Robot system

Abstract

A robot system (100) includes a table robot (20) fixed to a table and having a mechanism for gripping an object on the table, and a collective controller (30) for controlling an operation of the table robot (20), the collective controller (30) performing a measurement process of causing the table robot (20) to grip a spoon and causing the table robot (20) to grip the spoon, and performing a measurement process of the spoon. A measurement result is obtained by taking and transferring a powder, granular or viscous substance to be measured, which is placed in an original container, to a destination container using a spoon, and causing a table robot (20) to measure the weight of the substance in the destination container using a scale.

Description

Technical Field

[0001] The present disclosure relates to a robot system. Background Art

[0002] In chemical experiments and experiments for processing biological specimens, sometimes measurements are made by the hands of researchers. Such measurements include operations of scooping a substance such as a powder, granule, or viscous body as a medicine using a spatula and transferring it from the original container to the destination container. A robot that collects an object as a powder, granule, liquid, or viscous body from a container and transfers it to another container is described in Patent Document 1.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Patent Publication No. 6978023 Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] Regarding all chemical experiments and experiments for processing biological specimens, automation using machinery is desired, and regarding the above-mentioned measurements, automation is also preferably possible. In the fields of chemical experiments and experiments for processing biological specimens, the accurate weight of the measured substance is mostly required. In addition, it is preferable to be able to reduce the difference between the target weight to be measured and the actual weight after scooping and transferring as much as possible. As a prerequisite for being able to achieve this, it is also important to obtain a value with less error in the weight of the substance after scooping and transferring.

[0008] In the robot described in Patent Document 1, in order to make the amount collected by the collection unit of the robot in one operation close to the target value, an operation is performed to make the excess amount fall from the collection unit. In this method, it is difficult to accurately estimate the actual amount collected and accurately control the amount to fall. Therefore, even in a measurement scenario such as the measurement of seasonings used in cooking, it is difficult to apply it to a measurement scenario in chemical experiments and experiments for processing biological specimens where weight accuracy of less than milligrams becomes a problem.

[0009] An object of the present disclosure is to provide a robot system that can automate the measurement of a substance as a powder, granule, or viscous body from the original container to the destination container using a spatula, and obtain the weight of the substance transferred to the destination container with a precision that can also be used in the scenarios of chemical experiments and experiments for processing biological specimens.

[0010] Means for Solving the Problems

[0011] To achieve the above object, the robot system of the present disclosure includes a workbench robot and a controller for controlling the actions of the workbench robot. The workbench robot is fixed to a workbench and has a mechanism for gripping an object on the workbench. Among them, the controller performs the following measurement process: causing the workbench robot to grip a medicine spoon, performing an action of scooping and transferring a substance such as powder, granule or viscous body to be measured placed in an original container to a destination container using the medicine spoon, and causing the workbench robot to measure the weight of the substance in the destination container using a scale, thereby obtaining a measurement result.

[0012] Advantages of the Invention

[0013] According to the robot system of the present disclosure, it is possible to automate the measurement of substances such as powder, granule or viscous body from the original container to the destination container using a medicine spoon, and obtain the weight of the substance transferred to the destination container with an accuracy that can also be utilized in scenarios such as chemical experiments and experiments for processing biological specimens. Brief Description of the Drawings

[0014] Figure 1 It is a block diagram showing the schematic structure of the robot system of the first and second embodiments.

[0015] Figure 2 It is a perspective view of the appearance of the workbench robot.

[0016] Figure 3 It is a schematic plan view showing an example of the arrangement of experimental instruments and the like on the workbench.

[0017] Figure 4 It is a diagram showing an example of the original container.

[0018] Figure 5 It is a diagram showing an example of the destination container.

[0019] Figure 6 It is a diagram showing an example of the container rack.

[0020] Figure 7 It is a diagram showing the state of standing the destination container on the bracket.

[0021] Figure 8 It is a diagram showing an example of the medicine spoon.

[0022] Figure 9 It is a diagram showing an example of the medicine spoon rack.

[0023] Figure 10 It is a diagram showing an example of the scale.

[0024] Figure 11 It is a block diagram showing the hardware structure of the overall controller.

[0025] Figure 12 is a flowchart showing the process of the control process in the first embodiment.

[0026] Figure 13 is a diagram for explaining the scooping transfer.

[0027] Figure 14 is a diagram for explaining the scooping transfer.

[0028] Figure 15 is a diagram for explaining another example of the holding method of the medicine spoon.

[0029] Figure 16 is a flowchart showing the process of the control process in the second embodiment.

[0030] Figure 17 is a diagram for explaining the injection of the solvent liquid into the destination container.

[0031] Figure 18 is a schematic plan view showing an example of the experimental environment in which the robot system in the third embodiment operates.

[0032] Figure 19 is a block diagram showing the schematic structure of the robot system according to the third to fifth embodiments.

[0033] Figure 20 is an external perspective view of the mobile robotic arm.

[0034] Figure 21 is a flowchart showing the process of the control process in the third embodiment.

[0035] Figure 22 is a flowchart showing another example of the process of the control process in the third embodiment.

[0036] Figure 23 is a flowchart showing the process of the control process in the fourth embodiment.

[0037] Figure 24 is a flowchart showing another example of the process of the control process in the fourth embodiment.

[0038] Figure 25 is a flowchart showing another example of the process of the control process in the fourth embodiment.

[0039] Figure 26 is a flowchart showing the process of the control process in the fifth embodiment.

[0040] Figure 27 is a flowchart showing another example of the process of the control process in the fifth embodiment.

[0041] Figure 28 It is a flowchart showing another example of the control process in the fifth embodiment.

[0042] Figure 29 It is a flowchart showing another example of the control process in the fifth embodiment.

[0043] Figure 30A It is a diagram showing another example of the structure of the controller.

[0044] Figure 30B It is a diagram showing another example of the structure of the controller.

[0045] Figure 31A It is a diagram showing another example of the structure of the controller.

[0046] Figure 31B It is a diagram showing another example of the structure of the controller. Detailed Embodiment

[0047] Hereinafter, an example of an embodiment of the present disclosure will be described with reference to the drawings. In addition, in each drawing, the same or equivalent structural elements and parts are given the same reference numerals. Furthermore, the dimensions and ratios of the drawings are enlarged for ease of explanation and may be different from the actual ratios.

[0048] <First Embodiment>

[0049] As Figure 1 shown, the robot system 100 of the first embodiment includes a general controller 30 and one or more workbench robots 20. In addition, in the Figure 1 example, an example in which there are two workbench robots 20 is shown, but it is not limited thereto. The number of workbench robots 20 may be one, or may be three or more.

[0050] The workbench robot 20 is fixed to the workbench and has a local controller 21 and a gripping mechanism for gripping an object on the workbench. The objects to be gripped by the workbench robot 20 are various instruments used in experiments such as containers, spatulas, and pipettes. Figure 2 The external perspective view of the workbench robot 20 is shown. As Figure 2 shown, the workbench robot 20 has a vision sensor 23 and two manipulators 22.

