Distribution system and method for distributing plurality of carriers

Abstract

A distribution system (110) and a method for distributing a plurality of carriers (114) using the distribution system (110) are disclosed. The distribution system (110) comprises:-at least one transport plane (118) comprising a logical position (120); -a plurality of carriers (114) for transporting objects (122); -at least one drive system (126) for moving the carrier (114) on the transport plane (118) between the logical positions (120); and-at least one control system (128) configured for controlling the carrier (114) to move on the transport plane (118) from a starting position to a final destination position on a planned route, where the planned route comprises a partial route (144), where the control system (128) comprises at least one route planning system (130) configured for planning the partial route (144) on the transport plane (118). The at least one route planning system is configured for calculating a route planning scheme for carriers (114) on the transport plane (118) by modeling the transport plane (118) with a graph (132) of nodes, where the route planning system (130) is configured for calculating the route planning scheme in consideration of a movement time period (160) and a waiting time period (162), wherein the route planning system (130) is configured to assign a waiting time period (162) for the carrier (114) depending on a reservation of logical positions (120) of the partial route (144) of the other carrier (114), and wherein the waiting time period (162) is assigned to the carrier (114) if the carrier (114) experiences a time delay (158) during execution of the movement. The route planning system (130) is configured for transferring the experienced time delay (158) to at least one upcoming waiting period (166) of the carrier (114).

Description

Technical Field

[0001] The present invention relates to a distribution system and a method for distributing a plurality of carriers using a distribution system. As an example, the system and method of the present invention can be used to control the movement of a carrier that transports 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 subpackaging, especially in the field of diagnostic laboratories. The system and method can also be used for other applications that require control of the movement of a carrier on a transport plane, such as a carrier that transports a payload (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] For example, EP 3 095 739 A1 describes a method for operating a laboratory sample distribution system. The laboratory sample distribution system comprises: a plurality of sample container carriers, wherein the sample container carriers are adapted to carry one or more sample containers, wherein the sample containers comprise samples to be analyzed by a plurality of laboratory stations; a transport plane, wherein the transport plane is adapted to support the sample container carriers, wherein the transport plane comprises a plurality of transport positions, wherein the transport positions are assigned to corresponding laboratory stations; and a drive device, wherein the drive device is adapted to move the sample container carriers on the transport plane. The method comprises the following steps: during initialization of the laboratory sample distribution system, precalculating a route according to the transport positions; and after initialization of the laboratory sample distribution system, controlling the drive device such that the sample container carriers move along the precalculated route.

[0004] EP 3 537 159 A1 discloses a method for operating a laboratory sample distribution system. The laboratory sample distribution system comprises: a plurality of sample container carriers, wherein the sample container carriers are suitable for carrying laboratory sample containers; a transport plane, wherein the transport plane is suitable for supporting the sample container carriers; and a plurality of drive elements, wherein the drive elements are suitable for moving the sample container carriers on the transport plane. The method comprises the following steps: a) planning a movement path from a starting point on the transport plane to a destination for one of the sample container carriers, 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 plan comprises analyzing the accessibility from the free time window of one of the nodes to the free time window 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 the one node through the next node to the at least one next node, and reserving a planned movement path including a time window sequence of 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.

[0005] US10,006,927B2 discloses a method for operating a laboratory automation system. The laboratory automation system includes a plurality of laboratory stations and a plurality of sample container carriers. The sample container carrier carries one or more sample containers. The sample container includes a sample to be analyzed by the laboratory station. The system also includes a transport plane. The transport plane supports the sample container carrier. The system also includes a drive device. The drive device moves the sample container carrier on the transport plane. The method includes: during the initialization of the laboratory automation system, logically reserving at least one buffer area on the transport plane, and after the initialization of the laboratory automation system, buffering the sample container carrier carrying the sample container in the at least one buffer area, the sample container containing the sample waiting for the analysis result. According to the analysis result, the sample is further processed.

[0006] US2018 / 0348244 A1 describes a method for operating a laboratory sample distribution system. The system includes: a sample container carrier, which includes a magnetically active device and is configured to carry a sample container; interconnected transport plane modules, which are configured to support the carrier; and an electromagnetic actuator, which is arranged in rows and columns under each transport plane module and is configured to move the carrier on the top of the transport plane module by applying a magnetic force to the carrier. The method includes assigning the transport plane module to a route category. At least two traffic routes are formed on the route classification transport plane module. The carrier moves along a transport direction within each traffic route. The transport directions are opposite to each other. The method also includes assigning another transport plane module to a signpost category. On the signpost classification transport plane module, it is possible to change from one transport direction to an opposite transport direction.

[0007] WO 2021 / 228733 A1 discloses a distribution system, which includes a transport plane for distributing objects and a carrier for transporting the object. A drive system moves the carrier on the transport plane. The control system of the distribution system is configured to control the carrier to move on the transport plane on a planned route from a starting position to a final destination position. The control system includes a route planning system, which is configured to calculate a planned route for at least two carriers on the transport plane by modeling the transport plane using nodes and graphs and using a windowed hierarchical collaborative heuristic search algorithm. The route selection system is configured to determine a reserved time window and an idle time window for each node. The route planning system is configured to assign a separate reserved length to each carrier for the next movement on the idle time window, and to assign an unlimited reserved time to nodes at logical locations.

[0008] Despite the many advantages of the known methods and devices, there are still several technical challenges. In particular, problems due to unexpected time delays may still occur. For example, while ensuring that the carriers in the distribution system pass safely through the safety point, it may be necessary to take into account the time delay of the carrier movement. Typically, the time delay of one carrier may affect the movement plan of other carriers in the distribution system. Therefore, it may be very important to avoid the time delay of routing one carrier affecting the route planning of one or more other carriers in the distribution system, especially without the need to re-plan the movement for one or more other carriers. Creating a complete new plan for the affected carriers is a computationally intensive task and should be avoided accordingly. Simply shifting all time plans for the affected carriers to the same time as the initial delay would mean that all affected carriers would be severely delayed, which would degrade the performance of the system. Since the transport system may include a control mechanism for avoiding too many simultaneous movements in each area in order to control the maximum power consumption of each transport area, solving the time delay may become more complicated.

[0009] Issues to be resolved

[0010] Therefore, it is desirable to provide methods and devices that at least partially address the above technical challenges. Specifically, a dispensing system and a method for dispensing a plurality of carriers should be proposed to prevent problems caused by unexpected time delays. Summary of the invention

[0011] This problem is solved by a dispensing system and a method for dispensing a plurality of carriers 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 below, the terms "having", "comprising" or "including" or any grammatical variations thereof are used in a non-exclusive manner. Thus, these terms may refer to the absence of other features in the entity described in this context in addition to the features introduced by these terms, or the presence of one or more other features. As an example, the expressions "A has B", "A includes B" and "A contains B" may refer to the absence of other elements in A in addition to B (i.e., the presence of A solely and exclusively consisting of B); or to the presence of one or more other elements in entity A in addition to B (such as element C, element C and element D, or even other elements).

