High-level biosafety laboratory intelligent operation robot system and operation method

Abstract

This invention discloses a high-level biosafety laboratory intelligent operating robot system and its operation method, comprising: an intelligent mobile chassis capable of mapping and autonomous path planning; a control cabinet mounted on the intelligent mobile chassis; a collaborative robotic arm movably mounted at one end of the control cabinet away from the intelligent mobile chassis; and a telescopic plate movably mounted parallel to the collaborative robotic arm. The end of the collaborative robotic arm is equipped with a manipulation component and an image acquisition component. A reagent bottle fixture is mounted on the telescopic plate, containing a reagent bottle. The telescopic plate is provided with multiple sets of conical holes and multiple ArUco code positioning plates. This invention employs a mobile composite robot system. By mounting a collaborative robotic arm on an intelligent mobile chassis, it completes operational tasks within the biosafety laboratory, offering greater flexibility and wider applicability. Furthermore, the image acquisition component enables high-precision positioning of the collaborative robotic arm, significantly improving its positioning accuracy and enhancing the robot's operational stability.

Description

Technical Field

[0001] This invention relates to the field of biological laboratory robot technology, and in particular to a high-level biosafety laboratory intelligent operating robot system and operating method. Background Technology

[0002] To improve laboratory efficiency and reduce management difficulty while ensuring biosafety, an intelligent transport robot system is introduced into the biosafety laboratory, allowing the robot to complete complex and high-risk operations within the laboratory.

[0003] In the prior art, the robot in Chinese patent CN108275633A is a fixed robot system, which is not mobile and has a limited range of applications. In contrast, the mobile robot system in Chinese patent CN114734466A is mainly used in chemical laboratories and has not yet been applied to biosafety laboratories.

[0004] Therefore, it is necessary to propose a robot operating system and its operation method suitable for biosafety laboratories. Summary of the Invention

[0005] The present invention aims to at least partially solve one of the technical problems in the related art.

[0006] To achieve the above objectives, this invention proposes a high-level biosafety laboratory intelligent operating robot system, comprising: an intelligent mobile chassis capable of mapping and autonomous path planning; a control cabinet mounted on the intelligent mobile chassis; a collaborative robotic arm movably mounted on one end of the control cabinet away from the intelligent mobile chassis; and a telescopic plate movably mounted parallel to the collaborative robotic arm; a manipulation component and an image acquisition component mounted at the end of the collaborative robotic arm; a reagent bottle fixture mounted on the telescopic plate; a reagent bottle mounted inside the reagent bottle fixture; and multiple sets of conical holes and multiple ArUco code positioning plates on the telescopic plate.

[0007] This invention employs a mobile composite robot system, which uses a collaborative robotic arm mounted on an intelligent mobile chassis to complete operational tasks within a biosafety laboratory. This system is more flexible and has a wider range of applications. Furthermore, the collaborative robotic arm is positioned with high precision using an image acquisition component, which significantly improves the positioning accuracy of the robotic arm and further enhances the stability of various operational tasks within the biosafety laboratory.

[0008] Optionally, a robotic arm guide rail is provided on the surface of the control cabinet facing the collaborative robotic arm. A support plate is slidably provided on the robotic arm guide rail. The collaborative robotic arm is fixedly mounted on the support plate. A first power component is provided inside the robotic arm guide rail to control the movement of the support plate along the robotic arm guide rail.

[0009] Furthermore, a telescopic plate guide rail is provided on the side of the control cabinet facing the robotic arm, parallel to the robotic arm guide rail. The telescopic plate is slidably connected to the telescopic plate guide rail, and a second power component is provided inside the telescopic plate guide rail to control the movement of the telescopic plate along the telescopic plate guide rail.

[0010] Furthermore, multiple sets of the tapered holes are provided, with each pair of tapered holes forming a group, and these multiple sets of tapered holes are arranged in rows on the telescopic plate.

[0011] Furthermore, multiple ArUco code positioning plates are respectively arranged at the middle position of two conical holes in each group of conical holes.