[0051] The manipulator 22 is an example of a gripping mechanism and has an arm 22A and a hand 22B attached to the end of the arm 22A. The arm 22A can be a vertically articulated arm having a structure for displacing the position and posture of the hand 22B in three-dimensional space, for example, with six degrees of freedom. The hand 22B is a three-fingered robot hand whose fingers have joints and can grip containers and the like.

[0052] Figure 2 The lower part shows a schematic view of the hand 22B magnified. In this schematic view, the illustration of the joints of each finger of the hand 22B is omitted, and the shapes and arrangements of the fingers are simplified for illustration. The hand 22B has a first group of fingers including the first finger 22B1, a second group of fingers including the second finger 22B2 and the third finger 22B3, and a hand body 22B0 to which the bases of the first finger 22B1, the second finger 22B2, and the third finger 22B3 are connected respectively. In the hand 22B, the first group and the second group are structures that face each other and can hold an object therebetween. Corresponding to a human finger, the first finger 22B1 functions as a thumb, the second finger 22B2 functions as an index finger, and the third finger 22B3 functions as a middle finger. In addition, the hand 22B may be a robotic hand with four or more fingers. That is, the first group may include fingers other than the first finger 22B1, and the second group may include fingers other than the second finger 22B2 and the third finger 22B3. Furthermore, preferably, each finger of the hand 22B has two joints in the middle. Thereby, stable grasping such as surrounding the outer shape of an object can be performed, and in addition, delicate operations such as pressing a button of an experimental instrument become easy.

[0053] Hereinafter, when the two robotic arms 22 are described by distinguishing between the left and the right, the left is denoted as the first robotic arm 22L, and the right is denoted as the second robotic arm 22R. In addition, when the hand 22B is described by distinguishing between the left and the right, the left is denoted as the hand 22BL, and the right is denoted as the hand 22BR. The same applies to the fingers of the hand 22B. The fingers of the left hand 22BL are denoted as the first finger 22B1L, the second finger 22B2L, and the third finger 22B3L, and the fingers of the right hand 22BR are denoted as the first finger 22B1R, the second finger 22B2R, and the third finger 22B3R. The same applies to the hand body 22B0, which is denoted as the left hand body 22B0L and the right hand body 22B0R.

[0054] The vision sensor 23 is a sensor mounted on the pan / tilt stage and used to identify a gripping object such as a container placed on the workbench.

[0055] The local controller 21 controls the operations of the motors of the workbench robot 20 so as to enable the implementation of the instructions of the overall controller 30. Specifically, the local controller 21 controls the operations of the workbench robot 20 based on the recognition results output from the vision sensor 23, the instructions from the overall controller 30, etc. More specifically, the local controller 21 controls the operations of the workbench robot 20 so that the two robotic arms 22 can perform chemical experiments and experiments on processing biological specimens in a coordinated manner. For example, the local controller 21 controls the operations of the workbench robot 20 so that one robotic arm 22 holds a spatula for measuring. The measuring process is as follows: using the spatula to scoop up the substance to be measured, which is a powder, granule or viscous substance placed in the original container, and transfer it to the destination container, using a scale to measure the weight of the substance in the destination container, and obtaining the measurement result.

[0056] In addition, in Figure 2 , an example is shown where the workbench robot 20 is directly fixed to the workbench. However, it is only necessary that the relative positional relationship between the workbench robot 20 and the workbench is fixed. For example, the workbench robot 20 can also be fixed to the ground, wall, ceiling, etc.

[0057] Here, Figure 3 An example of the configuration of experimental instruments, etc. on the workbench where the workbench robot 20 performs operations is schematically shown. As Figure 3 shown, on the workbench, there are various placement areas, operation areas, scales, etc. such as the original container with unfinished operations, the original container after the operation is completed, unused spatulas, spatulas in use, used-up spatulas, empty destination containers, destination containers after measurement, solvent liquid containers, pipettes, etc. In addition, the positions of the various placement areas do not need to be fixed on the workbench and can be flexibly changed according to the content of the operation and the progress of the operation.

[0058] As an example, the original container is a Figure 4 bottle as shown. As an example, the destination container is a Figure 5 conical tube as shown. In the placement area for the empty destination container and the placement area for the destination container after measurement, the destination containers are set on the Figure 6 container rack as shown. In addition, it is preferred that the empty (unused) destination containers and the destination containers after measurement are set on different container racks. Furthermore, in the operation area, as Figure 7 shown, the destination containers are set in a state of standing upright on the bracket.

[0059] For example, as Figure 8 shown, the spatula includes a spatula part and a handle part with various shapes and various sizes such as flat, thin round, thick round, etc. The spatulas are placed in the placement area for unused spatulas, the placement area for spatulas in use, and the placement area for used-up spatulas. AsFigure 9 As shown, a medicine spoon rack including a tray and a bracket is disposed at each placement location. By using such a medicine spoon rack, the spoon part of the medicine spoon floats, the spoon part remains clean, and the handle part also floats. Thus, the workbench robot 20 can easily hold the medicine spoon.

[0060] The scale is, for example, Figure 10 an electronic scale as shown. In Figure 10 this example, the scale includes a placement part for placing the object to be measured, a windshield, and an operation panel including a display part for displaying the measurement result of the weight. The windshield is a component that prevents the measurement value from being disturbed due to air flow to perform high-precision weight measurement, and surrounds the four side surfaces and the ceiling surface around the placement part. Grips are provided on the left and right surfaces and the ceiling surface of the windshield. By pulling the grips, the surfaces with the grips open.

[0061] The overall controller 30 controls each action of the workbench robot 20 via the local controller 21 of the workbench robot 20. The local controller 21 causes the workbench robot 20 to execute a pre-taught action plan according to the recognition result output from the visual sensor 23, thereby realizing the holding action of the workbench robot 20, the operation of the experimental equipment, etc.

[0062] Figure 11 is a block diagram showing the hardware structure of the overall controller 30. As Figure 11 shown, the overall controller 30 has a CPU (Central Processing Unit), a memory 32, a storage device 33, an input device 34, an output device 35, a storage medium reading device 36, and a communication I / F (Interface) 37. Each structure is connected via a bus 38 so as to be able to communicate with each other.

[0063] A program for executing the control process described later is stored in the storage device 33. The CPU 31 is a central arithmetic processing unit that executes various programs or controls each structure. That is, the CPU 31 reads the program from the storage device 33 and executes the program using the memory 32 as a work area. The CPU 31 controls the above-mentioned various structures and performs various arithmetic processes according to the program stored in the storage device 33.

[0064] The memory 32 is composed of a RAM (Random Access Memory) and temporarily stores programs and data as a work area. The storage device 33 is composed of a ROM (Read Only Memory), an HDD (Hard Disk Drive), an SSD (Solid State Drive), etc., and stores various programs and various data including the operating system.

[0065] The input device 34 is, for example, a device such as a keyboard or a mouse for performing various inputs. The output device 35 is, for example, a device such as a display or a printer for outputting various information. As the output device 35, by adopting a touch panel display, it can also function as the input device 34.

