surface of the transport plane, so that the carrier can move along the transport plane in at least two dimensions. For example, the transport plane can be a sliding surface installed in a diagnostic laboratory or in a floor at a manufacturing site or in a manufacturing workshop. The transport plane can be installed vertically or horizontally, including ramps. A curved transport plane may also be possible.

[0026] The transport plane may be configured to provide movement of the carrier by contact. The transport plane may be configured so that the carrier may contact the surface of the transport plane (also referred to as the transport surface) so that friction may be used to drive, stop and control the movement of the carrier. The carrier will be in contact with the transport surface for a portion of the duration of the node-to-node transport. For example, when the carrier stops waiting for the next movement. For three-dimensional space, the transport plane may form corresponding restrictions on up and down slopes, or some kind of suspension mechanism may be installed, such as magnetic levitation or air cushion technology, with corresponding restrictions on the height that can be reached without losing control. For vertical transportation in the third dimension, an elevator / paternoster mechanism may also be installed.

[0027] As used herein, the term "drive system" is a broad term and will be given the common and customary meaning for ordinary technicians in the field, and is not limited to a special or customized meaning. The term specifically refers to, but is not limited to, a system configured to move a carrier on a transport plane. The drive system can be implemented in the carrier (e.g., wheels connected to an electric motor with or without a battery and electronic equipment connected) itself. Another possibility is a linear motor. It may also be a passive carrier. For example, the carrier may include and / or may be at least one magnetic element. For example, the magnetic device is fixed in the carrier and / or the carrier may be made of a magnetic material (e.g., a paramagnetic material). The magnetic force may be provided by a magnetically activated and drivable element such as an electromagnetic coil, which is used to cause the carrier to move by generating an electromagnetic field. The coil can be installed below, above, beside or inside the transport plane. For example, the arrangement of magnetic coils below the transport plane is described in, for example, EP 2 566 787 or WO 2013 / 098202. Additionally or alternatively, the coil may be inside the carrier and the permanent magnet is in the transport surface.

[0028] The term "logical position" is a broad term and will be given the ordinary and customary meaning to a person of ordinary skill in the art and is not limited to a special or customized meaning. The term may specifically refer to, but is not limited to, any position of a transport plane suitable for supporting a carrier. A representation of a transport plane may be a graph having logical positions or logical positions and allowed connections between them. The transport plane may be mathematically mapped to a graph of logical positions or a graph of logical positions and allowed connections between them. The graph may be used to perform route planning selection of carriers at logical positions, such as route finding. The drive system is configured to move the carrier between logical positions on the transport plane. Movement between logical positions may include following the logical positions.

[0029] Logical positions can be defined on the transport plane by hardware requirements and / or software. Logical positions can be imaginary positions in route planning algorithms and / or positions on real transport systems. For example, logical positions can be defined on the transport plane as positions where the carrier can stop, start and / or change direction. In systems such as those described in EP2 566 787 or WO 2013 / 098202, the drive device can define these logical positions by its hardware limitations. Logical positions can be defined above electromagnetic coils. At these positions, the carrier can be stopped and its direction can be changed with the next movement. Logical positions can be defined as needed or required to form a set of useful intersections, joints, starting positions and stop positions. Logical positions can be discrete positions where the carrier can stop. Specifically, logical positions can be defined by at least one physical entity of the drive system (such as an electromagnetic coil) or the intersection of possible paths (such as tracks).

[0030] Each of the logical positions can be configured to be occupied by only one carrier. Thus, two carriers cannot share a logical position. The allocation system can be configured to move a plurality of carriers on the transport plane via a corresponding calculated partial route, wherein the corresponding route can lead from a first logical position to a second logical position, i.e., the end position of the corresponding partial route.

[0031] The logical position can be any position that the carrier can reach, or any position where the carrier can change direction, can be parked or can be recognized by an identification or registration system. The identification and registration system can be a camera system or an optical sensor and scanner, which recognizes any one or more optical signatures on the carrier or object, such as its size, its type, a barcode, a QR code, its payload. Barcodes and / or QR codes can be used to identify the carrier. Alternatively or additionally, an RFID reader system that reads the unique RFID of the carrier or the object on the carrier or a sensor in the transport plane can be used to identify the logical position and locate the carrier. Another option can be a high-precision GPS, in particular an option enhanced by Wi-Fi, Bluetooth and / or GSM signals. In principle, any other suitable alternative can also be used.

[0032] As used herein, the term "control system" is a broad term and will be given the ordinary and customary meaning for a person of ordinary skill in the art, and is not limited to a special or custom meaning. The term may specifically refer to, but is not limited to, any device configured to perform a specified operation, preferably by using at least one data processing device, and more preferably by using at least one processor and / or at least one application-specific integrated circuit. Thus, as an example, at least one control system may include at least one data processing device having software code stored thereon, the software code including a plurality of computer commands. The control system may provide one or more hardware elements for performing one or more specified operations, and / or may provide one or more processors with software running thereon for performing one or more specified operations. The control system may include one or more programmable devices, such as one or more computers, application-specific integrated circuits (ASICs), digital signal processors (DSPs), or field programmable gate arrays (FPGAs), which are configured to perform steps b) and c). The control system may include at least one computer. The computer may be an embedded computer, for example, a microcontroller or a programmable logic device such as an FPGA. However, additionally or alternatively, the control system may also be implemented in whole or in part by hardware. The control system may comprise a route planning system for calculating a route and at least one execution unit for executing the movement of the carrier according to the planned route.

[0033] As used herein, the term "route" is a broad term and will be given the common and customary meaning for those of ordinary skill in the art, and is not limited to a special or custom meaning. The term may specifically refer to, but is not limited to, a set of partial routes from a starting position to a final destination position. The route may be divided into one or more partial routes to an intermediate destination. The starting position may be a logical position where the carrier is located on the transport plane when the algorithm starts calculating the route. The final destination position may be a logical position on the transport plane where the carrier needs to arrive. The final destination position is a logical position on the transport plane that specifically has a special function, for example, at these logical positions, a sample tube, a portion of a sample, or consumables are transferred from the transport plane to, for example, an analyzer or a pre-analysis system or a post-analysis system or a storage system and / or a second separate route planning area, or from them to the transport plane. For example, an area for queuing carriers (such as for temporarily storing carriers) may be managed by an algorithm (a service in a computer) that is different from a route planning algorithm (a route planning service). For a manufacturing site, the final destination position may specifically be a logical position corresponding to a machine station that performs certain manufacturing processes on a semi-finished product. The starting position of one carrier may also in particular be the final destination position of another carrier, or more in particular the final destination position of the same carrier.