[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 once or more than once 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] Furthermore, as used hereinafter, the terms "preferably", "more preferably", "particularly", "more particularly", "specifically", "more specifically" or similar terms are used in conjunction with optional features without limiting the alternative possibilities. Therefore, the features introduced by these terms are optional features and are not intended to limit the scope of the claims in any way. As the skilled person will recognize, the present invention 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 of the present invention, a dispensing system is disclosed. The dispensing system comprises:

[0016] - at least one transport plane comprising logical locations;

[0017] - a plurality of carriers for transporting objects;

[0018] - at least one drive system for moving the carrier between the logical positions on the transport plane; and

[0019] - at least one control system configured to control a carrier to move on a transport plane on a planned route from a starting position to a final destination position, wherein the planned route includes partial routes, wherein the control system includes at least one route planning system, the at least one route planning system configured to calculate a route planning solution for the carrier on the transport plane by modeling the transport plane with a graph of nodes, wherein the route planning system is configured to calculate the route planning solution taking into account movement time periods and waiting time periods, wherein the route planning system is configured to assign waiting time periods to the carrier based on reservations of logical positions of the partial routes of other carriers, wherein, in the event that the carrier experiences a time delay during the execution of the movement, the route planning system is configured to transfer the experienced time delay to at least one upcoming waiting time period of the carrier.

[0020] As used herein, the term "system" is a broad term and should be given its ordinary and customary meaning to those of ordinary skill in the art, and should not be 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.

[0021] As used herein, the term "distribution system" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or custom meaning. 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.

[0022] As used herein, the term "object" 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, any payload. The object may be at least one sample container, such as a laboratory diagnostic container or vessel.

[0023] 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.

[0024] As used herein, the term "transportation plane" is a broad term and is given a common and customary meaning to those of ordinary skill in the art, and is not limited to a special or custom meaning. The term specifically may refer to, but is not limited to, any type of two-dimensional plane, bed, layer, platform or flat 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 on or on a floor or surface of a diagnostic laboratory, instrument, laboratory or manufacturing site or in a plurality of or in a manufacturing or storage workshop. The transport plane can be installed vertically or horizontally, including ramps. A curved transport plane may also be possible.

[0025] The transport plane may be configured to provide movement of the carrier by contact. The transport plane may constitute a coordinate system in which movement of the carrier may occur in the x and y directions on the transport plane. The transport plane may be configured so that the carrier may contact the surface of the transport plane so that friction may be used to drive and control the movement of the carrier. The transport plane may be configured for contactless movement of the carrier. The transport plane may be configured so that the carrier may be moved contactlessly, for example by providing a small gap between the carrier and the surface through air or magnetic levitation. For three-dimensional space, the transport plane may form corresponding restrictions on up and down slopes, or may be installed with some kind of suspension mechanism, such as magnetic levitation or air cushion technology, with corresponding restrictions on the height that can be reached without losing control. For vertical transport in the third dimension, a lift or paternoster mechanism may also be installed.

[0026] As used herein, the term "drive system" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or custom meaning. The term may specifically refer 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 itself (e.g., a wheel connected to an electric motor with a connected battery and electronic device). Another possibility is a linear motor. It may also be a passive carrier. For example, a magnetic device is fixed in the carrier, and a magnetic force is provided by a magnetically active and drivable element such as an electromagnetic coil, thereby causing the carrier to move by the generated 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.

[0027] The term "logical position" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art and is not limited to a special or custom meaning. The term may specifically refer to any position of a transport plane suitable for supporting a carrier, but is not limited to this. 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 of carriers at logical positions, such as searching for route planning solutions. 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.

[0028] 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).

[0029] 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.

[0030] The logical position may be any position that the carrier can reach, or any position where the carrier can change direction, can be parked or can be identified by an identification or registration system. The identification and registration system may be a camera system or an optical sensor and scanner for identifying any optical signature on the carrier or object, such as its size, type or barcode. Alternatively or additionally, an RFID reader system that reads a unique RFID of a carrier or an object on the carrier or a sensor in the transport plane may be used to identify the logical position and locate the carrier. Another option may be a high-precision GPS, which is enhanced in particular by Wi-Fi and / or GSM signals.

[0031] As used herein, the term "control system" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or custom meaning. The term may specifically refer to, but is not limited to, any system configured to perform specified operations, 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). However, additionally or alternatively, the control system may also be implemented in whole or in part by hardware.

[0032] The control system may include 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 planning scheme. The control system may control the drive system to distribute the carrier from the initial position to the target destination. In particular, the control may include controlling the distribution of the carrier, and further monitoring the distribution of the carrier, and if necessary, adjusting or changing the distribution of the carrier.

[0033] As used herein, the term "route" 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 set of partial routes from a starting position to a final destination position. As used herein, the term "route planning scheme" is a broad term and is 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 scheme of logical positions assigned by time including at least one route and a route planning system plan. The terms "planned route planning scheme" and "scheme" are used as synonyms in this article. The route can be divided into one or more partial routes to an intermediate destination. The starting position can be a logical position on the transport plane where the carrier is located when the algorithm starts calculating the route planning scheme. The final destination position can be a logical position on the transport plane where the carrier needs to arrive. In particular, the final destination position is a logical position on the transport plane with a special functionality, at which, for example, a sample tube, a part of a sample or a consumable is transferred from the transport plane to, for example, an analyzer or a pre-analytical system or a post-analytical system or a storage system, or from these systems to the transport plane. 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 a carrier may also be, in particular, the final destination position of another carrier, or more particularly, the final destination position of the same carrier.

[0034] As used herein, the term "route planning system" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or custom meaning. The term may specifically refer to, but is not limited to, any system configured to calculate a route planning solution for the movement of a carrier 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 a route planning solution for 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 an intermediate destination position for each route with the current position of the carrier in a logical position as the starting position. The route planning solution may include all moves or only the next few moves to be performed before reaching the second final destination.

[0035] The calculation of the route planning solution may include determining the shortest path for the load carrier across the transport plane from the starting location to the final destination location. A route planning algorithm may be used to determine the shortest path for the load carrier across the transport plane. The algorithm may be selected from the group consisting of: A*-algorithm; Windowed Hierarchical Cooperative A*-algorithm (WHCA*); D*-algorithm; Dijkstra algorithm.

[0036] For example, the WHCA* search algorithm can be used to calculate a route planning solution. For the WHCA* algorithm, for example, refer to Silver, D., 2005, "Cooperative pathfinding", Young, RM and Laird, JE, eds., AIIDE, 117-122. AAA IPress. 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 a route planning solution from the starting position to the intermediate destination position toward their respective final destination positions on 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 routing solutions for each carrier individually, whereby reservation tables can be used to obtain coordination. The routing system can be configured to reserve a planned portion of a route for a carrier until the carrier reaches its intermediate or final destination. This means that no other carrier can use the reserved route while the corresponding carrier is moving. If a logical location is set to "reserved" for a limited duration, the location is not available to other carriers for the limited duration, and will be available for movement again once the temporary reservation ends.

[0037] As described above, the route planning system can be configured to calculate the route planning scheme for all the 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 the idle time window of each node. In order to calculate the route planning scheme 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 an idle time window, so that the carrier starts and stops separately. The execution unit can be configured to execute the planned route planning scheme for transporting the carriers from their respective starting positions to their respective final positions.

[0038] The calculation of the routing scheme may include planning the route. The routing 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 routing algorithm used may be collaborative, the routing 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.

[0039] The route planning system can be configured to calculate a route planning solution 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 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 mathematical representation of a logical position. As used herein, the term "graph" is a broad term and will be given the common and customary meaning to 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, the construction of nodes and possible connections between them.

[0040] The execution unit may be configured to execute the movement of the carrier taking into account the planned route planning scheme. 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 one logical position and stopping at a second different logical position. A movement may include a 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, without the carrier stopping in between. The movement from a first final destination to a second final destination may be performed in one or more movements with intermediate destinations. The intermediate destinations may also be logical positions. Each movement has a start and a stop at a logical position. The stop of the last movement of the route is an intermediate destination or a final destination.