[0066] The storage medium reading device 36 reads data stored in various storage media such as CD (Compact Disc) - ROM, DVD (Digital Versatile Disc) - ROM, Blu - ray Disc, and USB (Universal Serial Bus) memory, and writes data to the storage medium. The communication I / F 37 is an interface for communicating with other devices, and standards such as Ethernet (registered trademark), FDDI, and Wi - Fi (registered trademark) are used, for example. In addition, other devices include the local controller 21 of the workbench robot 20, a scale, and the like. In the present embodiment, it is assumed that these other devices also have a communication function.

[0067] In addition, since the hardware structure of the local controller 21 of the workbench robot 20 is substantially the same as that of the overall controller 30, the description thereof is omitted.

[0068] Next, the operation of the robot system 100 of the first embodiment will be described.

[0069] Figure 12 It is a flowchart showing the flow of control processing executed by the CPU 31 of the overall controller 30.

[0070] In step S10, the overall controller 30 instructs the local controller 21 to perform the measurement preparation process. The local controller 21 that has received the instruction causes the workbench robot 20 to execute the measurement preparation process. Specifically, the local controller 21 causes the workbench robot 20 to grasp the gripper of the windshield of the scale and open the windshield. In addition, the local controller 21 causes the workbench robot 20 to take out the destination container from the container rack at the placement location of the empty destination container and hold it. Further, when moving a plurality of destination containers together on the workbench, the local controller 21 causes the workbench robot 20 to hold the container rack with the hand 22B and move it in units of the rack. Then, the local controller 21 causes the workbench robot 20 to open the lid of the destination container and place the lid on the workbench. In addition, the local controller 21 causes the workbench robot 20 to insert the empty destination container into the bracket provided on the placement portion of the scale. In addition, this bracket is different from the bracket used in the Figure 7 operation area as shown, and is always provided on the placement portion of the scale.

[0071] In addition, the local controller 21 closes the windshield of the scale by the table robot 20, presses the reset button of the operation panel of the scale, etc., and sets the measurement result displayed in the display unit of the operation panel to 0. That is, the weight of the destination container and the support is subtracted from the total weight measured by the scale, and only the weight of the substance in the destination container is set to be measured. In addition, in the case of a scale that does not have a reset function or the like, the overall controller 30 may also acquire and store the weight of the destination container and the support, and subtract the weight of the destination container and the support from the measurement result when actually measuring the weight of the substance.

[0072] The unit that acquires the measurement result of the scale may be a unit that captures and acquires the measurement result displayed on the scale using a camera, or a unit that acquires a signal indicating the measurement result output from the scale. The camera may use the vision sensor 23, may also be installed on the hand 22B of the table robot 20, etc., and may also be installed on the table or the scale. Then, the local controller 21 opens the windshield of the scale by the table robot 20, pulls out the destination container from the support of the placement unit, and stands it upright on the support on the table. In addition, when the lid of the original container is closed, the local controller 21 opens the lid by the table robot 20 and places the lid on the table.

[0073] Next, in step S12, the overall controller 30 acquires the target value and the allowable range of the weight of the substance in the destination container. The unit that acquires the target value and the allowable range may be set as a unit that acquires the stored content from a database or the like stored in the overall controller 30 or a storage device connected to the overall controller 30. In addition, it may also be a unit that is connected to the overall controller 30 and acquires from a human-machine interface device such as a keyboard operated by a person, a unit that acquires from a communication destination via communication, etc. The allowable range may also be calculated by the overall controller 30 itself according to the acquired target value. For example, regardless of the magnitude of the specific target value, a specified magnification may be multiplied by the target value to obtain the allowable range. For example, the allowable range may be set to the range of target value × 0.95 to target value × 1.05. In addition, the allowable range may also be obtained in such a way that it becomes a specified range width including the target value. For example, the allowable range may be set to the range of target value - 1 mg to target value + 1 mg. Calculating the allowable range according to the target value is also a way to acquire the allowable range. In addition, the overall controller 30 may also acquire a pre-specified allowable range and calculate the target value according to this allowable range. For example, the center value of the allowable range may be set as the target value. Calculating the target value according to the allowable range is also a way to acquire the target value.

[0074] Next, in step S14, the overall controller 30 instructs the local controller 21 to perform a scooping transfer from the original container to the destination container. The local controller 21 that has received the instruction causes the workbench robot 20 to perform the scooping transfer. Specifically, the local controller 21 causes the first robotic arm 22L of the workbench robot 20 to hold the original container, and causes the second robotic arm 22R to take out a medicine spoon from the medicine spoon rack and hold it.

[0075] More specifically, as Figure 13 shown, the local controller 21 holds the handle portion of the medicine spoon between the first group (the first finger 22B1R) and the second group (the second finger 22B2R and the third finger 22B3R) in such a manner that both the second finger 22B2R and the third finger 22B3R come into contact with the handle portion of the medicine spoon. Thereby, compared with the case of holding with only two fingers, the medicine spoon can be stably held. In the case of holding with only two fingers, when an external force is applied to the end (spoon portion) of the medicine spoon, the medicine spoon easily undergoes a sliding rotation with the held portion as a fulcrum. As described above, by holding with three fingers, it is easy to maintain the holding posture of the medicine spoon even when an external force is applied to the medicine spoon.

[0076] As Figure 13 shown, the local controller 21 causes the workbench robot 20 to place the medicine spoon into the original container and obtain the substance inside the original container by scooping with the medicine spoon. Then, as Figure 14 shown, the local controller 21 causes the workbench robot 20 to drop the scooped substance into the destination container fixedly erected on the bracket.

[0077] In addition, in Figure 13 and Figure 14 , an example of holding in such a manner that the hand 22B grasps the medicine spoon from above is shown. However, for example, it can also be held in a state like when a person holds a pen, as Figure 15 shown. In addition, when the destination container is not fixed to a bracket or the like, the hand 22BL can also be used to replace the original container with the destination container. In addition, the medicine spoon can also be held in such a manner that the hand main body 22B0 also comes into contact with the handle portion of the medicine spoon. In addition, when the handle portion of the medicine spoon is plate-shaped, the flat portion (front and back) of the handle portion can be held, or the side portion of the handle can be held. In addition, for a lightweight gripping object such as a medicine spoon, it can also be gripped with two fingers, the first finger 22B1 and the second finger 22B2, or the first finger 22B1 and the third finger 22B3.

[0078] In addition, the local controller 21 can also cause the first robotic arm 22L to hold the original container in a posture that tilts the original container. When the original container cannot be held in a tilted manner, it is impossible to reduce the tilt of the spoon, and thus it is impossible to place the substance on the spoon. Therefore, when the original container is not a shallow dish-shaped container with a large opening, it is difficult to scoop. In the present embodiment, even if the original container is a cylindrical container with a narrow opening, by tilting the original container, it is possible to make the spoon in a posture with a small tilt, that is, a posture closer to horizontal, and it becomes easier to scoop the substance in the original container.

[0079] The above-described scooping and transferring operations can also be continuously performed multiple times. Then, the local controller 21 causes the workbench robot 20 to return the spoon to the spoon rack and place the original container on the workbench.

[0080] Next, in step S16, the overall controller 30 instructs the local controller 21 to set the destination container on the scale. The local controller 21 that has received the instruction causes the workbench robot 20 to perform the setting of the destination container on the scale. Specifically, the local controller 21 causes the workbench robot 20 to open the windshield of the scale, hold the destination container on the workbench, insert the destination container into the bracket on the placement part of the scale, and close the windshield of the scale.