[0012] Furthermore, the manipulation component includes an end-effector magnetically connected to the end of the collaborative robotic arm, with a gripper at the end of the end-effector away from the collaborative robotic arm, and the image acquisition component includes a depth camera fixedly mounted on the outer side of the end of the collaborative robotic arm via a flange.

[0013] Furthermore, the reagent bottle fixture is fixedly connected to the reagent bottle, and the reagent bottle has a tapered boss for insertion into the tapered hole at the end facing the telescopic plate.

[0014] Furthermore, the control cabinet is equipped with a power supply module, a robotic arm controller module, a guide rail controller module, and an industrial computer.

[0015] Furthermore, a tool end quick-change is provided on the outer wall of the control cabinet at the end away from the collaborative robotic arm.

[0016] This invention also provides an operation method for an intelligent operating robot system in a high-level biosafety laboratory, comprising the following steps:

[0017] S1. The robot performs mapping work in the biological laboratory by controlling the intelligent mobile chassis, autonomously plans the route from the robot's current position to the retrieval point, and moves along the route, driving the overall operation robot system to perform coarse positioning and reach the retrieval point.

[0018] S2. The robot uses a depth camera at the end of the collaborative robotic arm to perform precise positioning, determine the relative distance between the end of the robotic arm and the object being manipulated, and grab the reagent bottle that was pre-placed in the reagent bottle fixture at the corresponding pickup point by recognizing the ArUco code of the pickup point and place it into the conical hole on the telescopic plate.

[0019] S3. The robot-controlled intelligent mobile chassis autonomously plans the route between the robot's self-retrieval point and the biosafety cabinet based on the mapping of the biological laboratory, and moves along the route, driving the overall operating robot system to perform coarse positioning and reach the position in front of the glass door of the biosafety cabinet.

[0020] S4. After the glass door of the biosafety cabinet is opened, the robot controls the robotic arm guide rail and the telescopic plate guide rail to send the collaborative robotic arm and telescopic plate into the biosafety cabinet. The collaborative robotic arm performs the predetermined operation on the reagent bottle inside the biosafety cabinet.

[0021] Preferably, in step S2, the precise positioning of the robot specifically includes:

[0022] S21. The collaborative robotic arm moves to the observation position and uses the depth camera to identify the ArUco code calibration plate to obtain the relative pose between the ArUco code and the depth camera.

[0023] S22. Perform multiple movements to adjust the end effector of the collaborative robotic arm so that the ArUco code is located at the center of the camera's field of view. This is to correct the error in the relative pose between the ArUco code obtained by recognizing the ArUco code and the depth camera, and to ensure that the pixel position error of the ArUco code in the image is below the threshold.

[0024] Furthermore, during the ArUco code recognition process, depth information of the four corner points of the ArUco code is collected by a depth camera to obtain a more accurate relative pose. Kalman filtering is then applied to the obtained angular coordinates to enhance the stability of the relative pose, thereby solving the pose jitter problem caused by the uncertainty of the recognition algorithm.

[0025] Furthermore, in S4, the obstacle avoidance action of the collaborative robotic arm in the biosafety cabinet is realized through the RRT algorithm.

[0026] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0027] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0028] Figure 1 This is a schematic diagram of the overall structure of an intelligent operating robot system for a high-level biosafety laboratory according to the present invention;

[0029] Figure 2 This is a schematic diagram of the collaborative robotic arm structure of an intelligent operating robot system for a high-level biosafety laboratory according to the present invention;

[0030] Figure 3 This is a top view schematic diagram of the telescopic plate structure of an intelligent operating robot system for a high-level biosafety laboratory according to the present invention;

[0031] Figure 4This is a schematic diagram of the reagent bottle tooling structure of an intelligent operating robot system for a high-level biosafety laboratory according to the present invention;

[0032] Figure 5 This is a schematic diagram of the structure of a high-level biosafety laboratory intelligent operating robot system according to the present invention when it is working inside a biosafety cabinet;

[0033] Figure 6 This is a schematic diagram of the method steps for operating another high-level biosafety laboratory intelligent operating robot system according to the present invention.