[0041] The distribution system may include a position determination system configured to determine the position of the carrier on the transport plane. The position determination system may send at least one position update message to the control system. The update message may trigger the release of a reserved logical position that the carrier has passed in its current movement. The update message may inform the control system about delayed carriers.

[0042] The route planning system is configured to calculate the route planning scheme taking into account the moving time period and the waiting time period. The term "moving time period" as used herein is a broad term and is given a 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, the time span during which the carrier is estimated to move. The control system can be configured to control the drive system so that the carrier on the transport plane moves along the partial route during the moving time period. The term "waiting time period" as used herein is a broad term and is given a 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, the time span during which the carrier is considered to be waiting at a logical position. The route planning system is configured to allocate a waiting time period to the carrier according to the reservation of the logical position of the partial route of other carriers. For example, the route planning system can allocate a waiting time period to the carrier, as long as a node required for a partial route is reserved for at least one other carrier. The control system can be configured to control the drive system so that the carrier waits at a logical position during the waiting time period.

[0043] The calculation of the route planning scheme may include the timely assignment of logical positions to the carriers. Therefore, some carriers must wait until there is a vacancy. As long as the next movement cannot be planned because another carrier needs it to move, the carrier must wait. This waiting time can be used to "absorb" at least a portion of the delayed time. As used herein, the term "assigned waiting time period" is a broad term and is given its ordinary and customary meaning to 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 the planning of a route planning scheme with a waiting time period. The assignment of the waiting time period can be the result of the time when the planned carrier can move, which depends on when the position is released by other carriers and can be reserved for movement. The route planning system can be configured to calculate the waiting time and assign the waiting time to the carrier by assigning a route planning scheme with a waiting time for the next movement to the carrier.

[0044] The route planning system can assign the reservation of the node within a limited duration of the estimated time of the movement. However, the duration of the movement may be random, so differences from the estimated time may occur. This may result in the carrier being later than the planned movement time. In this way, the original solution fails. The carrier may experience time delays during the execution of one or more movements. Therefore, it may be necessary to adjust, in particular, extend the reservation for the late carrier. However, in known methods, the extension of the reservation for the late carrier will affect and / or intersect with the reservation of other carriers. The present invention proposes that the route planning system is configured to extend the reservation for the late carrier without transferring or recalculating all solutions, for example, in particular, the solution of the unaffected carrier will not be transferred or recalculated. The present invention proposes to solve the delay by using waiting time to compensate for the lost time. If the carrier experiences a time delay during the execution of the movement, the route planning system is configured to transfer the experienced time delay to at least one upcoming waiting time period of the carrier. The carrier using the waiting time period can be any carrier, such as a delayed carrier that experiences a delay for the first time or another affected carrier. As used herein, the term "transfer" is a broad term and is given its ordinary 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, transferring a time delay to a waiting period. The transfer may include changing and / or adjusting at least one upcoming waiting period according to the time delay. The route planning system may be configured to compensate for the time delay by shortening at least one upcoming waiting period of at least one of the load compartments according to the time delay. As used herein, the term "upcoming waiting period" is a broad term and is given its ordinary 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, at least one waiting period after a delay. The route planning system may be configured to compensate for the time delay by shortening the next (also referred to as the first) upcoming waiting period of the load compartment (e.g., the delayed load compartment), for example, by the amount of the time delay. However, if the time delay is longer than the upcoming waiting period, the time delay cannot be fully compensated by the upcoming waiting period. Therefore, the route planning system may be configured to compensate for the time delay at least in part by shortening the upcoming waiting period. In case of a residual time delay, i.e. if the time delay cannot be fully compensated by the first upcoming waiting time period, the route planning system may be configured to at least partially transfer the time delay to, for example, at least a second upcoming waiting time period of at least one affected carrier. The route planning system may be configured to transfer the non-compensated portion of the time delay to at least one second upcoming waiting time period.The first upcoming waiting period can be immediately followed in time by the second upcoming waiting period. If the time delay is still not fully compensated by the next waiting time of the carrier, the subsequent waiting time can be used to compensate for the remaining delay, and so on, until the delay is fully resolved.

[0045] For example, one of the multiple carriers may be delayed in time. In this way, the original solution fails. The delay may occur in the first movement time period. The route planning system can be configured to compensate for the time delay by shortening the upcoming waiting time period. In most cases where only occasional short delays occur, the upcoming waiting time period may be long enough to compensate. Therefore, a solution can be found quickly without affecting many carriers and without the need for computationally intensive replanning. If the time delay cannot fully compensate for the upcoming waiting time period, for example if the upcoming waiting time period is too short, all waiting time of the upcoming waiting time period can be consumed, or part or all of the subsequent upcoming waiting time can be used, and so on. Therefore, the method is recursively executed in the planned future until all delays are compensated.

[0046] The maximum number of simultaneous movements can be fixed for the entire transport plane or can be limited by area. The movements that are allowed to be carried out simultaneously can form a so-called simultaneous movement group. For example, each transport module or software-defined area can allow a maximum of eight carriers to move simultaneously. The maximum number of simultaneous movements allowed can also be related to the number of logical positions in the area. For example, the maximum allowed simultaneous movement in a region can be in the range of 1% to 70% or 5% to 50% or 10% to 30% or 15% to 25% of the number of available logical positions in the region. This will limit the maximum power consumption peak of the area, so that less or smaller power supplies can be used or the electronic circuit system can be protected from rapid aging or damage.

[0047] As used herein, the term "conveying module" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or customized meaning. The term may specifically refer to, but is not limited to, a separate structural unit and / or a subunit of a conveying plane including at least one logical position. The conveying plane may include multiple logical positions. The conveying plane may be a modular conveying plane formed by interconnected conveying modules. The conveying modules may be interconnected so that the carrier can be moved directly or indirectly from each of the conveying modules to each of the other modules. The interconnected conveying modules may form a continuous conveying plane, which may also be represented as a conveying surface. Under each conveying module, a plurality of electromagnetic actuators may be fixedly arranged in rows and columns. The electromagnetic actuator may be configured to move the carrier on top of the conveying module along rows in rows or along columns in columns by applying a magnetic moving force to the carrier.

[0048] The planned route planning schemes of carriers may be interdependent, for example, because carriers have to wait for other carriers to release their reserved positions, for example in the case where the carriers cross each other's paths. If the execution of a carrier movement is delayed, this delay may not only affect the delayed carrier, but also other carriers. A delayed movement execution may, for example, be that the carrier arrives at the final position of its movement later than the planned time. Therefore, the duration of this movement is longer than planned. The route planning system can be configured to determine whether the delay of the carrier affects at least one other carrier. The other carrier may be different from the carrier that experiences the time delay. The route planning system can be configured to transfer the time delay to at least one waiting time of at least one other affected carrier.

[0049] The route planning system may be configured to retain the calculated route but attempt to resolve the delay using the waiting time of the affected carrier. The route planning system may be configured to recursively resolve the delay of a carrier that is directly and / or indirectly affected by the delay of the carrier. As used herein, the term "directly affects" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or custom meaning. The term may specifically refer to, but is not limited to, the next or subsequent movement of a carrier being affected by the delay of the initially delayed carrier. As used herein, the term "indirectly affects" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or custom meaning. The term may specifically refer to, but is not limited to, the next or subsequent movement of a carrier being affected by at least one reserved extension of a directly affected carrier and / or a previously indirectly affected carrier. As used herein, the term "recursively resolve" is a broad term and is given a common and customary meaning to a person of ordinary skill in the art, and is not limited to a special or custom meaning. The term may specifically refer to, but is not limited to, the process of resolving delays by shifting time. The route is not changed, only the time.