[0081] Next, in step S18, the overall controller 30 obtains the measurement result. Specifically, the overall controller 30 obtains it through the unit for obtaining the measurement result described in the above step S10. When the weight of the destination container and the bracket has already been subtracted from the measurement result in the above step S10, the overall controller 30 obtains the obtained measurement result as the measurement result of the weight of the substance in the destination container. In addition, when the subtraction process was not performed in the above step S10, the overall controller 30 subtracts the weight of the destination container and the bracket stored in the above step S10 from the obtained measurement result to obtain the measurement result of the weight of the substance in the destination container.

[0082] Next, in step S20, the overall controller 30 instructs the local controller 21 to remove the destination container from the scale. The local controller 21 that has received the instruction causes the workbench robot 20 to perform the removal of the destination container from the scale. Specifically, the local controller 21 causes the workbench robot 20 to open the windshield of the scale, hold the destination container on the placement part of the scale, insert the destination container into the bracket on the workbench, and close the windshield of the scale.

[0083] Next, in step S22, the overall controller 30 determines whether the measurement result of the weight of the substance in the destination container obtained in step S18 above is within the allowable range obtained in step S12 above. If it is within the allowable range, it proceeds to step S28; if it exceeds the allowable range, it proceeds to step S24. In step S24, the overall controller 30 determines whether the measurement result exceeds the allowable range and is greater than the target value. If the measurement result exceeds the allowable range and is greater than the target value, it proceeds to step S26; if it exceeds the allowable range and is smaller than the target value, it returns to step S14.

[0084] In step S26, the overall controller 30 instructs the local controller 21 to perform a scooping transfer from the destination to the original container. The local controller 21 that has received the instruction causes the workbench robot 20 to perform a scooping transfer from the destination to the original container. Specifically, the local controller 21 causes the workbench robot 20 to hold the destination container, take out a medicine spoon from the medicine spoon rack and hold it. In addition, the local controller 21 causes the workbench robot 20 to insert the end (spoon part) of the medicine spoon into the mouth of the destination container to scoop up the substance and put the substance into the original container. The scooping transfer operation can also be performed continuously multiple times. Then, the local controller 21 causes the workbench robot 20 to put the medicine spoon back into the medicine spoon rack and insert the destination container into the bracket on the workbench. Then, it returns to step S16.

[0085] In step S28, the overall controller 30 instructs the local controller 21 to perform a measurement completion process. The local controller 21 that has received the instruction causes the workbench robot 20 to perform a measurement completion process. Specifically, the local controller 21 causes the workbench robot 20 to close the lid of the destination container and insert the destination container into the container rack provided at the placement location of the destination container after measurement completion on the workbench. In addition, the local controller 21 causes the workbench robot 20 to close the lid of the original container, and the control process ends.

[0086] As described above, the robot system of the first embodiment causes the workbench robot to hold a medicine spoon and perform a measurement process. The measurement process is a process of performing an operation of scooping up a substance such as powder, granule, or viscous body as the measurement object placed in the original container with the medicine spoon and transferring it to the destination container, measuring the weight of the substance in the destination container using a scale, and obtaining the measurement result. Thereby, it is possible to automate the measurement of substances such as powder, granule, or viscous body from the original container to the destination container using a medicine spoon, and obtain the weight of the substance transferred to the destination container with an accuracy that can also be utilized in scenarios such as chemical experiments and experiments for processing biological specimens.

[0087] In addition, when the measurement result of the weight of the substance in the destination container in the first embodiment exceeds the allowable range and is smaller than the target value, the scooping transfer from the original container to the destination container (forward) is repeated. Thereby, it is easy to keep the measurement result within the allowable range.

[0088] In addition, when the measurement result of the weight of the substance in the destination container in the first embodiment exceeds the allowable range and is larger than the target value, the scooping transfer from the destination container to the original container (backward) is performed. Thereby, it is even easier to keep the measurement result within the allowable range, and by returning the amount of the substance exceeding the target value to the original container, the substance is not wasted in vain.

[0089] In addition, in the first embodiment, the case where the weight of the substance in the destination container is within the allowable range centered on the target value has been described, but this is not necessary. For example, there is a case where, regarding the range of the weight of the substance in the destination container, one is satisfied with the case where it naturally falls within a certain range by performing the scooping transfer operation a specified number of times, and on this basis, a high-precision measurement value related to the actual weight of the substance is obtained. In this case, after the processing in step S20, it is possible to transfer to step S28 without going through the processing in steps S22 and S24.

[0090] In addition, in the first embodiment, the destination containers for scooping and transferring the substance from one original container may be multiple. That is, in the metering process related to one kind of substance, multiple destination containers can also be used. In this case, the weights of the substances placed in the multiple destination containers may be substantially the same as each other, or may be different from each other. When there is a target value, the target values may also be different from each other.

[0091] In addition, during the scooping transfer operations in steps S14 and S26 above, it is also possible to select the spoon to be used from multiple spoons with different sizes and shapes of the spoon part according to the substance to be scooped and transferred, the sizes of the openings of the original container and the destination container, the target value, etc. In addition, it is also possible to select a smaller spoon as the difference between the measurement result and the target value or the difference between the estimated value of the weight of the substance in the destination container and the target value is smaller. Thereby, it is easy to make the measurement result close to the target value.

[0092] In addition, in the case of forward scooping and transferring, for example, assuming the amount of the substance scooped and transferred in one scooping and transferring operation, multiplying it by the number of scooping and transferring operations performed so far can obtain an estimated value of the weight of the substance in the destination container. The assumed value of the amount of the substance scooped and transferred in one scooping and transferring operation can also be changed according to the size of the spatula used. In addition, the same applies to the case of reverse scooping and transferring, and the amount of the substance scooped and transferred in one scooping and transferring operation can also be assumed. When estimating the weight of the substance in the destination container, it is also preferable to use a scale to obtain the measurement result of the weight of the substance in the destination container when the forward scooping and transferring is temporarily completed. Then, it is preferable to perform the forward or reverse scooping and transferring operation as needed. In this way, the scooping and transferring is not performed only based on the estimated value. By obtaining the measurement result in a state where the estimate during the scooping and transferring is close to the target value, it is easier to converge the measurement result within the allowable range earlier thereafter.

[0093] In addition, in the reverse scooping and transferring operation, it is preferable to reduce the amount of the substance scooped and transferred in one scooping and transferring operation. Therefore, in the reverse scooping and transferring, a smaller spatula can be used, or the size of the spatula can be unchanged, but the depth of inserting the spatula into the substance accumulation area can be made shallower to reduce the amount of the substance placed on the spatula.

[0094] In addition, in the robot system of the first embodiment, the workbench robot can also perform the scooping and transferring operation when the destination container is not placed on the scale, and the workbench robot places the destination container on the scale for measurement. In this case, even if a part of the substance overflows around the destination container, the overflowed substance will not be the object of measurement by the scale, so the weight of the overflowed substance will not become an error.