[0034] The execution unit may be configured to execute the movement of the carrier taking into account the planned route. The term "movement" may refer to "action" and may not include a waiting time before the next movement occurs. A movement may be defined as a movement of the carrier along a straight line, starting from a logical position and stopping at a second different logical position. The movement may include the displacement of the carrier of one or more logical positions. The movement length may be the number of logical positions for each movement. Specifically, the movement may be a straight-line displacement, and the carrier will not stop in between. The movement from the first final destination to the second final destination may be performed in one or more movements with intermediate destinations. The intermediate destination may also be a logical position. Each movement has a start and stop at a logical position. The stop of the last movement of the route is an intermediate destination or a final destination. The route planning system may be a functionally separate process from the execution unit. However, the two processes may run on the same computer, the same computing core or multiple computing cores, etc., or on different computers and / or microcontrollers, etc.

[0035] As used herein, the term "route planning system" is a broad term and will be given the ordinary and customary meaning to a person of ordinary skill in the art and is not limited to a special or customized meaning. The term may specifically refer to, but is not limited to, any system configured to calculate the route for a carrier to move on a transport plane. The route planning system may include at least one data processing device. The route planning system may be configured to use at least one algorithm, in particular an algorithm represented as a route planning algorithm. The route planning algorithm may be an algorithm that calculates the route of each carrier on the transport plane from a starting position to an intermediate destination position toward a final destination position. The route planning algorithm may calculate several straight-line moves to the intermediate destination position for each route with the current position of the carrier in the logical position as the starting position. The planned route (also referred to as a route planning plan) may include all moves or only the next few moves to be performed until the second final destination is reached.

[0036] The route planning system is configured to calculate a route for loads on a transport plane by modeling the transport plane with a graph of nodes. As used herein, the term "node" is a broad term and will be given the common and customary meaning to a person of ordinary skill in the art and is not limited to a special or custom meaning. The term may specifically refer to, but is not limited to, a mathematical representation of a logical location. As used herein, the term "graph" is a broad term and will be given the common and customary meaning to a person of ordinary skill in the art and is not limited to a special or custom meaning. The term may specifically refer to, but is not limited to, the construction of nodes and possible connections between them.

[0037] The calculation of the route may include determining the shortest path for the carrier across the transport plane from the starting location to the final destination location. The shortest path may refer to the shortest path in time. However, in some embodiments, the shortest path may also involve the shortest path in space. The shortest path may be the minimum number of logical locations. The calculation of the route may include finding an efficient route for obtaining a relatively short path, but also taking into account other traffic. A route planning algorithm can be used to determine the shortest path for the carrier across the transport plane. The algorithm can be selected from the group consisting of: A*-algorithm; Windowed HierarchicalCooperative A*-algorithm (WHCA*); D*-algorithm; Dijkstra algorithm.

[0038] For example, the WHCA* search algorithm can be used to calculate the route. For the WHCA* algorithm, for example, refer to Silver, D., 2005, "Collaborative Pathfinding", Young, RM and Laird, JE (Editors), AIIDE, 117-122. AAA I Press. The WHCA* search algorithm can be a heuristic search algorithm, such as an A* or D* search algorithm. For each carrier with a final destination, the search algorithm calculates the route from the starting position to the intermediate destination position toward their corresponding final destination position at the nodes within the collaborative search window of time length T. The search is collaborative because the route can only pass through the idle time window of the logical location. For a logical location with a required idle time window, the required duration of the idle time window will change from "idle" to "reserved" for the required time slot of the corresponding logical location. Therefore, the idle time window will be divided into a reserved time window and one or two additional idle time windows. Therefore, by considering the time windows reserved for other carriers of the logical location, the search is collaborative for the collaborative time window T. The WHCA* algorithm can be designed to plan routes for each carrier individually, where reservation tables can be used to achieve coordination.

[0039] As described above, the route planning system can be configured to calculate routes for all carriers on the transport plane by modeling the transport plane with a graph of nodes. To this end, the route planning system can be configured to determine the reserved time window and free time window of each node. In order to calculate the route of the carrier, the route planning system can use a windowed hierarchical collaborative heuristic search algorithm with a collaborative time window T. Specifically, the collaborative heuristic search algorithm is a Dijkstra-algorithm, a Bellman-Ford-algorithm, or more specifically an A*-algorithm. T is usually in the range of 1 second to 300 seconds, specifically in the range of 1 second to 60 seconds, and more specifically 10 seconds. The route planning system can be configured to allocate a separate reserved length as the number of nodes for the next move on the logical position where each carrier has a free time window, so that the carrier starts and stops separately. The execution unit can be configured to execute a method for planning a route for transporting the carriers from their respective starting positions to their respective final positions.

[0040] The calculation of the route may include planning the route. The route planning system may be configured to determine an optimal route for the carrier across the transport plane. The optimal route may be determined based on at least one optimization objective, such as one or more of time, resource consumption, cost, wear balance, and good overall transport performance. Since the route planning algorithm used may be collaborative, the route planning system may take care that all carriers find their way in a net efficient manner, if necessary sacrificing the shortest time to the final destination of each carrier. The optimal route for the corresponding carrier may be a route selected from a plurality of possible routes that minimizes an optimization objective, such as the time required to reach its final destination location.

[0041] The route planning system is configured to calculate a planned route taking into account a balance in the use of the surface of the transport plane. Specifically, the present invention proposes a solution for reducing wear of areas on the transport plane due to unbalanced use of areas of the transport plane according to the number of loads moved on the surface and / or the number of starts and stops at positions. Such wear may be caused by friction caused by loads transported on the surface along a preferred route. As used herein, the term "surface use" is a broad term and is to be given the ordinary and customary meaning to a person of ordinary skill in the art and is not limited to a special or customized meaning. The term may specifically refer to, but is not limited to, the use of an area of ​​a transport plane (in terms of the number of carriers moved on the surface and / or the number of starts and stops at a logical position (in absolute terms or per time period). As used herein, the term "balance" is a broad term and will be given the ordinary and customary meaning to a person of ordinary skill in the art and is not limited to a special or customary meaning. The term may specifically refer to, but is not limited to, one or more of balancing or compensating. The route planning system is configured to take into account temporal blocking of logical positions and / or take into account variable movement lengths and / or take into account variable reservation lengths. As used herein, the term "take into account" is a broad term and will be given the ordinary and customary meaning to a person of ordinary skill in the art and is not limited to a special or customary meaning. The term may specifically refer to, but is not limited to, determining, including or taking into account one or more of temporal blocking of logical positions and / or variable movement lengths and / or variable reservation lengths. Taking into account temporal blocking of logical positions and / or variable movement lengths and / or variable reservation lengths may include at least one constraint of temporal blocking of logical positions and / or variable movement lengths and / or variable reservation lengths for calculating the route of the carrier.

[0042] For example, wear on areas of a transport plane that would normally be used very intensively can be reduced by allocating surface usage by temporally blocking locations. The routing system can be configured to define at least two blocking logic position patterns. One of the patterns can cause the routing system to calculate a first route for the carrier, and another of the patterns can cause the routing system to calculate a second route for the carrier. As used herein, the term "cause" is a broad term and will be given the ordinary and customary meaning to one of ordinary skill in the art and is not limited to a special or customized meaning. The term specifically may refer to, but is not limited to, setting boundaries for potential nodes and / or affecting node selection for movement.