[0034] Figure 7 This is a detailed schematic diagram of step S2 of the operation method of an intelligent operating robot system for a high-level biosafety laboratory according to the present invention.

[0035] Explanation of reference numerals in the attached figures:

[0036] 1. Collaborative robotic arm; 2. Intelligent mobile chassis; 3. Telescopic plate guide rail; 4. Robotic arm guide rail; 5. Telescopic plate; 6. Reagent bottle tooling; 7. Reagent bottle; 8. Control cabinet; 9. Tool end quick changer; 10. Gripper; 11. End quick changer; 12. Depth camera; 13. ArUco code positioning plate; 14. Conical hole; 15. Biosafety cabinet; 16. Biosafety cabinet glass door. Detailed Implementation

[0037] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0038] This application provides an intelligent operating robot system for a high-level biosafety laboratory, as described below. Figures 1 to 5 To elaborate in detail.

[0039] A high-level biosafety laboratory intelligent operation robot system includes: an intelligent mobile chassis 2 capable of mapping and autonomous path planning; a control cabinet 8 mounted on the intelligent mobile chassis 2; a collaborative robotic arm 1 movably mounted on one end of the control cabinet 8 away from the intelligent mobile chassis 2; and a telescopic plate 5 movably mounted parallel to the collaborative robotic arm 1; a manipulation component and an image acquisition component mounted at the end of the collaborative robotic arm 1; a reagent bottle fixture 6 mounted on the telescopic plate 5; a reagent bottle 7 mounted inside the reagent bottle fixture 6; and multiple sets of conical holes 14 and multiple ArUco code positioning plates 13 mounted on the telescopic plate 5.

[0040] This invention employs a mobile composite robot system. By mounting a collaborative robotic arm 1 on an intelligent mobile chassis 2, it completes operational tasks within a biosafety laboratory. This system is more flexible and has a wider range of applications. Furthermore, the collaborative robotic arm 1 is positioned with high precision using an image acquisition component, which significantly improves the positioning accuracy of the robotic arm and further enhances the stability of various operational tasks within the biosafety laboratory.

[0041] After the robot, propelled by its intelligent chassis, reaches the biosafety cabinet 15, it needs to insert the collaborative robotic arm 1 and the telescopic plate 5 into the biosafety cabinet 15 to perform predetermined operations. This necessitates that the collaborative robotic arm 1 and the telescopic plate 5 be movable and extendable. To achieve this mobility, a robotic arm guide rail 4 is provided on the surface of the control cabinet 8 facing the collaborative robotic arm 1. A support plate is slidably mounted on the robotic arm guide rail 4, and the collaborative robotic arm 1 is fixedly mounted on the support plate. A first power component is installed within the robotic arm guide rail 4 to control the movement of the support plate along the robotic arm guide rail 4. Simultaneously, a telescopic plate guide rail 3 is provided on the surface of the control cabinet 8 facing the robotic arm, parallel to the robotic arm guide rail 4. The telescopic plate 5 is slidably connected to the telescopic plate guide rail 3, and a second power component is installed within the telescopic plate guide rail 3 to control the movement of the telescopic plate 5 along the telescopic plate guide rail 3. The first power component can drive the support plate to move along the robotic arm guide rail 4, thereby moving the collaborative robotic arm 1 on the support plate. The second power component can drive the telescopic plate 5 to move along the telescopic plate guide rail 3, thereby moving the collaborative robotic arm 1 and the telescopic plate 5 into the biosafety cabinet 15. A guide rail controller module for controlling the first and second power components is provided in the control cabinet 8. In addition, the control cabinet 8 also includes a power module, a robotic arm controller module, and an industrial control computer module, among other control components. In some embodiments, the first and second power components can be any of a motor, an electric actuator, a hydraulic cylinder, or other power components.