[0095] In addition, the scale used in the robot system of the first embodiment may be set as the scale for official measurement, and a different scale for temporary measurement may be used instead. In this case, the table robot performs the scooping and transfer operation with the destination container placed on the other scale, measures the weight of the substance in the destination container using the other scale, and obtains the measurement result of the other scale. Then, when the measurement result of the other scale falls within a specified range including the target value, the destination container may be placed on the scale for official measurement to measure the weight of the substance in the destination container. Measuring the current weight of the substance by placing the destination container on the scale for official measurement in the middle of the scooping and transfer operation, and then removing the destination container from the scale to continue the scooping and transfer operation, repeating such operations takes time. Compared with this case, by performing the scooping and transfer operation with the destination container placed on the other scale, the change in the weight of the substance in the destination container can be measured efficiently. Furthermore, even if there is a substance that overflows without being put into the destination container, it will not cause an error in the measurement result of the scale for official measurement.

[0096] In addition, it is preferable that the width of the "specified range" including the target value is slightly larger than the amount scooped and transferred in one scooping and transfer operation. In this way, during the repeated scooping and transfer operations, the measurement result of the other scale can be reliably within the specified range. If the measurement result of the other scale is closer to the target value, a smaller spoon is replaced, and the width of the "specified range" can be set to be slightly larger than the amount scooped and transferred in one scooping and transfer operation using the smallest spoon. Therefore, before using the scale for official measurement, which takes time in a series of measurement operations, a state where the amount of the substance in the destination container is quite close to the target value can be achieved. In addition, as the other scale for temporary measurement, a scale without a windshield may also be used. In this case, the time required to switch the windshield can be reduced.

[0097] When using the other scale, in the measurement preparation process of step S10 in the above control process, in addition to the process of step S10, the table robot holds the destination container and inserts the empty destination container into the bracket on the placement part of the other scale. The bracket is always set on the placement part of the other scale. In addition, the table robot presses the reset button etc. of the other scale, and uses the reset function that makes the display of the other scale zero, that is, subtracts the weight of the destination container and the bracket.

[0098] In addition, in the scooping and transferring in step S14 of the first pass of the above control process, the workbench robot holds the original container, takes out and holds the medicine spoon from the medicine spoon rack, inserts the end of the medicine spoon into the opening of the original container, and scoops up the obtained substance. In addition, the workbench robot places the substance into the destination container on the support erected on the other scale, and repeats the scooping and transferring actions so that the measurement result of the other scale falls within a specified range. Then, the workbench robot places the medicine spoon back on the medicine spoon rack, places the original container on the workbench, removes the destination container from the support of the other scale, and erects it on the support on the workbench. In step S14 starting from the second pass, the process of the first embodiment is returned, and the other scale is not used.

[0099] In addition, in the first embodiment, when the first original container and the second original container containing the same type of substance are prepared as the original containers, the original container can also be relayed from the first original container to the second original container to perform scooping and obtaining of the substance. This is a scooping and transferring action performed when the weight of the substance in the destination container cannot reach the allowable range only by the scooping and transferring action from the first original container to the destination container due to the small remaining amount of the substance in the first original container. Specifically, the workbench robot performs the scooping and transferring action from the second original container to the destination container after the scooping and transferring action from the first original container to the destination container.

[0100] More specifically, the workbench robot sets the initial original container as the first original container and performs scooping and transferring from the first original container to the destination container. Then, when it is determined that there is almost no remaining amount of the first original container before the weight of the substance in the destination container reaches the allowable range, the workbench robot opens the lid of the second original container and replaces the first original container being held with the second original container. After that, the workbench robot sets the second original container as the original container and performs scooping and transferring. For example, the state of the medicine spoon after the scooping and obtaining action can be observed through a vision sensor or the like, and the remaining amount of the first original container can be judged based on whether it is in a state where not enough has been scooped. In addition, the first original container being held can be moved in a manner that allows it to be viewed by the vision sensor, and then the inside of the first original container can be observed through the vision sensor, and the remaining amount of the first original container can be judged based on whether it is in a state where there is almost no remaining amount. Regarding the state confirmed by the vision sensor, a specified image can be determined in advance for pattern matching, or a machine learning model generated in advance can be used for confirmation. Then, when the measurement result falls within the allowable range, the workbench robot places the medicine spoon back on the medicine spoon rack and places the second original container on the workbench.

[0101] Accordingly, even when there is a quantity of substance remaining in the original container that is less than the target value, the remaining substance can be made the object of scooping and transfer. Therefore, the quantity of substance remaining in the original container that has to be discarded can be reduced. In particular, when dealing with substances that are trace amounts but of high value, even a small amount of waste reduction is desirable. Therefore, it is effective to perform scooping and transfer of the substance in relays from the first original container to the second original container. Additionally, in the case of reverse scooping and transfer, it suffices to scoop and transfer from the destination container to the second original container instead of the first container.

[0102] <Second Embodiment>

[0103] Next, the second embodiment will be described. Additionally, in the robot system of the second embodiment, for the same structures as those of the robot system 100 of the first embodiment, the same reference numerals are given and detailed descriptions are omitted.

[0104] As Figure 1 shown, the robot system 200 of the second embodiment includes a general controller 230 instead of the general controller 30 of the robot system 100 of the first embodiment. In addition to the Figure 12 measuring process shown, the general controller 230 also causes the stage robot 20 to solubilize the substance in the destination container after the measuring process. Since the hardware structure of the general controller 230 is the same as that of the general controller 30 of the first embodiment, the description thereof is omitted.

[0105] Next, the operation of the robot system 200 of the second embodiment will be described.

[0106] Figure 16 is a flowchart showing the flow of control processing executed by the CPU 31 of the general controller 230.

[0107] In step S30, in the same manner as in the case of the first embodiment, the general controller 230 instructs the local controller 21 to execute each step of the Figure 12 measuring process shown. The local controller 21 that has received the instruction causes the stage robot 20 to execute each step of the measuring process. Regarding the description of the steps of the measuring process in Figures 21 - 29 , the mention of the general controller 230 may sometimes be omitted, and the same content as in step S30 is expressed as "the local controller 21 causes the stage robot 20 to execute the same measuring process as the control process in the first embodiment ( Figure 12 )".

[0108] Next, in step S32, the overall controller 230 obtains the target concentration of the solution. The unit for obtaining the target concentration may be the same as the unit in the first embodiment where the overall controller 30 obtains the target value and the allowable range. Next, in step S34, the overall controller 230 determines the amount of solvent required to make the solution reach the target concentration based on the measurement result of the weight of the substance in the destination container.

[0109] Next, in step S36, the overall controller 230 instructs the local controller 21 to inject the solvent liquid. The local controller 21 that has received the instruction causes the stage robot 20 to inject the determined amount of solvent liquid into the destination container using a pipette. For example, the local controller 21 causes the stage robot 20 to hold the electric micropipette with the hand 22BR, operate the electric micropipette, and aspirate the determined amount of solvent liquid from the solvent liquid container placed at the placement location of the solvent liquid container. Then, as Figure 17 shown, the local controller 21 causes the stage robot 20 to operate the electric micropipette and discharge the aspirated solvent liquid into the destination container.