[0043] As used herein, the term "pattern" is a broad term and will be given the common and customary meaning for ordinary technicians in the field, and is not limited to a special or customized meaning. The term may specifically refer to, but is not limited to, a defined node distribution or selection. As used herein, the term "blocking" is a broad term and will be given the common and customary meaning for ordinary technicians in the field, and is not limited to a special or customized meaning. The term may specifically refer to, but is not limited to, excluding at least one logical position, especially a node, from further consideration for use by the route planning algorithm. The pattern may include at least one low-flow pattern with a first number of blocking logical positions and at least one high-flow pattern with a second number of blocking logical positions, wherein the second number is reduced compared to the first number. The blocking logical position may be arranged to block the number of different options for the movement of the carrier. The blocking logical position may be arranged to make the carrier follow one or more unique paths. For example, all positions are blocked and cannot be used. This can make it easier for the route planning system to find a route. Blocking may refer to the need to adjust the width of the surface according to the traffic intensity. For example, in low traffic conditions, it may be sufficient to transport the carrier on a surface wide at one logical position. If a surface three positions wide is provided, the shortest route will be chosen and probably all carriers will move on the same logical positions. In high traffic situations and with a surface three positions wide, more positions may be used, thus balancing the usage better. In low traffic situations, it may be necessary to balance the usage by continuously switching the available but intentionally restricted surface in an alternating manner. Thus, fewer but strategically chosen positions may be used for blocking, which may leave enough area for carriers to move, but will also affect the planning of the route due to the shortest path search. Positions close to the start and destination positions cannot be avoided as easily as other positions.

[0044] The pattern may be defined during runtime or during the installation and / or configuration and / or initialization of the distribution system. Additionally or alternatively, the pattern may be manually defined and / or automatically calculated by an algorithm by receiving user input via at least one communication interface. As used herein, the term "communication interface" is a broad term and will be given the common and customary meaning for those of ordinary skill in the art, and is not limited to a special or custom meaning. The term may specifically refer to, but is not limited to, an item or element forming a boundary that is configured to transmit information. In particular, the communication interface may be configured to transmit information from a computing device (e.g., a computer), such as sending or outputting information to, for example, another device. Additionally or alternatively, the communication interface may be configured to transmit information to a computing device (e.g., on a computer), such as, in order to receive information. The communication interface may specifically provide a path for transmitting or exchanging information. Specifically, the communication interface may provide a data transmission connection, such as via a cable, Bluetooth, NFC, inductive coupling, etc. As an example, the communication interface may be or may include at least one port, including one or more of a network or Internet port, a USB port, and a disk drive. The communication interface may be at least one Web interface.

[0045] The term "temporal blocking" as used herein is a broad term and will be given the common and customary meaning for ordinary technicians in the field, and is not limited to a special or customized meaning. The term may specifically refer to, but is not limited to, the time-related use of patterns. The route planning system may be configured to switch from one pattern to another pattern after a predefined time and / or based on the number of carriers moving on a specific area of ​​the transport plane. Movement on a specific area may include movement, start and / or stop of carriers in a specific area. The specific area may be one or more of a predetermined area, a predefined area, or a determinable area. Switching may include activating and deactivating patterns. The number of carriers moving on a specific area may be a flow intensity. The area may be a logical sub-area or field of the transport plane. As used herein, the term "field" is a broad term and will be given the common and customary meaning for ordinary technicians in the field, and is not limited to a special or customized meaning. The term may specifically refer to, but is not limited to, a unit of a transport plane including at least one logical position. The predefined time may be a time period selected from the following items: minutes, hours, days or weeks.

[0046] The control system may be configured to measure the number of carriers that have been using a specific area of ​​the transport plane since the last switch. The specific area may be one or more of a predetermined area, a predefined area, or a determinable area. The distribution system may include a field for the transport plane, specifically an incremental counter for each field. The incremental counter may be configured to count the number of carriers moved on the corresponding field, specifically the number of carriers started and / or stopped at the corresponding logical position. The route planning system may be configured to switch to another pattern when a defined threshold, specifically an absolute threshold and / or a relative threshold, has been reached. The number of counts of the carriers can be compared with the threshold. Additionally or alternatively, one or more of the median use, average use, minimum use, or maximum use of the corresponding field can be compared with the corresponding threshold. In principle, the threshold can be an arbitrary number. For example, if it is intended to switch every hour, the threshold may depend on the number of expected carriers to be transported in one hour or one day. For example, the expected number of carriers per hour may be approximately 1k carriers per hour, or 6k, 12k, or 22k or even more carriers per field. For example, when a threshold of 6k, 12k, or 22k may be exceeded, the control system may switch from one pattern to another. Additionally or alternatively, the threshold may be based on an excess usage percentage rather than an absolute value, for example, 20%, 50%, 100% of one or more of the absolute number, median, average, minimum usage, or maximum usage of carriers. Other thresholds and quantities are also possible.

[0047] To avoid capacity problems when sending too much traffic on limited remaining paths, restrictions may be at least partially activated and at least partially deactivated based on traffic intensity. At high traffic density, the surface usage may be more evenly used anyway, so fewer locations may need to be blocked.

[0048] This proposed technique can be added to other route planners without changing the route planner code. There is no overhead in continuously considering wear reduction in the route planning algorithm, which can even reduce the computation time of the route planning system because it reduces the number of potential moves.

[0049] In systems with areas with relatively low traffic intensity, moves often have a maximum reserved length. For this reason, the starting position or the stop position is often the same for many moves, and therefore leads to strong imbalance in the use and wear of these positions. The route planning system is configured to take into account variable move lengths and / or variable maximum reserved lengths. For example, the route planning system can be configured to use a variable move length for one or more of the following: the selection of a move, a specific number of carriers, a specific time period, a defined area of ​​a transport plane. For example, the route planning system can be configured to use a variable move length for all carriers and / or all moves.

[0050] For example, the movement length of each movement can be varied. If the maximum movement length can often be performed due to low traffic density, then starting and stopping will often occur at the same location. The route planning system can be configured to vary the movement length of each movement of the carrier along the route. By varying the movement length of each movement, the locations can be used in a better balanced way.

[0051] The route planning system may be configured to change only the length of the first movement of the carrier, in particular to change the length of the first movement of the carrier so that the carrier stops and / or starts at different logical positions. The term "first movement" may refer to the first movement starting from a starting position, in particular in a stepwise movement comprising multiple movements. By changing only the movement length of the first movement, a better balance may be obtained.