[0042] Considering the need for stable polarity fixation of the reagent bottle 7 placed on the telescopic plate 5, the conical hole 14 is designed to be wider at the top and narrower at the bottom. That is, the opening diameter of the conical hole 14 on the upper surface of the telescopic plate 5 away from the control box is larger than the opening diameter on the lower surface of the telescopic plate 5 facing the control box. A reagent bottle fixture 6 is designed for inserting into the conical hole 14. The reagent bottle fixture 6 is fixedly connected to the reagent bottle 7, and the end of the reagent bottle 7 facing the telescopic plate 5 has a conical protrusion for insertion into the conical hole 14. To maximize the utilization of the area on the telescopic plate 5, multiple sets of conical holes 14 are arranged, with each pair of opposite conical holes 14 forming a group. These multiple sets of conical holes 14 are arranged in rows on the telescopic plate 5. In one embodiment, five sets, totaling ten conical holes 14, are provided, arranged in two parallel rows and aligned in groups. Taking further consideration of the ArUco code position, multiple ArUco code positioning plates 13 are correspondingly set in the middle position of two conical holes 14 in each group of conical holes 14. The ArUco code positioning plate 13 is a customized glass plate with ArUco code on its surface, which is used to assist in identification and positioning, and to assist the collaborative robotic arm 1 in identifying the position of each group of conical holes 14.

[0043] To facilitate the operation of the collaborative robotic arm 1, the control assembly includes an end-effector quick-change 11 magnetically connected to the end of the collaborative robotic arm 1. A gripper 10 is located at the end of the end-effector quick-change 11 furthest from the collaborative robotic arm 1. The gripper 10 has two degrees of freedom, enabling coaxial rotation along the end-effector quick-change 11 and opening / closing movements. Considering that the tool connected to the end-effector quick-change 11 needs to be changed according to different requirements, a tool-end quick-change 9 is provided on the outer wall of the control cabinet 8 furthest from the collaborative robotic arm 1. When end-effector tooling is required, the collaborative robotic arm 1 moves the end-effector quick-change 11 to the tool-end quick-change 9 for rapid tool switching. Furthermore, the image acquisition assembly includes a depth camera 12 fixed to the outer side of the end of the collaborative robotic arm 1 via a flange. The depth camera 12 can acquire image and depth information to provide information for the motion control of the collaborative robotic arm 1.

[0044] In some embodiments, to facilitate the mapping of the entire biosafety laboratory by the intelligent mobile chassis 2, the intelligent mobile chassis is electrically connected to the image acquisition component to perform image scanning of the entire biosafety laboratory from a height, thereby providing auxiliary data for the mapping operation of the intelligent chassis, making the mapping more accurate, and thus enabling more accurate autonomous route planning, avoiding situations where the robotic arm or other components cannot pass through the biosafety laboratory due to height issues.

[0045] This application also provides an operation method for an intelligent operating robot system in a high-level biosafety laboratory, used for operating such a system. See below for details. Figures 6 to 7 To elaborate in detail.

[0046] A method for operating an intelligent robotic system in a high-level biosafety laboratory includes the following steps:

[0047] S1. The robot performs mapping work in the biological laboratory by controlling the intelligent mobile chassis 2, autonomously plans the route from the robot's current position to the retrieval point, and moves along the route, driving the overall operation robot system to perform coarse positioning and reach the retrieval point.

[0048] S2. The robot uses the depth camera 12 at the end of the collaborative robotic arm 1 to perform precise positioning, determine the relative distance between the end of the robotic arm and the object being operated, and grab the reagent bottle 7 that is pre-placed in the reagent bottle fixture 6 at the corresponding pickup point by recognizing the ArUco code of the pickup point, and place it into the conical hole 14 on the telescopic plate 5.