[0110] When causing the stage robot 20 to hold the electric micropipette, the local controller 21 holds the electric micropipette between the first group (the first finger 22B1R) and the second group (the second finger 22B2R and the third finger 22B3R) in such a way that both the second finger 22B2R and the third finger 22B3R are in contact with the electric micropipette. Thereby, compared with the case of holding with only two fingers, the electric micropipette can be stably held. In the case of holding with only two fingers, when an external force is applied to the tip or the root side (e.g., the cable) of the electric micropipette, the electric micropipette easily undergoes sliding rotation with the held part as a fulcrum. As described above, by holding with three fingers, it is easy to maintain the holding posture of the electric micropipette even when an external force is applied to the electric micropipette. In addition, the local controller 21 may also hold the electric micropipette in such a way that the hand body 22B0 is also in contact with the electric micropipette. Thereby, the holding posture of the electric micropipette becomes more stable.

[0111] As described above, the robot system of the second embodiment causes the stage robot to inject the solvent liquid into the destination container after the aliquoting process, thereby performing the process of solubilizing the substance in the destination container. Thereby, it is possible to automate the process up to the solubilization after aliquoting. In addition, after determining the amount of solvent to reach the target concentration, the determined amount of solvent liquid is injected into the destination container using a pipette, thereby enabling the concentration of the solution to reach the target concentration with high precision.

[0112] <Third Embodiment>

[0113] Next, the third embodiment will be described. In addition, in the robot system of the third embodiment, the same reference numerals are given to the same structures as those in the robot system 100 of the first embodiment, and the detailed description thereof is omitted.

[0114] As a typical example of the experimental environment used by researchers, the following environment is cited: Most of the workbenches for performing operations are provided, and a microscope, a centrifuge, etc. are provided in a place separated from the workbench. When a researcher performs an operation, the researcher performs the operation on the workbench. On the other hand, during the operation, as needed, the researcher walks while holding a sample container between the workbench and the microscope or the centrifuge and uses these devices.

[0115] The robot system of the third embodiment operates in the same environment as the typical example of the experimental environment used by the above researchers. Figure 18 It is a schematic plan view showing an example of the experimental environment in which the robot system of the third embodiment operates. In Figure 18 this example, in addition to the above-mentioned microscope, centrifuge, and workbench, experimental equipment such as a medicine rack, an incubator, a refrigerator, a consumable rack, a storage rack, a charging station, a sink, and a chair are also included in the experimental environment.

[0116] As Figure 19 shown, the robot system 300 of the third embodiment includes a mobile manipulator 10, a workbench robot 20, and a general controller 330. In addition, in Figure 19 this example, an example in which there are two mobile manipulators 10 and two workbench robots 20 is shown, but it is not limited thereto. The mobile manipulator 10 and the workbench robot 20 can each be one, or three or more.

[0117] The mobile manipulator 10 has a local controller 11, a moving mechanism for moving on the ground, and a grasping mechanism for grasping an object. Figure 20 It is a perspective view showing the appearance of the mobile manipulator 10. As Figure 20 shown, the mobile manipulator 10 has a flatbed cart 12 and a robot arm 13.

[0118] The flatbed cart 12 is an example of the moving mechanism and has two drive wheels 12A that are driven under the control of the local controller 11. Further, the flatbed cart 12 is in Figure 20The bottom surface at the near front side has casters with freely variable directions. Since the two drive wheels 12A are driven independently of each other, the flatbed cart 12 can move freely on the ground like a researcher. The drive mechanism is not limited to two independently driven wheels and can be any mechanism capable of moving on the ground, preferably a mechanism with fewer restrictions related to the movement method including rotation. The robotic arm 13 is an example of a gripping mechanism and is mounted on the flatbed cart 12. The robotic arm 13 has an arm 13A and a hand 13B mounted at the end of the arm 13A. The arm 13A can be a vertically articulated arm configured to have a structure for displacing the position and posture of the hand 13B in three-dimensional space, for example, with six degrees of freedom. The hand 13B is a robotic hand with, for example, two fingers capable of gripping a container or the like. In addition, in Figure 20 the example of the mobile robotic arm 10 having one robotic arm 13 is shown, but it can also be configured to have a two-arm structure with two robotic arms 13. When the mobile robotic arm 10 conveys a conveyance object, it can be in a state where the conveyance object is gripped by the hand 13B, or the conveyance object can be placed on a higher-level part, for example, above the drive wheel 12A on the flatbed cart 12.

[0119] The mobile robotic arm 10 has a vision sensor (not shown) at a position of the arm 13A close to the hand 13B. The vision sensor is a sensor for identifying objects around the mobile robotic arm 10 and gripping objects such as containers gripped by the hand 13B. The vision sensor is configured to include a camera and an image processing device, and the image processing device performs image processing on the image captured by the camera to thereby identify surrounding objects and gripping objects. Thereby, autonomous movement of the mobile robotic arm 10 can be performed. In addition, the sensor for identifying surrounding objects and gripping objects is not limited to a vision sensor, and a lidar or the like capable of measuring the three-dimensional positions of each point around can also be used. Furthermore, the sensor for identifying surrounding objects can also be mounted on the flatbed cart 12.

[0120] The local controller 11 controls the operations of the respective motors of the mobile robotic arm 10 so as to be able to implement the instructions of the overall controller 330. Specifically, the local controller 11 controls the operation of the mobile robotic arm 10 based on the recognition result output from the vision sensor, the instructions from the overall controller 330, and the like. More specifically, the local controller 11 controls the operation of the mobile robotic arm 10 to grip a gripping object such as a container with the hand 13B and convey the gripped gripping object to a specified position such as a workbench.

[0121] The overall controller 330 cooperates with the local controller 11 of the mobile robotic arm 10 and the local controller 21 of the workbench robot 20 to control the respective operations of the mobile robotic arm 10 and the workbench robot 20.

[0122] The local controller 11 causes the mobile manipulator 10 to execute a pre-taught action plan based on the recognition result output from the vision sensor, thereby realizing the grasping action of the mobile manipulator 10 and the operation of the experimental equipment.

[0123] In addition, the local controller 11 causes the mobile manipulator 10 to move to the position of the experimental equipment indicated by the overall controller 330 based on the layout map of the experimental environment pre-held, thereby realizing the movement of the mobile manipulator 10. Further, the local controller 11 causes the mobile manipulator 10 to move based on the recognition result output from the vision sensor so that it moves while avoiding obstacles to the target position.

[0124] Next, the operation of the robot system 300 of the third embodiment will be described.

[0125] Figure 21 It is a flowchart showing the flow of the control process executed by the CPU 31 of the overall controller 330. Figure 21 Each step in the right flowchart on the is the control process executed by the local controller 21 of the workbench robot 20 based on the instruction of the overall controller 330. In addition, Figure 21 Each step in the left flowchart on the is the control process executed by the local controller 11 of the mobile manipulator 10 based on the instruction of the overall controller 330. In addition, in Figure 21 it shows the state of the medicine spoon arranged on the workbench corresponding to the flow of the control process.

[0126] First, the control process on the side of the workbench robot 20 will be described.