[0052] The control system may be configured to measure the number of carriers that have been using a logical position. As described above, the distribution system may include an incremental counter for each field of the transport plane, which counts the number of carriers that move, start or stop at the corresponding logical position. The term "use" may refer to stopping and / or starting at a logical position, or moving over a logical position. The route planning system may be configured to compare the measured number of carriers at adjacent logical positions with a defined threshold and adjust the movement length based on the comparison. The threshold may be defined and embodied as described above with respect to switching.

[0053] As described above, the control system may be configured to measure the number of carriers that have been using a logical position. The route planning system may be configured to use the measured number as a weighting factor to optimize the movement length. The route planning system may be configured to preferentially use logical positions with low weights.

[0054] The route planning system may be configured to assign a cost function to each of the logical locations. The cost function may increase according to the measured number of carriers that have used the logical location. The route planning system may be configured to give priority to logical locations with low cost functions.

[0055] The route planning system may be configured to use a variable reserve length for all movements or selected movements (e.g., defined or randomly) within the defined area of ​​the transport plane. The route planning system may be configured to reduce the maximum reserve length for all movements or selected movements within the defined area of ​​the transport plane. Alternatively, the route planning system may be configured to increase the minimum reserve length for all movements or selected movements within the defined area of ​​the transport plane. The reduction in maximum reserve length and / or the increase in minimum reserve length may be applied to one or more of each load, or randomly to the load. The reduction in maximum reserve length and / or the increase in minimum reserve length may be performed within a specific time period.

[0056] For example, in order to take into account a balanced use of the surface of the transport plane, the movement plan can be corrected, for example in a defined area. The correction can be performed within a certain time period. Instead of making moves with a maximum reserved length, the reserved length can be reduced for all or only a few moves in the defined area. This reduction can be for each carrier or randomly for the carriers. The reduction in the reserved length can be done randomly. For example, only the maximum movement length of the first step is changed. This will have a similar effect, as it may affect the start-stop position of the following moves and the start-stop position in lower traffic situations. In high traffic situations, due to the high density of carriers, the reserved length may often be less than the maximum reserved length. The first move can also be made as a first fictitious or imaginary target, which can be reached with only 1 move. The end position of the first move can be changed randomly or in a deterministic way, so that for n=1,…,n max , the number of first steps of length n is equal for each time period starting from a particular starting position, where n max The maximum reserved length.

[0057] As used herein, the term "reserved length" is a broad term and will be given the common and customary meaning to those of ordinary skill in the art, and is not limited to a special or customized meaning. The reserved length may include a logical position reserved for a move. As used herein, the term "maximum reserved length" is a broad term and will be given the common and customary meaning to those of ordinary skill in the art, and is not limited to a special or customized meaning. A maximum reserved length may be defined to avoid the situation where too many logical positions are reserved at one time, which would cause these positions to be blocked for other carriers for too long. The route planning algorithm may include a model for estimating the time it will take to move for a given move length. This may allow a complete time plan to be determined for reserving logical positions. The time plan may include a move time and a waiting time until the next move can be made.

[0058] In another aspect, a method for dispensing carriers using a dispensing system according to the present invention is disclosed.

[0059] The method steps may be performed in a given order or in a different order. In addition, there may be one or more additional method steps that are not listed. In addition, one, more than one or even all method steps may be performed repeatedly.

[0060] The method comprises moving a carrier between logical positions on a transport plane of a distribution system by using a drive system. The method comprises controlling the carrier to move on the transport plane via the logical positions on a planned route from a starting position to a final destination position by using a control system. The method comprises calculating a planned route for at least two carriers on the transport plane by modeling the transport plane with a graph of nodes using a route planning system. The calculation comprises taking into account a balance of surface usage of the transport plane. The calculation comprises taking into account temporal blocking of logical positions and / or taking into account variable movement lengths and / or taking into account variable reservation lengths.

[0061] For details, options and definitions, reference is made to the above-described dispensing system.Thus, in particular, as described above, the method may comprise using a dispensing system according to the invention, such as according to one or more of the embodiments given above or given in more detail below.

[0062] 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.

[0063] 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).

[0064] Thus, in particular, one, more than one or even all method steps as indicated above may be performed by using a computer or a computer network, preferably by using a computer program.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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 step other than method steps that typically require manual operation (such as providing samples and / or performing certain aspects of actual measurements).

[0070] Specifically, this article further discloses:

[0071] - a computer or a computer network comprising at least one processor, wherein the processor is adapted to execute the method according to one of the embodiments described in this specification,

[0072] - a computer loadable data structure, which is suitable for performing a method according to one of the embodiments described in this description when the data structure is executed on a computer,

[0073] - 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,

[0074] - 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,

[0075] a computer program comprising program means according to the aforementioned embodiments, wherein these program means are stored on a computer-readable storage medium,

[0076] a storage medium, on which a data structure is stored and on which 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 the present description, and

[0077] - 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 this description when the program code means are executed on a computer or a computer network.

[0078] To summarize and without excluding further possible embodiments, the following embodiments may be envisaged:

[0079] Embodiment 1. A dispensing system comprising:

[0080] - a transport plane comprising logical locations,

[0081] - a carrier for transporting objects,

[0082] a drive system for moving the carrier between logical positions on the transport plane,

[0083] a control system configured to control the movement of the carrier on the transport plane via logical positions on a planned route from a starting position to a final destination position,

[0084] The control system comprises a route planning system, which is configured to calculate routes for at least two carriers on the transport plane by modeling the transport plane with a graph of nodes, wherein the route planning system is configured to calculate the planned route taking into account a balance in surface usage of the transport plane, and wherein the route planning system is configured to take into account temporal blocking of logical positions and / or take into account variable movement lengths and / or take into account variable reservation lengths.

[0085] Embodiment 2. The dispensing system of Embodiment 1, wherein the calculation of the route comprises determining a shortest path for the carrier across the transport plane from the starting location to the final destination location.

[0086] Embodiment 3. A distribution system according to embodiment 2, wherein at least one algorithm is used to determine the shortest path of the carrier across the transport plane, wherein the algorithm is selected from the group consisting of: A*-algorithm; Windowed Hierarchical Cooperative A* algorithm (WHCA*); D*-algorithm; Dijkstra algorithm.

[0087] Embodiment 4. A distribution system according to any one of embodiments 1 to 3, wherein the route planning system is configured to define at least two blocking logic position patterns, wherein one of the patterns causes the route planning system to calculate a first route for the carrier, and another of the patterns causes the route planning system to calculate a second route for the carrier that is different from the first route.

[0088] Embodiment 5. The dispensing system of embodiment 4, wherein the pattern is defined during runtime or during installation and / or configuration and / or initialization of the dispensing system.

[0089] Embodiment 6. The dispensing system of any of Embodiments 4 or 5, wherein the pattern is manually defined by receiving user input via at least one communication interface and / or automatically calculated by an algorithm.