[0050] The waiting time of the affected carrier can be used to solve the solution caused by the delay of a certain carrier. The delay of the carrier can be solved by using the waiting time of the affected movement of the affected carrier. In addition, the solution of the ultimately affected carrier (also referred to as the indirectly affected carrier) can be replanned by only changing the movement and waiting time of the carrier. The route planning system can be configured to solve the consequences of the delay of the carrier by using the waiting time of all directly affected carriers and, if necessary, indirectly affected carriers. Therefore, replanning is possible without recalculating the complete route planning solution. The control system can be configured to delay one or more movements of the directly or indirectly affected carriers in the case where no solution can be found to solve the consequences of delayed movement by using waiting times.

[0051] For example, a route planning system can be configured to calculate a route planning scheme so that each carrier has a limited number of planned movements with possible waiting times between movements. If the current movement duration of a carrier exceeds its reservation time, the time required will be longer than the planned time. In this case, the reservation (logical position and conveying module moving simultaneously) of the current movement of the carrier can be extended. A control system, such as a route planning system, can be configured to check whether the extension will produce an illegal situation before extending the reservation time, such as overlapping logical position reservations and / or too many conveying modules moving simultaneously. If the extension will cause an illegal situation, the control system, such as a route planning system, can be configured to transfer the reservation (logical position, conveying module moving simultaneously) of the conflicting movement of the other carrier to a minimum amount. Delaying the reservation of the movement of the other carrier may affect the movement of other carriers, including the initial carrier that is late. A control system, such as a route planning system, can be further configured to delay the subsequent movement of the carrier when the current movement of the carrier is late and its reservation needs to be extended. If the delay cannot be fully absorbed in the waiting time before the next movement, it may be necessary to do so. A control system, such as a route planning system, may be configured to recursively transfer the reservations of moves, such as, for example, from the future backwards in reverse order. The recursion may determine how much delay must be passed on to subsequent moves until no delay needs to be passed on anymore (all delay is absorbed into the waiting time), and then the reservations of these moves are transferred from the future backwards in reverse order.

[0052] By using at least one upcoming waiting period to compensate for time delays, the problem may occur that the maximum simultaneous movement constraint is violated when the movement time is shifted out of the initial time window of the initial simultaneous movement group. The initial simultaneous movement group may include movements that were originally planned to be carried out simultaneously, i.e. without delays according to the initial plan of the route planning system. Therefore, if no measures are taken, this rule may be violated in the case where only a maximum number of simultaneous movements are allowed. The route planning system can be configured to adjust the initially planned route planning scheme of the carrier that will violate the constraint on the maximum number of simultaneous movements. The schemes of the affected additional carriers (which will violate the maximum simultaneous movement constraint) may also change and be similar to the schemes of the delayed carriers. Their waiting time can be used to compensate for the delay.

[0053] In a second aspect, a method for dispensing carriers using a dispensing system according to the invention is disclosed. The method comprises using a dispensing system as described above, such as according to one or more of the embodiments given above or as given in more detail below.

[0054] The method includes moving a plurality of carriers between logical positions on at least one transport plane of a distribution system by using at least one drive system. The method includes controlling the carriers to move on the transport plane on a planned route from a starting position to a final destination position by using a control system. The planned route includes a partial route. The method includes calculating a route planning scheme for the carriers on the transport plane by modeling the transport plane with a graph of nodes by using a route planning system, wherein the calculated route planning scheme includes a movement time period and a waiting time period. The calculation includes assigning a waiting time period to the carrier based on the reservation of logical positions of the partial route of other carriers. The calculation includes transferring the experienced time delay to at least one upcoming waiting time period of the carrier in the event that the carrier experiences a time delay during the execution of the movement.

[0055] The method steps may be performed in a given order or may be performed in a different order. Further, there may be one or more additional method steps not listed. Further, one, more than one or even all method steps may be performed repeatedly.

[0056] See Allocation Systems above for details, options, and definitions.

[0057] The method may further include determining whether the delay of the carrier affects at least one other carrier and transferring the time delay to at least one waiting time of the at least one other affected carrier. The other carrier may be different from the carrier experiencing the time delay. The method may further include recursively resolving, for example by adjusting and / or adapting, routing schemes of carriers that are directly and / or indirectly affected by the delay of the carrier.

[0058] The method may include compensating for the time delay at least in part by shortening at least one upcoming waiting time period of the carrier according to the time delay. In the case of a residual time delay, the method includes at least partially shifting the residual time delay to at least one second upcoming waiting time period, wherein the first upcoming waiting time period is immediately subsequent in time to the second upcoming waiting time period. The first upcoming waiting time period may be immediately subsequent in time to the second upcoming waiting time period.

[0059] The method may include calculating a routing solution taking into account a constraint on the maximum number of simultaneous movements per transport plane or per zone of the transport plane, wherein the movements allowed to be performed simultaneously form a group of simultaneous movements. The total transport surface may be divided into one or more zones and the maximum number of simultaneous movements allowed per zone may be different. An initially planned routing solution of the carrier that would violate the constraint on the maximum number of simultaneous movements may be adjusted.

[0060] The method may be computer-implemented. As used herein, the term "computer-implemented method" is a broad term and should be given its ordinary and customary meaning to a person of ordinary skill in the art, and should not be limited to a special or customary meaning. The term may specifically refer to, but is not limited to, a method involving at least one computer and / or at least one computer network. The computer and / or computer network may include at least one processor configured to perform at least one of the method steps of the method according to the present invention. Specifically, each method step is performed by a computer and / or a computer network. The method may be performed fully automatically (specifically, without user interaction).

[0061] Compared with known methods and devices of similar types, the method and system according to the present invention can provide more advantages. Specifically, by using a method and a distribution system for allocating multiple carriers, time delays during the movement of the carriers in the distribution system can be handled while ensuring that the carriers arrive safely at a safe point. In addition, time delays of one carrier that may affect the route planning scheme of other carriers can be effectively handled. Specifically, the method and the distribution system for allocating multiple carriers can allow time delays in route planning for one carrier to be avoided without affecting the route planning of all other carriers in the distribution system. Therefore, if a time delay occurs in the movement of one carrier, it may not be necessary to replan the movement of all carriers. In addition, the maximum simultaneous movement constraint can be observed when taking into account the planned time delays of previous movements.

[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 hereto. 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] This article further discloses and proposes a computer program product having a program code tool stored on a machine-readable carrier so that when the program is executed on a computer or 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 in paper format) or on a computer-readable data carrier and / or on 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 performing 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. Therefore, generally speaking, any method step including providing and / or manipulating 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 measurement).

[0070] Specifically, this article further discloses the following:

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

[0072] - a computer-loadable data structure adapted to carry out a method according to one of the embodiments described in this specification when the data structure is executed on a computer,

[0073] - a computer program, wherein the computer program is adapted to carry out a method according to one of the embodiments described in the present 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 preceding embodiment,

[0076] The program device is stored on a computer-readable storage medium.

[0077] 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 carrying out a method according to one of the embodiments described in the present description, and

[0078] A computer program product having program code means, wherein the program code means can be stored or are stored on a storage medium for carrying out a method according to one of the exemplary embodiments described in the present description if the program code means is executed on a computer or a computer network.