[0049] S3. The robot-controlled intelligent mobile chassis 2 autonomously plans the route between the robot's self-retrieval point and the biosafety cabinet 15 based on the mapping of the biological laboratory, and moves along the route, driving the overall operation robot system to perform coarse positioning and reach the position in front of the glass door of the biosafety cabinet 15.

[0050] S4. After the glass door of the biosafety cabinet 15 is opened, the robot controls the robotic arm guide rail 4 and the telescopic plate guide rail 3 to send the collaborative robotic arm 1 and the telescopic plate 5 into the biosafety cabinet 15. The collaborative robotic arm 1 performs the predetermined operation on the reagent bottle 7 inside the biosafety cabinet 15.

[0051] Upon reaching the pickup point, the robot needs to perform precise positioning before it can pick up the item, ensuring the pickup operation is completed accurately. In S2, the robot's precise positioning specifically includes:

[0052] S21. The collaborative robotic arm 1 moves to the observation position and uses the depth camera to identify the ArUco code calibration plate to obtain the relative pose between the ArUco code and the depth camera 12.

[0053] S22. Perform multiple movements to adjust the end of the collaborative robotic arm 1 so that the ArUco code is located at the center of the camera's field of view. This is to correct the error in the relative pose between the ArUco code obtained by recognizing the ArUco code and the depth camera 12, and to ensure that the pixel position error of the ArUco code in the image is below the threshold.

[0054] In the process of ArUco code recognition, depth information of the four corner points of the ArUco code is collected by depth camera 12 to obtain a more accurate relative pose. Kalman filtering is then applied to the obtained angular coordinates to enhance the stability of the relative pose and solve the pose jitter problem caused by the uncertainty of the recognition algorithm.

[0055] Furthermore, during S4, upon reaching the door of the biosafety cabinet 15, which has a vertically opening glass door, the collaborative robotic arm 1 extends horizontally, lowering its height. After the glass door of the biosafety cabinet 15 is raised, the robotic arm guide rail 4 pushes the collaborative robotic arm 1 into the biosafety cabinet 15, and the telescopic plate guide rail 3 pushes the telescopic plate 5 into the biosafety cabinet 15. Considering that there may be structures or objects inside the biosafety cabinet 15 that hinder the movement of the collaborative robotic arm 1, the robotic arm controller is equipped with an RRT algorithm to realize the obstacle avoidance action of the collaborative robotic arm 1 within the biosafety cabinet 15.

[0056] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0057] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0058] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A high-level biosafety laboratory intelligent operating robot system, characterized in that, include: An intelligent mobile chassis for mapping and autonomous path planning is provided. A control cabinet is mounted on the intelligent mobile chassis. A collaborative robotic arm and a telescopic plate, parallel to the robotic arm, are movably mounted on one end of the control cabinet away from the intelligent mobile chassis. The end of the collaborative robotic arm is equipped with a manipulation component and an image acquisition component. A reagent bottle fixture is mounted on the telescopic plate, containing a reagent bottle. The telescopic plate has multiple sets of conical holes and multiple ArUco code positioning plates. The image acquisition component includes a depth camera fixed to the outer side of the end of the collaborative robotic arm via a flange. The collaborative robotic arm is configured to move to an observation position, identify the ArUco code positioning plates through the depth camera, and obtain the relative pose between the ArUco code and the depth camera. The collaborative robotic arm performs multiple adjustments to ensure that the ArUco code is located at the center of the depth camera's field of view. The control cabinet has a robotic arm guide rail on the side facing the robotic arm. A support plate is slidably mounted on the robotic arm guide rail. The robotic arm is fixedly mounted on the support plate. A first power component is provided inside the robotic arm guide rail to control the movement of the support plate along the robotic arm guide rail. The control cabinet has a telescopic plate guide rail on the side facing the robotic arm, which is parallel to the robotic arm guide rail. The telescopic plate is slidably connected to the telescopic plate guide rail, and a second power component is provided inside the telescopic plate guide rail to control the movement of the telescopic plate along the telescopic plate guide rail.