[0090] Embodiment 7. A distribution system according to any one of embodiments 4 to 6, wherein the route planning system is configured to switch from one pattern to another after a predefined time and / or based on the number of carriers moved over a specific area of ​​the transport plane.

[0091] Embodiment 8. The dispensing system of embodiment 7, wherein the predefined time is a period of time selected from the group consisting of minutes, hours, days, or weeks.

[0092] Embodiment 9. A distribution system according to any one of embodiments 7 or 8, wherein the control system is configured to measure the number of carriers that have been using the specific area of ​​the transport plane since the last switch, and wherein the route planning system is configured to switch to another pattern when a defined threshold has been reached.

[0093] Embodiment 10. The dispensing system of any one of embodiments 4 to 9, wherein the switching comprises activating the pattern and deactivating the pattern.

[0094] Embodiment 11. A distribution system according to any one of embodiments 4 to 10, wherein the pattern includes at least one low flow pattern having a first number of blocking logic positions and at least one high flow pattern having a second number of blocking logic positions, wherein the second number is reduced compared to the first number.

[0095] Embodiment 12. The dispensing system of any one of embodiments 1 to 11, wherein the blocking logic position is arranged to block a number of different options for movement of the carrier.

[0096] Embodiment 13. A distribution system according to any one of embodiments 1 to 12, wherein the route planning system is configured to use variable move lengths for one or more of the following: selection of moves, a specific number of carriers, a specific time period, a defined area of ​​the delivery plane.

[0097] Embodiment 14. A distribution system according to Embodiment 13, wherein the route planning system is configured to change only the length of the first movement of the carrier, specifically, to change the length of the first movement of the carrier so that the carrier stops and / or starts at different logical positions.

[0098] Embodiment 15. The dispensing system of any one of Embodiments 13 or 14, wherein the route planning system is configured to vary the movement length of each movement of the carrier along the route.

[0099] Embodiment 16. A distribution system according to any one of Embodiments 14 or 15, wherein the control system is configured to measure the number of carriers that have been using a logical position, wherein the route planning system is configured to compare the measured number of carriers at adjacent logical positions with a defined threshold and adjust the movement length based on the comparison.

[0100] Embodiment 17. A distribution system according to any one of claims 14 to 16, wherein the control system is configured to measure the number of carriers that have been using a logical position, wherein the route planning system is configured to use the measured number as a weight factor to optimize the movement length, and wherein the route planning system is configured to give priority to using logical positions with low weights.

[0101] Embodiment 18. An allocation system according to embodiment 17, wherein the route planning system is configured to assign a cost function to each of the logical locations, wherein the cost function increases based on the measured number of carriers that have used the logical location, and wherein the route planning system is configured to give priority to logical locations with low cost functions.

[0102] Embodiment 19. The dispensing system of any one of Embodiments 1 to 18, wherein the route planning system is configured to use a variable reserve length for all or selected movements within a defined area of ​​the transport plane.

[0103] Embodiment 20. The dispensing system of Embodiment 19, wherein the route planning system is configured to reduce a maximum reserved length for all or selected movements within a defined area of ​​the transport plane.

[0104] Embodiment 21. A dispensing system according to any one of Embodiments 19 or 20, wherein the route planning system is configured to increase the minimum reserved length of all or selected movements in a defined area of ​​the transport plane.

[0105] Embodiment 22. A distribution system according to any one of embodiments 19 to 21, wherein the reduction of the maximum reserved length and / or the increase of the minimum reserved length is applied to one or more of each carrier, or randomly to the carriers.

[0106] Embodiment 23. A distribution system according to any one of Embodiments 1 to 22, wherein the control system includes at least one execution unit, and the at least one execution unit is configured to execute the planned route for transporting the carriers from their respective starting positions to their respective final positions.

[0107] Embodiment 24. A method for distributing carriers using a distribution system according to any one of Embodiments 1 to 23, wherein the method comprises moving the carrier between logical positions on the transport plane of the distribution system by using the drive system, wherein the method comprises controlling the carrier to move from the starting position to the final destination position via logical positions on a planned route on the transport plane by using the control system, wherein the method comprises calculating the planned route for at least two carriers on the transport plane by modeling the transport plane with a graph of nodes using the route planning system, wherein the calculation comprises taking into account a balance in the surface usage of the transport plane, and wherein the calculation comprises taking into account temporal congestion of logical positions and / or taking into account variable movement lengths and / or taking into account variable reserved lengths. BRIEF DESCRIPTION OF THE DRAWINGS

[0108] Further optional features and embodiments will be disclosed in more detail in the subsequent description of embodiments, preferably in conjunction with the dependent claims. Wherein, as will be appreciated by those skilled in the art, each optional feature may be implemented in a separate manner and in any arbitrarily 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 drawings refer to the same or functionally equivalent elements.

[0109] In the attached picture:

[0110] Figure 1One embodiment of a dispensing system is shown schematically;

[0111] FIG. 2A to FIG. 2D An exemplary blocking logic position pattern on a conveying plane of a distribution system is shown;

[0112] FIG. 3A to FIG. 3C schematically illustrates the variable travel length of a carrier in a dispensing system; and

[0113] 4A to 4D A flow chart of an embodiment of a method for dispensing carriers using a dispensing system is shown. DETAILED DESCRIPTION

[0114] Figure 1 An exemplary embodiment of a dispensing system 110 is schematically shown. The dispensing system 110 includes a transport plane 112 including logical locations 114, a carrier 116 for transporting objects 118, and a drive system 120 for moving the carrier 116 between the logical locations 114 on the transport plane 112.

[0115] The distribution system 110 can be an element of a laboratory automation system 122 that allows the carriers 116 to be distributed to a target destination within the laboratory automation system 122. Figure 1 As can be seen in FIG. 1 , the dispensing system 110 can be used in a laboratory automation system 122, including a plurality of laboratory stations 124, such as a pre-analysis station, an analysis station, and / or a post-analysis station. Figure 1 In an exemplary embodiment of the present invention, the object 118 may be at least one sample container 126, such as a laboratory diagnostic container or vessel.

[0116] The carrier 116 may be a passive carrier. Figure 1 In an exemplary embodiment of the present invention, a magnetic device is fixed in the carrier 116 and is composed of a magnetically active and drivable element (such as an electromagnetic coil) Figure 1 114). A magnetic force is provided by a drive system 120 (not shown) so as to cause the carrier 116 to move by the generated electromagnetic field. For example, an electromagnetic coil may be installed below the transport plane 112, such as described exemplarily in, for example, EP 2 566 787 or WO 2013 / 098202. However, it is also feasible to arrange the coil above, beside or inside the transport plane 112. Therefore, in this example, the drive system 120 can define the logical position 114 by its hardware limitations. The logical position 114 can be defined above the electromagnetic coil. At these positions, the carrier 116 can be stopped and its direction can be changed with the next movement.