[0079] To summarize and without excluding other possible embodiments, the following embodiments may be envisaged:

[0080] Embodiment 1. A dispensing system comprising:

[0081] - at least one transport plane comprising logical locations;

[0082] - a plurality of carriers for transporting objects;

[0083] - at least one drive system for moving the carrier between the logical positions on the transport plane; and

[0084] - at least one control system configured to control a carrier to move on a transport plane on a planned route from a starting position to a final destination position, wherein the planned route includes partial routes, wherein the control system includes at least one route planning system, the at least one route planning system configured to calculate a route planning solution for the carrier on the transport plane by modeling the transport plane with a graph of nodes, wherein the route planning system is configured to calculate the route planning solution taking into account movement time periods and waiting time periods, wherein the route planning system is configured to assign waiting time periods to the carrier based on reservations of logical positions of the partial routes of other carriers, wherein, in the event that the carrier experiences a time delay during the execution of the movement, the route planning system is configured to transfer the experienced time delay to at least one upcoming waiting time period of the carrier.

[0085] Embodiment 2: According to the distribution system of the preceding embodiment, the route planning system is configured to compensate for the time delay at least in part by shortening the at least one upcoming waiting time period of the carrier according to the time delay.

[0086] Embodiment 3. The distribution system according to the preceding embodiment, wherein, in case of a residual time delay, the route planning system is configured for at least partially shifting the residual time delay to, for example, at least one second upcoming waiting time period of at least one affected carrier.

[0087] Embodiment 4. The dispensing system of the preceding embodiment, wherein the first upcoming waiting period is immediately subsequent in time to the second upcoming waiting period.

[0088] Embodiment 5. A distribution system according to any of the preceding embodiments, wherein the route planning system is configured to calculate a route planning solution by taking into account a constraint on the maximum number of simultaneous movements for each transport plane or each area of ​​the transport plane, wherein simultaneous movements are allowed to form a simultaneous movement group, wherein the total transport surface is divided into one or more areas and the maximum number of simultaneous movements allowed for each area is different.

[0089] Embodiment 6. The distribution system of the preceding embodiment, wherein the routing system is configured to adjust an initially planned routing solution of the carrier that would violate the constraint of the maximum number of simultaneous moves.

[0090] Embodiment 7. A distribution system according to any of the preceding embodiments, wherein the control system comprises at least one execution unit configured to execute the route planning scheme for transporting the carriers from their respective starting positions to their respective final positions.

[0091] Embodiment 8: According to the allocation system of any one of the preceding embodiments, the route planning system is configured to use a collaborative path finding algorithm, in particular a windowed hierarchical collaborative A* algorithm (WHCA*), for calculating the route planning solution.

[0092] Embodiment 9. A method for allocating a plurality of carriers using an allocation system according to any one of the preceding embodiments, wherein the method comprises moving the plurality of carriers between the logical positions on the at least one transport plane of the allocation system by using the at least one drive system, wherein the method comprises controlling the carriers by using the control system to move from the starting position to the final destination position on the transport plane on a planned route, wherein the planned route comprises a partial route, wherein the method comprises calculating a route planning scheme for the carriers on the transport plane by modeling the transport plane with a graph of nodes by using the route planning system, wherein the calculated route planning scheme comprises a moving time period and a waiting time period, wherein the calculation comprises assigning a waiting time period to the carrier based on the reservation of the logical positions of the partial route of other carriers, wherein the calculation comprises, in the event that the carrier experiences a time delay during the execution of the movement, transferring the experienced time delay to at least one upcoming waiting time period of the carrier.

[0093] Embodiment 10. The method according to the preceding embodiment, wherein the method further comprises determining whether the delay of the carrier affects at least one other carrier and transferring the time delay to at least one waiting time of the at least one other affected carrier.

[0094] Embodiment 11. The method according to any one of the preceding embodiments, wherein the method further comprises recursively parsing the route planning scheme of the carrier that is directly and / or indirectly affected by the delay of the carrier.

[0095] Embodiment 12. A method according to any of the preceding embodiments relating to methods, wherein the method comprises compensating for the time delay at least in part by shortening the at least one upcoming waiting period of the carrier according to the time delay.

[0096] Embodiment 13. The method according to the preceding embodiment, wherein, in case of a residual time delay, the method comprises at least partially shifting the residual time delay to at least one second upcoming waiting time period, for example of at least one affected carrier.

[0097] Embodiment 14. The method according to the preceding embodiment, wherein the first upcoming waiting period is immediately subsequent in time to the second upcoming waiting period.

[0098] Embodiment 15. A method according to any one of the preceding method embodiments, wherein the method includes calculating a route planning scheme taking into account a constraint on the maximum number of simultaneous movements for each transport plane or each area of ​​the transport plane, wherein simultaneous movements are allowed to form a simultaneous movement group, wherein the total transport surface is divided into one or more areas and the maximum number of simultaneous movements allowed for each area is different.

[0099] Embodiment 16. A method according to the preceding embodiment, wherein adjusting the initially planned routing solution of the carrier would violate the constraint of the maximum number of simultaneous moves.

[0100] Embodiment 17. The method according to any one of the preceding method embodiments, wherein the method is implemented by a computer.

[0101] Embodiment 18. A computer program comprising instructions which, when executed by a dispensing system according to any of the preceding embodiments relating to dispensing systems, cause the dispensing system to perform a method according to any of the preceding embodiments relating to methods.

[0102] Embodiment 19. A computer-readable storage medium comprising instructions, which, when executed by a dispensing system according to any of the preceding embodiments involving dispensing systems, causes the laboratory system to perform a method according to any of the preceding embodiments involving methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0103] Other 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 can 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.

[0104] In the attached picture:

[0105] Figure 1 An embodiment of a dispensing system is shown in perspective view;

[0106] Figures 2 to 4 An example of a route planning solution is shown;

[0107] Figure 5 a flow chart illustrating an embodiment of a method for dispensing a plurality of carriers; and

[0108] Figures 6A to 6D 7A to 7D show the dependence of the solution of the carrier, the consequences of delay and the solution. DETAILED DESCRIPTION

[0109] Figure 1 An exemplary embodiment of a dispensing system 110 is shown in perspective view. The dispensing system 110 can be an element of a laboratory automation system 112 that allows carriers 114 to be dispensed to a target destination within the laboratory automation system 112. The dispensing system 110 can be used in a laboratory automation system 112 that includes a plurality of laboratory stations 116, such as a pre-analysis station, an analysis station, and / or a post-analysis station.

[0110] The distribution system 110 includes at least one transport plane 118 including a logical location 120 and a plurality of carriers 114 for transporting objects 122. Figure 1 In the example of , the object 122 may be or may include at least one sample container 124, such as a laboratory diagnostic container or vessel.

[0111] Furthermore, the distribution system 110 includes at least one drive system 126 for moving the carrier 114 on the transport plane 118 between the logical positions 120. The drive system 126 can be at least partially implemented in the carrier 114. For example, the carrier 114 can be a passive carrier. For example, a magnetic device can be fixed in the carrier 114 and driven by, for example, an electromagnetic coil (not shown in FIG. 1 ). Figure 1 The magnetically active and drivable elements of the transport plane 118 provide a magnetic force, thereby causing the carrier 114 to move by the generated electromagnetic field. The coil can be installed below, above, beside or inside the transport plane 118. For example, the arrangement of magnetic coils below the transport plane 118 is described in, for example, EP 2 566 787 or WO 2013 / 098202. In this example, logical positions 120 can be defined on the transport plane 118 as positions where the carrier 114 can stop, start and / or change direction. In systems such as those described in EP2566787 or WO 2013 / 098202, the drive system 126 can define these logical positions 120 by its hardware limitations. Logical positions 120 can be defined above the electromagnetic coils. In these positions 120, the carrier 114 can be stopped and its direction can be changed with the next movement.