[0127] In step S40, the local controller 21 causes the workbench robot 20 to execute the preparation 1 of the unused medicine spoon. Specifically, the local controller 21 causes the workbench robot 20 to execute the process of moving the medicine spoon rack containing the medicine spoon from the placement location of the unused medicine spoon on the workbench to the placement location of the medicine spoon in use. The medicine spoon rack can be, for example, Figure 9 a rack including a tray and a bracket as shown, or a rack such as a stationery box without a lid. The unused medicine spoon only needs to be a medicine spoon that does not mix different types of substances into the original container during scooping and transfer, and includes a new medicine spoon and a medicine spoon with a usage history but unused after cleaning.

[0128] Next, in step S42, the local controller 21 causes the workbench robot 20 to execute the measurement process of the first substance. The measurement process of the first substance includes the measurement process of scooping and obtaining from the original container containing the first substance, and the specific processing content is the same as the control process in the first embodiment ( Figure 12 )

[0129] Next, in step S44, the local controller 21 causes the workbench robot 20 to perform the sorting of the used medicine spoons. Specifically, the local controller 21 causes the workbench robot 20 to perform a process of moving the medicine spoon rack containing the medicine spoons from the placement location of the used medicine spoons on the workbench to the placement location of the used-up medicine spoons.

[0130] Next, in step S46, the local controller 21 causes the workbench robot 20 to perform the preparation 2 of the unused medicine spoons. Specifically, the local controller 21 causes the workbench robot 20 to perform a process of moving the medicine spoon rack containing the medicine spoons, which is supplied to the placement location of the unused medicine spoons, to the placement location of the used medicine spoons by moving the robotic arm 10. The placement location of the unused medicine spoons can be set to any location on the workbench. For example, the placement location of the used-up medicine spoons can also be appropriated.

[0131] Next, in step S48, the local controller 21 causes the workbench robot 20 to perform the measurement process of the second substance. The measurement process of the second substance includes a measurement process of scooping and obtaining from the original container containing the second substance, and the specific processing content is the same as the control process in the first embodiment ( Figure 12 ). Next, in step S50, the local controller 21 causes the workbench robot 20 to perform the sorting of the used medicine spoons, and the control process on the workbench robot 20 side ends.

[0132] Next, the control process on the robotic arm 10 side will be described.

[0133] In step S52, the local controller 11 causes the robotic arm 10 to take out the medicine spoon rack containing the unused medicine spoons from the storage rack in the laboratory. Next, in step S54, the local controller 11 causes the robotic arm 10 to transport the taken-out medicine spoon rack containing the unused medicine spoons to the side of the workbench.

[0134] Next, in step S56, the local controller 11 causes the robotic arm 10 to retrieve the medicine spoon rack containing the used medicine spoons, which was placed at the placement location of the used-up medicine spoons by the workbench robot 20 in the above step S44. Next, in step S58, the local controller 11 causes the robotic arm 10 to supply the transported medicine spoon rack containing the unused medicine spoons to the placement location of the unused medicine spoons on the workbench.

[0135] Next, in step S60, the local controller 11 causes the mobile robotic arm 10 to convey the medicine spoon rack containing the used medicine spoon that has been recovered to the storage rack in the laboratory for storing the medicine spoon rack with the used medicine spoon. Next, in step S62, the local controller 11 causes the mobile robotic arm 10 to store the conveyed medicine spoon rack containing the used medicine spoon in the storage rack for storing the medicine spoon rack with the used medicine spoon. Then, the control process on the side of the mobile robotic arm 10 ends.

[0136] As described above, the robot system according to the third embodiment causes the mobile robotic arm to recover the used medicine spoon on the workbench. Thereby, the available space on the workbench can be increased. In addition, the robot system according to the third embodiment supplies an unused medicine spoon to be used for the second substance to the workbench after recovering the medicine spoon used for the first substance. Thereby, there is no need for a place to pre-set the medicine spoon to be used for the second substance on the workbench from an earlier time. In addition, when multiple medicine spoons of different sizes are used for the measurement process of one substance, the recovery and supply are performed in units of multiple medicine spoons. Therefore, the effect in terms of the effective use of the space on the workbench becomes greater.

[0137] In addition, a first original container containing the first substance and a second original container containing a second substance of a different type from the first substance are prepared as the original containers. In this case, the robot system according to the third embodiment uses the first medicine spoon when performing the measurement process related to the first substance, and then uses the second medicine spoon, which is an individual different from the first medicine spoon, when performing the measurement process related to the second substance. Thereby, it is possible to prevent the first substance from being mixed into the original container and the destination container of the second substance.

[0138] In addition, in the above-described third embodiment, it is assumed that the workbench robot moves one medicine spoon rack from the place where the unused medicine spoons are pre-stacked on the workbench to the place where the medicine spoons in use are placed to use the first medicine spoon. However, this is not limited thereto, and the first medicine spoon can also be supplied by the mobile robotic arm.

[0139] When the medicine spoon racks are pre-stacked on the workbench, medicine spoon racks of a stackable shape can be used. In the case of a medicine spoon rack as shown in Figure 9 In such a case, a shelf can also be provided at the place where the unused medicine spoons are placed, and multiple medicine spoons can be stored on the shelf. In addition, the medicine spoon used as the second medicine spoon can be taken out from the medicine spoon rack pre-stacked at the place where the unused medicine spoons are placed on the workbench. In this case, only the processing on the side of the workbench robot needs to be executed without using the mobile robotic arm. In this case, there is also an effect of being able to prevent the first substance from being mixed into the original container and the destination container of the second substance. That is, the prevention of substance mixing by using different medicine spoons is not limited to the third embodiment and can be applied in any embodiment.

[0140] In addition, in the above-described third embodiment, the mobile robotic arm first retrieves the used first medicine spoon, and then supplies the second medicine spoon to the workbench. The space for supplying the second medicine spoon can be the space on the workbench vacated by retrieving the first medicine spoon. The mobile robotic arm or the workbench robot can also appropriately move the items on the workbench to change the available space. If there is spare space on the workbench, the second medicine spoon can also be supplied first, and then the first medicine spoon can be retrieved. In this case, even if there is no spare space on the mobile robotic arm, the replacement of the medicine spoons can be performed.

[0141] In addition, as Figure 22 shown, the retrieval and conveyance of the first medicine spoon can also be performed first, and then the conveyance and supply of the second medicine spoon can be performed. In addition, the mobile robotic arm for handling the first medicine spoon and the mobile robotic arm for handling the second medicine spoon can also be different mobile robotic arms. In particular, when performing other processes such as the measurement process of the third substance during the time between the measurement process of the first substance and the measurement process of the second substance, if the third medicine spoon can be prepared on the workbench, even if it takes time from retrieving the first medicine spoon to supplying the second medicine spoon, it is tolerable.

[0142] <Fourth Embodiment>

[0143] Next, the fourth embodiment will be described. In addition, in the robot system of the fourth embodiment, the same reference numerals are assigned to the same structures as those in the robot system 300 of the third embodiment, and the detailed description thereof is omitted.

[0144] As Figure 19 shown, the robot system 400 of the fourth embodiment includes a mobile robotic arm 10, a workbench robot 20, and a general controller 430. The general controller 430 causes the mobile robotic arm 10 to perform a preparatory conveyance process of conveying the original container from the storage place of the original container to the workbench, and a storage conveyance process of conveying the original container from the workbench to the storage place after the measurement process.