[0117] like Figure 1As can be seen in , the distribution system 110 may also include at least one identification and registration system 128. The identification and registration system 128 may be a camera system 130 or an optical sensor and scanner, which recognizes any optical signature on the carrier 116 or object 118 and any one or more optical signatures on the carrier or object, such as its size, its type, a barcode, a QR code, its payload. The carrier 116 may be identified using a barcode and / or a QR code. However, other options such as an RFID reader system or a high-precision GPS, in particular options enhanced by Wi-Fi, Bluetooth and / or GSM signals are also possible. In principle, any other suitable alternative may also be used.

[0118] The distribution system 110 further includes a control system 132 configured to control the movement of the carrier 116 from a starting position to a final destination position on the transport plane 112 via the logical position 114 on the planned route. The starting position and the final destination position may specifically be at least one of the logical positions 114 on the transport plane 112.

[0119] The control system 132 includes a route planning system 134 configured to calculate routes for at least two carriers 116 on the transport plane 112 by modeling the transport plane 112 with a graph of nodes 136. The route planning system 134 is configured to calculate the planned route taking into account a balance of surface usage of the transport plane 112, wherein the route planning system 134 is configured to take into account temporal blocking of the logical positions 114 and / or take into account variable movement lengths and / or take into account variable reservation lengths.

[0120] The control system 132 may further include at least one execution unit 138. The execution unit 138 may be configured to execute the planned route for transporting the carriers 116 from their respective starting positions to their respective final positions. Specifically, the execution unit 138 may be configured to execute the movement of the carriers 116 according to the planned route. Figure 1 In an exemplary embodiment of the present invention, the execution unit 138 may be at least partially integrated into the drive system 120 and, as an example, may be configured to execute the movement of the carrier 116 taking into account the planned route, such as by controlling the drive system 120, specifically the electromagnetic coils of the drive system 120.

[0121] Calculation of the route may include determining the shortest path for the carrier 116 from the starting location to the final destination location across the transport plane 112. A route planning algorithm may be used to determine the shortest path for the carrier 116 across the transport plane 112. The algorithm may be selected from the group consisting of: A*-algorithm; Windowed Hierarchical Cooperative A*-algorithm (WHCA*); D*-algorithm; Dijkstra algorithm.

[0122] As described above, the route planning system 134 is configured to take into account the temporal blocking of the logical location 114. FIG. 2A to FIG. 2D , an exemplary blocking logic position pattern 140 on the conveying plane 112 of the distribution system 110 is shown. Specifically, Figure 2A The transport plane 112 is shown without blocking the logical position pattern 140, Figure 2B A transport plane 112 having a first blocking logic position pattern 142 is shown, and Figure 2C The transport plane 112 is shown with a second blocked logic position pattern 144 .

[0123] like Figure 2A As can be seen in FIG. 1 , the carrier 116 can freely move from a starting position 146 to a final destination position 148 on the transport plane 112. The carrier 116 can take one of the unrestricted routes 150 shown with a high probability, resulting in areas on the transport plane 112 experiencing high wear via the unrestricted routes 150.

[0124] The present invention proposes a solution for reducing wear of areas on the transport plane 112 due to unbalanced use of areas of the transport plane 112 according to the number of carriers 116 moving on the surface and / or the number of starts and stops at logical positions 114 (in absolute terms or per time period). For example, wear of areas of the transport plane 112 that are usually used very intensively can be reduced by allocating the surface use by temporally blocking positions 114. The route planning system 134 can be configured to define at least two blocking logical position patterns 140. One of the patterns 140, 142 (e.g. Figure 2B ) can cause the route planning system 134 to calculate a first route 152 for the carrier 116, and another one of the patterns 140, 144 (such as Figure 2C ) may cause the route planning system 134 to calculate a second route 154 for the carrier 116. FIG. 2A to FIG. 2C As can be seen in the figure, the unrestricted route 150, the first route 152 and the second route 154 can be different from each other, thereby reducing the wear and tear on the transport plane 112. However, the blocking logic positions 114 can be arranged to block the number of different options for the movement of the carrier 116. The figure shows two paths, one is a dotted line and the other is a continuous path. This situation is suitable for carriers 116 that move in two directions (i.e. to and from the starting point). If there is only one possible path, the carriers 116 moving in opposite directions will block each other too much. Therefore, a good solution is to block in such a way that bidirectional transport is possible without causing too much interference. The blocking positions make these positions temporarily unusable, and by cleverly defining the pattern, the carriers 116 will (mostly) follow the remaining path. Specifically, in Figure 2B and Figure 2C In each of the illustrated blocking logic position patterns 140 , 142 , 144 , it is still possible to allow at least two routes 152 , 154 on which the carrier 116 can move from the starting position 146 to the final destination position 148 .

[0125] Pattern 140 may be defined during runtime or during installation and / or configuration and / or initialization of dispensing system 110. Additionally or alternatively, pattern 140 may be defined manually by receiving user input via at least one communication interface and / or may be automatically calculated by an algorithm.

[0126] The routing system 134 may be configured to switch from one pattern 140 to another pattern 140, such as from a first blocking logic position pattern 142 to a second blocking logic position pattern 144, after a predetermined time and / or based on the number of carriers 116 moving over a particular area of ​​the transport plane 112. Switching may include activating and deactivating the pattern 140. The number of carriers 116 moving over a particular area may be an indicator of traffic intensity. The area may be a logical sub-area 156 (e.g., Figure 1 ), or a field 158 of the transport plane 112. The predefined time may be a time period selected from the following: minutes, hours, days or weeks.

[0127] The control system 132 may be configured to measure the number of carriers 116 that have been using a particular area of ​​the transport plane 112 since the last switch. The distribution system 110 may include fields 158 for the transport plane 112, specifically an incremental counter (not shown in the figure) for each field 158. The incremental counter may be configured to count the number of carriers 116 that move on the corresponding field 158, specifically the number of carriers 116 that start and / or stop on the corresponding logical position 114. The route planning system 134 may be configured to switch to another pattern 140 when a defined threshold, specifically an absolute threshold and / or a relative threshold, has been reached. The counted number of carriers 116 can be compared with a threshold. Additionally or alternatively, one or more of the median use, average use, minimum use or maximum use of the corresponding field 158 can be compared with the corresponding threshold. In principle, the threshold can be any number. For example, if the switch is intended to be made every hour, the threshold can depend on the number of expected carriers 116 to be transported in an hour or a day. For example, the expected number of carriers 116 per hour may be approximately 1k carriers per hour, or 6k, 12k, or 22k, or even more carriers 116 per field 158. For example, when a threshold of 6k, 12k, or 22k may be exceeded, the control system 132 may switch from one pattern 140 to another. Additionally or alternatively, the threshold may be based on an excess usage percentage rather than an absolute value, such as 20%, 50%, 100% of one or more of the absolute number, median, average, minimum usage, or maximum usage of the carriers 116. Other thresholds and quantities are also possible.