[0112] The distribution system 110 also includes at least one control system 128 configured to control the movement of the carrier 114 on the transport plane 118 from a starting position to a final destination position on a planned route. The planned route includes a partial route. The control system 128 includes at least one route planning system 130 configured to calculate a route planning solution for the carrier 114 on the transport plane 118 by modeling the transport plane 118 with a graph 132 of nodes. The route planning system 130 is configured to calculate the route planning solution taking into account the movement time period and the waiting time period. The route planning system 130 is configured to assign a waiting time period to the carrier 114 based on the reservation of the logical position 120 of the partial route of other carriers 114. If the carrier 114 experiences a time delay during the execution of the movement, the route planning system 130 is configured to transfer the experienced time delay to at least one upcoming waiting time period of the carrier 114.

[0113] like Figure 1 As shown in , the distribution system 110 may further include an identification and registration system 134. In this example, the identification and registration system 134 may be a camera system 136. However, other systems, such as optical sensors and scanners, are also feasible for identifying any optical features on the carrier 114 or the object 122, such as its size, type or barcode. Alternatively or additionally, an RFID reader system that reads a unique RFID of a sensor within the carrier 114 or the object 122 on the carrier 114 or the transport plane 118 may be used to identify the logical position 128 and locate the carrier 114. Another option may be a high-precision GPS, which is particularly enhanced by Wi-Fi and / or GSM signals.

[0114] The distribution system 110 may include a position determination system 138 configured to determine the position of the carrier 114 on the transport plane 118. The position determination system 138 may send at least one position update message to the control system 128. The update message may trigger the release of a reserved logical position 128 that the carrier 114 has passed in its current movement. The update message may inform the control system 128 about the delayed carrier 114.

[0115] In addition to the route planning system 130, the control system 128 may include at least one execution unit 140 for executing the movement of the carrier 114 according to the planned route planning scheme. The control system 128 may control the drive system 126 to allocate the carrier 114 from the initial position to the target destination. Specifically, the control may include controlling the allocation of the carrier 114, and further monitoring the allocation of the carrier 114, and if necessary, adjusting or changing the allocation of the carrier 114. The execution unit 140 may be configured to execute the planned route planning scheme for transporting the carriers 114 from their respective starting positions to their respective final positions.

[0116] The calculation of the route planning solution may include determining the shortest path for the carrier 114 across the transport plane 118 from the starting location to the final destination location. The route planning algorithm can be used to determine the shortest path for the carrier 114 across the transport plane 118. For example, the WHCA* search algorithm can be used to calculate the route planning solution. Regarding the WHCA* algorithm, for example, refer to Silver, D., 2005, "Cooperative pathfinding", Young, RM and Laird, JE, eds., AIIDE, 117-122. AAAI Press. The WHCA* search algorithm can be a heuristic search algorithm, such as an A* or D* search algorithm. For each carrier 114 with a final destination, the search algorithm calculates the route from the starting location to the intermediate destination location towards their respective final destination location on the nodes within the cooperative search window of time length T. The search is cooperative because the path can only pass through the idle time window of the logical location 120. For the logical location 120 with the required idle time window, the required duration of the idle time window will be changed from "idle" to "reserved" for the required time slot of the corresponding logical location 120. 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 114 of the logical location 120, the search is collaborative for the collaborative time window T. The WHCA* algorithm can be designed to plan routes for each carrier 114 separately, where a reservation table can be used to obtain collaboration. The route planning system 130 can be configured to reserve a planned partial route for a carrier 114 until the carrier 114 arrives at its intermediate or final destination. This means that when the corresponding carrier 114 moves, no other carrier 114 can use the reserved route. If the logical location 120 is set to "reserved" for a limited time, the location 120 will not be available to other carriers 114 for a limited time, and will be available for movement again once the temporary reservation ends.

[0117] Figure 2An example of the route planning scheme 142 is shown in FIG. Figure 2 In the example of FIG. 1 , a transport plane 118 including logical positions 120 numbered 1 to 5 and carriers 114 numbered 1 to 3 moving on the transport plane 118 via a partial route 144 (in FIG. 1 ). Figure 2 ) is shown with an initial route plan 146 and a new route plan 148 for the logical locations 120 numbered 1 to 5. The route plan 142 may include an idle time window 150 for each logical location 120, a reserved time window, specifically a reserved time window 152 reserved for the carrier 114 with a movement number of n, n=1, 2, ... 5, and a reserved time window 154 reserved for the waiting carrier 114 numbered n, and / or an increased reserved time window 156 for the waiting carrier 114 numbered n. It can be seen from the partial routes 144 and the initial route plan 146 shown on the transport plane 118 that the carriers 114 numbered 2 and 3 may have to wait using their partial routes 144 until the carrier 114 numbered 1 completes the corresponding partial routes 144 at the logical locations 120 numbered 1 and 2. If the carrier 114 numbered 1 experiences a time delay 158 during execution of the movement at the logical locations 120 numbered 1 and 2, then the logical locations 120 numbered 1 and 2 may have to reserve a longer duration for the carrier 114 numbered 1 in the new route planning solution 146. Thus, the logical locations 120 numbered 3 and 4 may have to reserve a longer duration for the carriers 114 numbered 2 and 3, respectively.

[0118] The reservation for the late carrier 114 numbered 1 may need to be adjusted, specifically extended. However, in known methods, the extension of the reservation for the late carrier 114 numbered 1 will affect and / or intersect with the reservations for other carriers 114. The present invention proposes that the route planning system 130 is configured to extend the reservation for the late carrier 114 numbered 1 without transferring or recalculating all solutions 142, for example, specifically without transferring or recalculating the solutions 142 of unaffected carriers 114. The present invention proposes to solve the delay 158 by using waiting time to compensate for the lost time. If the carrier 114 numbered 1 experiences a time delay 158 during the movement, the route planning system 130 is configured to transfer the experienced time delay 158 to a carrier 114, for example, at least one upcoming waiting time period of the delayed carrier 114 numbered 1. This Figure 3 shown. Specifically, Figure 3 Shown in Figure 2The initial route plan 146 and the new route plan 148 of the delayed carrier 114 numbered 1 in FIG. The route plan 142 of the carrier 114 may include a moving time period 160, a waiting time period 162, and / or an increased waiting time period 164, specifically an increased waiting time period due to the time delay 158.

[0119] As described above, route planning system 130 is configured to transfer the experienced time delay 158 to carrier 114, such as delaying at least one upcoming waiting period 166 of carrier 114. Route planning system 130 may be configured to compensate for time delay 158 by shortening carrier 114 according to time delay 158, such as delaying at least one upcoming waiting period 166 of carrier 114. Figure 3 As shown, the upcoming waiting time period 166 may be at least one waiting time period 162 after the delay 158. The route planning system 130 may be configured to compensate for the time delay 158 by shortening the next (also indicated as the first) upcoming waiting time period 166 of the delayed carrier 114 by the amount of the time delay 158 (indicated by reference numeral 168). However, if the time delay 158 is longer than the upcoming waiting time period 166, the time delay 158 cannot be fully compensated by the upcoming waiting time period 166. Therefore, the route planning system 130 may be configured to compensate for the time delay 158 at least in part by shortening the upcoming waiting time period 166. In the case of a residual time delay, i.e., if the time delay 158 cannot be fully compensated by the first upcoming waiting time period 166, the route planning system 130 may be configured to at least partially transfer the time delay to, for example, at least a second upcoming waiting time period of at least one affected carrier. The route planning system 130 may be configured 158 to transfer the non-compensated portion of the time delay 158 to at least one second upcoming waiting time period. The first upcoming waiting period 166 can be immediately followed in time by the second upcoming waiting period. If the time delay 158 is still not fully compensated by the next waiting time of the carrier 114, the subsequent waiting time can be used to compensate for the remaining delay, and so on, until the delay 158 is fully resolved.