2. The intelligent operating robot system for a high-level biosafety laboratory as described in claim 1, characterized in that, Multiple sets of tapered holes are provided, with each pair of tapered holes forming a group, and these multiple sets of tapered holes are arranged in rows on the telescopic plate.

3. The intelligent operating robot system for a high-level biosafety laboratory as described in claim 2, characterized in that, Multiple ArUco code positioning plates are respectively set at the middle position of two conical holes in each group of conical holes.

4. The intelligent operating robot system for a high-level biosafety laboratory as described in claim 1, characterized in that, The manipulation assembly includes an end switch magnetically connected to the end of the collaborative robotic arm, with a gripper located at the end of the end switch away from the collaborative robotic arm.

5. The intelligent operating robot system for a high-level biosafety laboratory as described in claim 1, characterized in that, The reagent bottle fixture is fixedly connected to the reagent bottle, and the reagent bottle has a tapered boss for insertion into the tapered hole at the end facing the telescopic plate.

6. The intelligent operating robot system for a high-level biosafety laboratory as described in claim 1, characterized in that, The control cabinet contains a power module, a robotic arm controller module, a guide rail controller module, and an industrial computer.

7. The intelligent operating robot system for a high-level biosafety laboratory as described in claim 1, characterized in that, The control cabinet has a tool end quick-change device on the outer wall of the end furthest from the collaborative robotic arm.

8. An operation method for an intelligent operating robot system in a high-level biosafety laboratory, characterized in that, The high-level biosafety laboratory intelligent operation robot system as described in any one of claims 1-7 includes the following steps: S1. The robot performs mapping work in the biological laboratory by controlling the intelligent mobile chassis, autonomously plans the route from the robot's current position to the retrieval point, and moves along the route, driving the overall operation robot system to perform coarse positioning and reach the retrieval point. S2. The robot uses a depth camera at the end of the collaborative robotic arm to perform precise positioning, determine the relative distance between the end of the robotic arm and the object being manipulated, and grab the reagent bottle that was pre-placed in the reagent bottle fixture at the corresponding pickup point by recognizing the ArUco code of the pickup point and place it into the conical hole on the telescopic plate. S3. The robot-controlled intelligent mobile chassis autonomously plans the route between the robot's self-retrieval point and the biosafety cabinet based on the mapping of the biological laboratory, and moves along the route, driving the overall operating robot system to perform coarse positioning and reach the position in front of the glass door of the biosafety cabinet. S4. After the glass door of the biosafety cabinet is opened, the robot controls the robotic arm guide rail and the telescopic plate guide rail to send the collaborative robotic arm and telescopic plate into the biosafety cabinet. The collaborative robotic arm performs the predetermined operation on the reagent bottle inside the biosafety cabinet.

9. The operation method of the intelligent operating robot system for a high-level biosafety laboratory as described in claim 8, characterized in that, In step S2, the robot's precise positioning specifically includes: S21. The collaborative robotic arm moves to the observation position and uses the depth camera to identify the ArUco code calibration plate to obtain the relative pose between the ArUco code and the depth camera. S22. Perform multiple movements to adjust the end effector of the collaborative robotic arm so that the ArUco code is located at the center of the camera's field of view. This is to correct the error in the relative pose between the ArUco code obtained by recognizing the ArUco code and the depth camera, and to ensure that the pixel position error of the ArUco code in the image is below the threshold.

10. The operation method of the intelligent operating robot system for a high-level biosafety laboratory as described in claim 9, characterized in that, During the ArUco code recognition process, depth information of the four corner points of the ArUco code is collected by a depth camera to obtain a more accurate relative pose. Kalman filtering is then applied to the obtained angular coordinates to enhance the stability of the relative pose and solve the pose jitter problem caused by the uncertainty of the recognition algorithm.

11. The operation method of the intelligent operating robot system for a high-level biosafety laboratory as described in claim 8, characterized in that, In S4, the RRT algorithm is used to realize the obstacle avoidance action of the collaborative robotic arm in the biosafety cabinet.

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