[0128] like Figure 2B and Figure 2C As can be seen in FIG. 1 , the pattern 140 may include at least one low flow pattern 160 having a first number of blocking logic positions 114. Figure 2D , the pattern 140 can be a high flow pattern 162 having a second number of blocked logic locations 114. The second number of blocked logic locations 114 can be reduced compared to the first number of blocked logic locations 114. Figure 2B and Figure 2C All for the same traffic intensity. Figure 2D In the case of , multiple paths 163 are available for the carrier 116 to move in each direction. However, depending on the route planning algorithm, not all carriers 116 in one direction need to follow only the dashed line or the solid line. Figure 2D 163 to show that there may be multiple paths 163. In addition, the carrier 116 can change paths when traveling from left to right and vice versa. Figure 2D The different patterns in show that, over time, positions are blocked and unblocked so that the carriers 116 use as many positions of the transport plane 112 as possible in a balanced manner.

[0129] FIG. 3A to FIG. 3C Schematically illustrates the variable movement length of the carrier 116 in the distribution system 110. In the system 110 with areas of relatively low traffic intensity, the movement often has a maximum reserve length 164, such as Figure 3A As shown. For this reason, the starting position 166 or the stop position 168 are often the same for many moves, thus resulting in strong usage imbalance and wear of these positions. As further described above, the route planning system 134 is configured to take into account variable move lengths and / or variable reserve lengths. For example, the route planning system 134 can be configured to use a variable move length 170 for one or more of the following: the choice of move, a specific number of carriers 116, a specific time period, a defined area of ​​the transport plane 112.

[0130] exist Figure 3B In the example shown, the movement length 170 of each step can be varied. If the maximum movement length can often be performed due to low traffic density, the start 166 and stop 168 will often occur at the same location 144. The route planning system 134 can be configured to vary the movement length 170 of each movement of the carrier along the route. By varying the movement length 170 of each step, the locations 114 can be used in a more balanced manner.

[0131] In another example, if Figure 3C As shown, the route planning system 134 can be configured to change only the length 170 of the first movement 172 of the carrier 116, specifically to change the length 170 of the first movement of the carrier 116 so that the carrier 116 stops and / or starts at different logical positions 114. By only changing the movement length 170 of the first movement 172, a better balance can be achieved, as shown in the comparison Figure 3C and Figure 3A It can be seen when.

[0132] As described above, the control system 132 can be configured to measure the number of carriers 116 that have been using the logical position 114, for example, by an incremental counter. The route planning system 134 can be configured to compare the measured number of carriers 116 of adjacent logical positions 114 with a defined threshold and adjust the movement length 170 based on the comparison. The threshold can be defined and embodied as described above with respect to switching. Alternatively or additionally, the route planning system 134 can be configured to use the measured number as a weighting factor to optimize the movement length 170. The route planning system 134 can be configured to preferentially use logical positions 114 with low weights.

[0133] The routing system 134 may be configured to assign a cost function to each of the logical locations 114. The cost function may increase based on the measured number of carriers 116 that have used the logical location 114. The routing system 134 may be configured to prioritize logical locations 114 with low cost functions.

[0134] like Figure 3C As shown, the routing system 134 can be configured to use a variable reserve length for all movements or selected movements (e.g., defined or randomly) within a defined area of ​​the shipping plane 112. The routing system 134 can be configured to reduce the maximum reserve length 164 for all movements or selected movements within a defined area of ​​the shipping plane 112. Alternatively, the routing system can be configured to increase the minimum reserve length for all movements or selected movements within a defined area of ​​the shipping plane 112. The reduction in the maximum reserve length 164 and / or the increase in the minimum reserve length can be used for one or more of each carrier 116, or randomly for the carriers 116. The reduction in the maximum reserve length 164 and / or the increase in the minimum reserve length can be performed within a specific time period.

[0135] For example, in order to take into account a balance in the use of the surface of the transport plane 112, the movement plan can be corrected, for example, in a defined area. The correction can be performed within a specific time period. Instead of moving with a maximum reserved length 164, the reserved length can be reduced for all or only a few moves in the defined area. This reduction can be for each carrier 116 or randomly for a carrier 116. The reduction in the reserved length can be performed randomly. For example, only the maximum movement length of the first step is changed. This will have a similar effect, because it may affect the start-stop position 166, 168 of the following moves and the start-stop position in lower traffic situations. The first move 172 can also be performed as a first target and can be reached with only 1 move. The end position 168 of the first move 172 can be changed randomly or in a deterministic manner so that for n=1,...,n max , the number of first steps of length n is equal for each time period starting from a particular starting position 166, where n max The maximum reserved length is 164.

[0136] 4A to 4D A flow chart of an exemplary embodiment of a method for dispensing a carrier 116 using a dispensing system 110 is shown. As an example, the dispensing system 110 may be as follows: Figure 1 However, other embodiments of the dispensing system 110 are also possible.

[0137] The method steps may be performed in a given order or in a different order. In addition, there may be one or more additional method steps not listed. In addition, one, more than one or even all method steps may be performed repeatedly. In addition, one or more of these method steps may be performed simultaneously or in a temporally overlapping manner.

[0138] The method includes moving the carrier 116 between logical locations 114 on the transport plane 112 of the distribution system 110 using the drive system 120 (indicated by reference numeral 174). The method includes controlling the carrier 116 to move from the starting location 146 to the final destination location 148 on the transport plane 112 via the logical locations 114 on the planned route (indicated by reference numeral 176) using the control system 132. Specifically, the steps of moving 174 and controlling 176 the carrier 116 may include sending the planned route to the execution unit 138. The method may also include receiving status updates of the carrier position (indicated by reference numeral 178) from the control system 132, and checking for new assignments of the carrier 116 to move to the final destination location 148 (indicated by reference numeral 180).

[0139] The method includes calculating a planned route (indicated by reference numeral 182) for at least two carriers 116 on the transport plane 112 by modeling the transport plane 112 with a graph of nodes 136 using a route planning system 134. The calculation includes taking into account a balance of surface usage of the transport plane 112. The calculation includes taking into account temporal blocking of the logical positions 114 and / or taking into account a variable movement length 170 and / or taking into account a variable reservation length (indicated by reference numeral 184).

[0140] 4A to 4D Different flow charts for adjusting the move length are shown. Figure 4A and Figure 4B A workflow for one implementation is shown, where the normal route planning algorithm can be used and adjustments to the move lengths can be performed (by Figure 4A 186 in the figure), or only the length adjustment of the first movement can be performed (by Figure 4B 188 in the figure). For the route planning system 134, adjusting the movement length after route planning may be inefficient because the route planning system 134 usually also plans subsequent movements, and after the movement length is adjusted, the subsequent movements will no longer be valid. Figure 4C and Figure 4D In the example of FIG. 1 , the route planning system 134 may take into account the adjustment of the moving length, thereby resulting in more efficient and effective route planning. Specifically, the method may include taking into account the variable reservation length (given by Figure 4C 190 in the figure) or considering the variable reserve length for the first move (denoted by Figure 4D192 in the figure). In addition, for the blocked area method, the route planning system 134 can be independent of the wear reduction blocking algorithm. For changes in move length, the wear reduction part of the algorithm can be integrated into the route planning system 134.