[0120] In this example, one of the plurality of carriers 114 may be delayed in time. Thus, the initial plan 146 fails. The delay 158 may occur in the first moving time period 160. The route planning system 130 may be configured to compensate for the time delay 158 by shortening the upcoming waiting time period 166. In most cases where a short delay 158 occurs only occasionally, such as Figure 3As shown, the upcoming waiting time period 166 may already be long enough for compensation. Thus, a solution can be found quickly without affecting many carriers 114 and without computationally intensive replanning. If the time delay 158 cannot be fully compensated for the upcoming waiting time period 166, for example, if the upcoming waiting time period 166 is too short, then all of the waiting time of the upcoming waiting time period 166 can be consumed, and the subsequent upcoming waiting time period can also be partially or completely used, and so on. Thus, the method is recursively executed into the planned future until all delays 158 have been compensated.

[0121] Figure 4 Another example of a route planning solution 142 is shown. Specifically, Figure 4 An initial routing plan 146 for a first carrier 114, a new routing plan 148 for the first carrier 114, and a routing plan 170 for a second carrier 114 are shown. The first carrier 114 may be delayed, and therefore may experience a time delay 158. The second carrier 114 may be an additional carrier 114 without a time delay 158.

[0122] In the distribution system 110, the maximum number of simultaneous movements can be fixed for the entire transport plane 118 or can be defined for each zone. The movements that are allowed to be performed simultaneously can form a so-called simultaneous movement group. For example, each transport module 172 or a software-defined zone allows a maximum of eight carriers 114 to be moved simultaneously. The transport module 172 can be a separate structural unit and / or a subunit of the transport plane 118 including at least one logical position 120, such as Figure 1 In this example, the transport module 172 includes a plurality of logical locations 120. The maximum number of simultaneous movements allowed may also be related to the number of logical locations 120 in the region. For example, the maximum number of simultaneous movements allowed in a region may be, for example, in the range of 1% to 70% or 5% to 50% or 10% to 30% or 15% to 25% of the number of available logical locations 120 in the region. This will limit the maximum power consumption peak of the region, thereby allowing the use of fewer or smaller power supplies or protecting the electronic circuit system from rapid aging or damage.

[0123] like Figure 4As can be seen in FIG. 1 , by using at least one upcoming waiting period 166 to compensate for the time delay 158 of the first carrier 114, a problem may arise that the maximum simultaneous movement constraint may be violated as the scheme moves out of the initial time window of the initial simultaneous movement group. In this example, the first and second carriers 114 may violate the maximum simultaneous movement constraint (represented by reference numeral 174). The initial simultaneous movement group may include movements that were originally planned to be carried out simultaneously, that is, according to the initial plan 146 of the route planning system 130 without delay 158. Therefore, if no action is taken, this rule may be violated in the case where only the maximum number of simultaneous movements is allowed. The route planning system 130 can be configured to adjust the initial planned route planning scheme of the carrier 114 that will violate the constraint of the maximum number of simultaneous movements. The schemes 142, 170 (which will violate the maximum simultaneous movement constraint) of the affected additional carriers 114 (in this example, the route planning scheme 170 of the second carrier 114) may also change, and are similar to the scheme 148 of the delayed carrier 114. Their waiting time can be used to try to compensate for the delay 158.

[0124] Figure 5 A flow chart of an embodiment of a method for dispensing a plurality of carriers 114 using a dispensing system 110 according to the present disclosure is shown. The method includes using a method as described above, such as according to Figure 1 The method may include the following steps, which may be performed in the order given or in a different order. Further, there may be one or more additional method steps not listed. Further, one, more than one or even all method steps may be performed repeatedly.

[0125] The method includes moving a plurality of carriers 114 between logical locations 120 on at least one transport plane 118 of a distribution system 110 by using at least one drive system 126 (indicated by reference numeral 176). The method includes controlling the carriers 114 to move on the transport plane 118 on a planned route from a starting location to a final destination location by using a control system 128 (indicated by reference numeral 178). The planned route includes a partial route 144. The method includes calculating a route plan (indicated by reference numeral 180) for the carriers 114 on the transport plane 118 by modeling the transport plane 118 with a graph 132 of nodes by using a route planning system 130. The calculated route plan includes a movement time period 160 and a waiting time period 162. The calculation includes assigning a waiting time period 162 (indicated by reference numeral 182) to the carrier 114 based on the reservation of the logical location 120 of the partial route 140 of other carriers 114. The calculation includes, in the event that the carrier 114 experiences a time delay 158 during execution of the movement, transferring the experienced time delay 158 to at least one upcoming waiting period 166 (indicated by reference numeral 184 ) of the carrier 114 .

[0126] The method may include compensating for the time delay 158 (indicated by reference numeral 186) at least in part by shortening at least one upcoming waiting time period 166 of the carrier 114 according to the time delay 158. In the case of a residual time delay, the method may include at least partially shifting the residual time delay to, for example, at least one second upcoming waiting time period (indicated by reference numeral 188) of at least one affected carrier. The first upcoming waiting time period may be immediately subsequent in time to the second upcoming waiting time period.

[0127] The method may include calculating a routing solution (indicated by reference numeral 190) taking into account a constraint of a maximum number of simultaneous moves per transport plane 118 or per zone of the transport plane 118, wherein simultaneous moves are allowed to form groups of simultaneous moves. The total transport surface may be divided into one or more zones and the maximum number of simultaneous moves allowed per zone may be different. An initially planned routing solution of the carrier 114 that would violate the constraint of the maximum number of simultaneous moves may be adjusted.

[0128] Figures 6A to 6D 7A to 7D show the dependence of the solution, the consequences of delay and the solution of the carrier 114. The numbers in the circles represent the carrier i, i is 1 to 7 in this example.

[0129] Fig. 6AAn example of a partial scheme of planned movement is shown. It shows all the movements to be performed during the entire partial scheme. The carrier 114 can start a movement at different times and reserve fields that will also be used for other movements. Therefore, there may be dependencies between the time schemes of some movements of the carrier 114.

[0130] Figures 6B to 6D Some moves are shown to be performed during certain time periods of a partial scenario. The number of arrows shows the chronological order of the move plans. Moves with smaller numbers are performed before moves with larger numbers.

[0131] Figure 7B It is shown that if carrier 4 wants to move, it can only do so after carrier 1 has passed and released the reservation of the desired position. The same is true for carrier 3. Therefore, the solution for carrier 4 depends on the solutions for carriers 1 and 3. The movement solution for carrier 6 depends on carrier 4 and therefore indirectly on carriers 1 and 3, etc. Not all carriers may be scheduled to move, so at this early stage, there are no arrows for carriers 5 and 7. Also at this time, the movement of some carriers may not (yet) have dependencies, such as 5 and 7. Dependencies can be determined by Figures 7A to 7C For the first stage, see Figure 6B , Figure 7B The dependencies that occur are shown. The arrow from carrier 1 to carrier 4 indicates that the solution of carrier 4 depends on the solution of carrier 1 .

[0132] Figure 6C A later moment is shown, in which a new movement has occurred (see Figure 6C ), so there is also a dependency relationship (see Figure 7C ). If we add up all dependencies that occur during the complete partial scenario, we get Fig. 7A Figure shown. Here it can be seen that the dependency arrows between carriers can be bidirectional. For example, carriers 1 and 4. Initially, the movement of carrier 4 depends on the movement of carrier 1, but later, the situation is reversed. Fig.6D The final result of all moves is shown.