[0141] Reference numerals list

[0142] 110 Distribution System

[0143] 112 Transport plane

[0144] 114 Logical Position

[0145] 116 Bearing

[0146] 118 Objects

[0147] 120 Drive system

[0148] 122 Laboratory Automation System

[0149] 124 Laboratory Station

[0150] 126 Sample container

[0151] 128 Identification and Registration System

[0152] 130 Camera System

[0153] 132 Control System

[0154] 134 Route Planning System

[0155] 136 nodes

[0156] 138 Execution Unit

[0157] 140 Blocking logic position pattern

[0158] 142 First blocking logic position pattern

[0159] 144 Second blocking logic position pattern

[0160] 146 Starting Position

[0161] 148 Final Destination Location

[0162] 150 Unrestricted Routes

[0163] 152 First Route

[0164] 154 Second Route

[0165] 156 Logical Sub-Areas

[0166] 158 games

[0167] 160 Low Flow Pattern

[0168] 162 High Flow Pattern

[0169] 163 Path

[0170] 164 Maximum reserved length

[0171] 166 Starting position

[0172] 168 stop position

[0173] 170 Variable Move Length

[0174] 172 First Move

[0175] 174 Mobile bearing

[0176] 176 Control bearing

[0177] 178 Receive status updates

[0178] 180 Check new allocation

[0179] 182 Calculate planned route

[0180] 184 Consideration of temporal blocking of logical positions and / or variable move length and / or variable reservation length

[0181] 186 Adjust the moving length

[0182] 188 Adjust the length of the first move

[0183] 190 Consider variable reserved length

[0184] 192 Considering variable reserve length for the first move

Claims

1. A dispensing system (110) for dispensing sample containers, wherein include: a transport plane (112) comprising logical locations (114), - a carrier (116) for transporting sample containers, a drive system (120) for moving the carrier (116) between logical positions (114) on the transport plane (112), a control system (132) configured to control the movement of the carrier (116) on the transport plane (112) via the logical positions (114) on a planned route from a starting position (146) to a final destination position (148), wherein the control system (132) comprises a route planning system (134) configured to calculate a route for at least two carriers (116) on the transport plane (112) by modeling the transport plane (112) with a graph of nodes (136), wherein the route planning system (134) is configured to calculate the planned route taking into account a balance of surface usage of the transport plane (112), and wherein the route planning system (134) is configured to take into account a variable movement length (170) and / or to take into account a variable reserve length, wherein the move length is the number of logical positions for each move and the reserved length includes the logical positions reserved for making the move, wherein the route planning system (134) is configured to use a variable move length (170) for one or more of: a selection of a move, a specific number of carriers (116), a specific time period, a defined area of ​​the transport plane (112), and wherein the route planning system (134) is configured to use a variable reserved length for all moves or selected moves within the defined area of ​​the transport plane (112).

2. The distribution system (110) of claim 1, wherein the calculation of the route includes determining a shortest path for the carrier (116) across the transport plane (112) from the starting location (146) to the final destination location (148).

3. The distribution system (110) according to any one of claims 1 or 2, wherein the routing system (134) is configured to define at least two blocking logic position patterns (140), wherein one of the patterns (140, 142) causes the routing system (134) to calculate a first route (152) for the carrier (116), and the other of the patterns (140, 142) causes the routing system (134) to calculate a first route (152) for the carrier (116). 144) causes the route planning system (134) to calculate a second route (154) for the carrier (116) that is different from the first route (152).

4. The distribution system (110) of claim 3, wherein the route planning system (134) is configured to switch from one pattern (140) to another pattern (140) after a predefined time and / or based on the number of carriers (116) moving on a specific area of ​​the transport plane (112).

5. A distribution system (110) according to claim 4, wherein the control system (132) is configured to measure the number of carriers (116) that have been using the specific area of ​​the transport plane (112) since the last switch, and wherein the route planning system (134) is configured to switch to another pattern (140) if a defined threshold has been reached.

6. The distribution system (110) of claim 3, wherein the pattern (140) comprises at least one low flow pattern (160) having a first number of blocked logic positions (114) and at least one high flow pattern (162) having a second number of blocked logic positions (114), wherein the second number is reduced compared to the first number.

7. Dispensing system (110) according to any one of claims 1 to 2, wherein blocking the logical position (114) is arranged to prevent a number of different options for movement of the carrier (116).

8. The dispensing system (110) of claim 1, wherein the routing system (134) is configured to change only the length of a first movement (172) of the carrier (116).

9. The dispensing system (110) of claim 1, wherein the route planning system (134) is configured to vary a movement length (170) of each movement of the carrier along the route.

10. A distribution system (110) according to any one of claims 8 or 9, wherein the control system (132) is configured to measure the number of carriers (116) that have been using a logical position (114), wherein the route planning system (134) is configured to compare the measured number of carriers (116) of an adjacent logical position (114) with a defined threshold value and to adjust the movement length based on the comparison.

11. A distribution system (110) according to any one of claims 8 to 9, wherein the control system (132) is configured to measure the number of carriers (116) that have been using a logical position (114), wherein the route planning system (134) is configured to use the measured number as a weight factor to optimize the movement length, and wherein the route planning system (134) is configured to give priority to using logical positions (114) with low weights.

12. A distribution system (110) according to any one of claims 1 to 2, wherein the route planning system (134) is configured to reduce the maximum reserved length of all movements or selected movements in a defined area of ​​the transport plane (112) and / or to increase the minimum reserved length of all movements or selected movements in a defined area of ​​the transport plane (112).

13. A distribution system (110) according to any one of claims 1 to 2, wherein the control system (132) includes at least one execution unit (138), which is configured to execute the planned route for transporting the carriers (116) from their respective starting positions (146) to their respective final positions (148).

14. A method for distributing carriers (116) using a distribution system (110) according to any one of claims 1 to 13, wherein the method comprises moving the carriers (116) between logical positions (114) on the transport plane (112) of the distribution system (110) by using the drive system (120), wherein the method comprises controlling the movement of the carriers (116) on the transport plane (112) via logical positions (114) on a planned route from the starting position (146) to the final destination position (148) by using the control system (132), wherein the method comprises calculating the planned route on the transport plane (112) for at least two carriers (116) by modeling the transport plane (112) with a graph of nodes (136) using the route planning system (134), wherein the calculation comprises taking into account a balance in the use of the surface of the transport plane (112), and wherein the calculation comprises taking into account a variable movement length (170) and / or taking into account a variable reserved length.

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