[0133] If the execution of the planned movement of carrier 114 is delayed, the delay can be accounted for by using the planned waiting time of carrier 114. For example, if carrier 1 is delayed, the waiting time of that carrier is used. If the waiting time is too short to fully account for the delay, the schedule of the affected, and therefore dependent, carriers may be changed and their waiting times may be used. In this case, carrier 4. If this does not affect the schedule of carrier 6, the problem is solved, otherwise carrier 6 must also be delayed, and so on. These time shifts do not affect non-dependent carriers.

[0134] If the initial delay and the delays it causes cannot be fully resolved by the first move, the remaining delays may be pushed to subsequent moves. This can resolve delays here and so on. Figure 7B and 7A ) it can be seen that the longer it has taken to find a way to use waiting time to solve the delay of carrier 1, the more carriers will participate in partially or fully contributing to the waiting time.

[0135] Reference numerals list

[0136] 110 Distribution System

[0137] 112 Laboratory Automation System

[0138] 114 Vehicles

[0139] 116 Laboratory Station

[0140] 118 Transport plane

[0141] 120 Logical Position

[0142] 122 objects

[0143] 124 Sample Container

[0144] 126 Drive system

[0145] 128 Control System

[0146] 130 Route Planning System

[0147] 132-node graph

[0148] 134 Identification and Registration Systems

[0149] 136 Camera System

[0150] 138 Position confirmation system

[0151] 140 Execution Units

[0152] 142 Route Planning Scheme

[0153] 144 Partial route

[0154] 146 Initial route planning

[0155] 148 New route planning scheme

[0156] 150 Idle Time Window

[0157] 152 Reserved time window for moving the carrier number n

[0158] 154 Reserved time window for waiting for carrier number n

[0159] 156 Add a reserved time window for waiting for the carrier numbered n

[0160] 158 Time Delay

[0161] 160 Moving time period

[0162] 162 Waiting time period

[0163] 164 Increased waiting time

[0164] 166 Upcoming waiting period

[0165] 168 Shorten the upcoming waiting period

[0166] 170 Route planning scheme for the second carrier

[0167] 172 Transmission Module

[0168] 174 Maximum simultaneous moves constraint violated

[0169] 176 Moving multiple carriers

[0170] 178 Control bearing

[0171] 180 Calculate route planning solution

[0172] 182 Allocate waiting time period

[0173] 184 Time delay experienced during transfer

[0174] 186 Compensation time delay

[0175] 188 Transfer Residual Time Delay

[0176] 190 Consider the maximum number of simultaneous moves

Claims

1. A dispensing system (110), comprising: - at least one transport plane (118) comprising logical locations (120); - a plurality of carriers (114) for transporting objects (122); - at least one drive system (126) for moving the carrier (114) between the logical positions (120) on the transport plane (118); and at least one control system (128) configured to control the carrier (114) to move on the transport plane (118) on a planned route from a starting location to a final destination location, wherein the planned route includes a partial route (144), wherein the control system (128) includes at least one route planning system (130) configured to calculate a route planning solution for the carrier (114) on the transport plane (118) by modeling the transport plane (118) with a graph (132) of nodes, wherein the route planning system (130) is configured to The route planning solution is calculated taking into account movement time periods (160) and waiting time periods (162), wherein the route planning system (130) is configured to assign a waiting time period (162) to a carrier (114) based on reservations of logical locations (120) of the partial route (144) of other carriers (114), wherein, in the event that the carrier (114) experiences a time delay (158) during the execution of the movement, the route planning system (130) is configured to transfer the experienced time delay (158) to at least one upcoming waiting time period (166) of the carrier (114).

2. A distribution system (110) according to the preceding claim, wherein the route planning system (130) is configured to determine whether the delay of the carrier (114) affects at least one other carrier (114), wherein the route planning system (130) is configured to transfer the time delay (158) to at least one waiting time of at least one other affected carrier (114).

3. The distribution system (110) according to any of the preceding claims, wherein the route planning system (130) is configured to recursively resolve the route planning solutions for carriers that are directly and / or indirectly affected by the delay of the carrier (114).

4. The distribution system (110) according to any of the preceding claims, wherein the route planning system (130) is configured to compensate for the time delay (158) at least in part by shortening the at least one upcoming waiting time period (166) of the carrier (114) based on the time delay (158).

5. Dispensing system (110) according to the preceding claim, wherein: In case of a residual time delay, the route planning system (130) is configured to at least partially shift the residual time delay to at least one second upcoming waiting time period.

6. The dispensing system (110) according to the preceding claim, wherein the first upcoming waiting period immediately follows in time the second upcoming waiting period.

7. A distribution system (110) according to any of the preceding claims, wherein the route planning system (130) is configured to calculate a route planning solution taking into account a constraint on the maximum number of simultaneous movements per transport plane (118) or per area of ​​the transport plane (118), wherein the movements allowed to be performed simultaneously form a simultaneous movement group, wherein the total transport surface is divided into one or more areas and the maximum number of simultaneous movements allowed for each area is different.

8. The distribution system (110) according to the preceding claim, wherein the routing system (130) is configured to adjust an initially planned routing solution of the carrier (114) that would violate the constraint of a maximum number of simultaneous movements.

9. A distribution system (110) according to any of the preceding claims, wherein the control system (128) includes at least one execution unit (140), which is configured to execute the route planning scheme for transporting the carriers (114) from their respective starting positions to their respective final positions.

10. The allocation system (110) according to any of the preceding claims, the route planning system (130) being configured to use a collaborative path finding algorithm, in particular a Windowed Hierarchical Collaborative A* algorithm (WHCA*), for calculating the route planning solution.

11. A method for distributing a plurality of carriers (114) using a distribution system (110) according to any one of the preceding claims, wherein the method comprises moving the plurality of carriers (114) between the logical positions (120) on the at least one transport plane (118) of the distribution system (110) by using the at least one drive system (126), wherein the method comprises controlling the carriers (114) to move on the transport plane (118) on a planned route from the starting position to the final destination position by using the control system (128), wherein the planned route comprises a partial route (144), wherein the method comprises controlling the carriers (114) to move on the transport plane (118) on a planned route from the starting position to the final destination position by using the control system (128). 130) to calculate a route planning scheme for a carrier (114) on the transport plane (118) by modeling the transport plane (118) with a graph (132) of nodes, wherein the calculated route planning scheme includes a movement time period (160) and a waiting time period (162), wherein the calculation includes assigning a waiting time period (162) to the carrier (114) based on a reservation of a logical position (120) of the portion of the route (144) of other carriers (114), and wherein the calculation includes, in the event that the carrier (114) experiences a time delay (158) during execution of the movement, transferring the experienced time delay (158) to at least one upcoming waiting time period (166) of the carrier (114).

12. The method according to the preceding claim, wherein the method further comprises determining whether the delay of the carrier affects at least one further carrier (114) and transferring the time delay (158) to at least one waiting time of at least one further affected carrier (114).

13. The method according to any of the preceding claims relating to a method, wherein the method further comprises recursively resolving the routing solutions for carriers that are directly and / or indirectly affected by the delay of the carrier (114).

14. A method according to any of the preceding claims relating to a method, wherein the method comprises compensating for the time delay (158) at least in part by shortening the at least one upcoming waiting time period (166) of the carrier (114) according to the time delay (158).

15. The method according to the preceding claim, wherein: In case of a residual time delay, the method comprises at least partially shifting the residual time delay to at least one second upcoming waiting time period, wherein a first upcoming waiting time period immediately follows in time from the second upcoming waiting time period.

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