[0145] Next, the operation of the robot system 400 of the fourth embodiment will be described.

[0146] Figure 23 is a flowchart showing the flow of the control process executed by the CPU 31 of the general controller 430. Figure 23 Step S72 in the right flowchart in Figure 23The leftmost flowchart and steps S70 and S74 of the second flowchart from the left are control processes executed by the local controllers 11 of the two mobile robotic arms 10 (the first mobile robotic arm and the second mobile robotic arm) under the instruction of the overall controller 430. In addition, in Figure 23 the status of the original container arranged on the workbench is illustrated corresponding to the flow of the control process.

[0147] First, in step S70 of the control process on the side of the first mobile robotic arm, the local controller 11 causes the first mobile robotic arm to execute the preparation conveyance process. Specifically, the local controller 11 causes the first mobile robotic arm to take out the original container from the storage location of the original container, convey it to the side of the workbench, and set the original container on the workbench. The storage location of the original container can be Figure 18 a medicine rack or a refrigerator. When the stored medicine has temperature activity, the refrigerator is selected as the storage location. As the medicine rack, a dark place with a light-shielding door is also prepared. When the stored medicine has light activity, the dark place is selected as the storage location. The refrigerator also serves as a dark place. The opening and closing of the door in the case of a medicine rack with a door and the opening and closing of the refrigerator door are also performed by the mobile robotic arm 10.

[0148] Next, in step S72 of the control process on the side of the workbench robot 20, the local controller 21 causes the workbench robot 20 to execute the metering process that is the same as the control process in the first embodiment ( Figure 12 ).

[0149] Next, in step S74 of the control process on the side of the second mobile robotic arm, the local controller 11 causes the second mobile robotic arm to execute the storage conveyance process. Specifically, the local controller 11 causes the second mobile robotic arm to recover the original container from the workbench, convey it to the storage location of the original container, and set the original container at the storage location.

[0150] As described above, the robot system of the fourth embodiment causes the mobile robotic arm to execute the preparation conveyance process of conveying the original container from the storage location of the original container to the workbench, and the storage conveyance process of conveying the original container from the workbench to the storage location after the metering process. Thereby, it is possible to automate the operations including the preparation and conveyance of the original container and the storage and conveyance.

[0151] In addition, the first mobile robotic arm and the second mobile robotic arm may be the same entity. Moreover, the functions of the two mobile robotic arms can be arbitrarily replaced.

[0152] In addition, in the fourth embodiment, a first original container containing a first substance and a second original container containing a second substance different in type from the first substance are prepared as original containers. In this case, the moving robotic arm and the workbench robot can also perform a preparation transfer process, a metering process, and a storage transfer process for the first substance and the second substance, respectively. Thus, when performing metering related to the first substance and the second substance, it is also possible to automate the preparation transfer and storage transfer related to the original containers.

[0153] For example, as Figure 24 shown, when the metering process of the first substance (step S78) is performed prior to the metering process of the second substance (step S84), in step S76, the first moving robotic arm performs the preparation transfer process of the first original container. Then, after the workbench robot performs the metering process of the first substance, in step S80, the second moving robotic arm performs the storage transfer process of the first original container. Then, in step S82, the first moving robotic arm performs the preparation transfer process of the second original container. Then, after the workbench robot performs the metering process of the second substance, in step S86, the second moving robotic arm performs the storage transfer process of the second original container. Thus, the free space on the workbench can be increased. In addition, the storage transfer process of the first original container can be performed at any time after the metering process of the first substance. However, it is easier to utilize the free space on the workbench after the original container is recycled by performing the storage transfer process of the first original container as early as possible after the metering process of the first substance.

[0154] In addition, for example, when the storage location of the first original container is in a refrigerator or a dark place on a storage rack, as Figure 25 shown, the overall controller causes the moving robotic arm to start the storage transfer process of the first original container before the metering process of the second substance is completed. Thus, compared with the case where the storage transfer process of the first original container is performed after the metering process of the second substance, for example, together with the storage process of the second original container, the time for placing the first substance in a normal temperature environment or a bright place can be shortened. In addition, the timing for returning the first original container to the refrigerator or a dark place is preferably as early as possible. In addition, assume that the storage location of the second original container is in a refrigerator or a dark place, and the metering process of the first substance is performed prior to the metering process of the second substance. In this case, as Figure 25 shown, the moving robotic arm is caused to complete the preparation transfer process of the second original container after starting the metering process of the first substance. Thus, compared with the case where the preparation transfer process of the second original container is performed before the metering process of the first substance, for example, together with the preparation transfer process of the first original container, the time for placing the second substance in a normal temperature environment or a bright place can be shortened. In addition, the timing for taking out the second original container from the refrigerator is preferably as late as possible.

[0155] <Fifth Embodiment>

[0156] Next, the fifth embodiment will be described. In addition, in the robot system of the fifth embodiment, the same components as those in the robot system 300 of the third embodiment are denoted by the same reference numerals, and detailed descriptions thereof are omitted.

[0157] As Figure 19 shown, the robot system 500 of the fifth embodiment includes a mobile manipulator 10, a workbench robot 20, and a general controller 530. As the original containers, a first original container containing a first substance and a second original container containing a second substance of a different type from the first substance are prepared, and the measurement process of the first substance is performed prior to the measurement process of the second substance. In this case, the general controller 530 causes the mobile manipulator 10 to recover a part or all of the first destination container containing the first substance from the workbench after the measurement process of the first substance.

[0158] Next, the operation of the robot system 500 of the fifth embodiment will be described.

[0159] Figure 26 is a flowchart showing the flow of the control process executed by the CPU 31 of the general controller 530. Figure 26 Each step in the right flowchart in Figure 26 is a control process executed by the local controller 21 of the workbench robot 20 under the instruction of the general controller 530. In addition, Figure 26 each step in the left flowchart in

[0160] is a control process executed by the local controller 11 of the mobile manipulator 10 under the instruction of the general controller 530. In addition, in

[0161] First, the control process on the side of the workbench robot 20 will be described.

[0162] In step S90, the local controller 21 causes the workbench robot 20 to perform preparation 1 of an empty destination container. Specifically, the local controller 21 causes the workbench robot 20 to perform a process of moving the container rack containing the empty destination container from the placement location of the destination container on the workbench to the work area. Figure 12 ).

[0163] Next, in step S94, the local controller 21 causes the workbench robot 20 to perform the sorting of the measured destination containers. Specifically, the local controller 21 causes the workbench robot 20 to perform a process of moving the container rack with the measured destination containers from the working area on the workbench to the placement location of the measured destination containers.

[0164] Next, in step S96, the local controller 21 causes the workbench robot 20 to perform the preparation 2 of the empty destination containers. Specifically, the local controller 21 causes the workbench robot 20 to perform a process of moving the container rack with the empty destination containers supplied to the placement location of the empty destination containers to the working area by moving the robotic arm 10. The placement location of the empty destination containers can be set to any location on the workbench. For example, the placement location of the measured destination containers can also be used.

[0165] Next, in step S98, the local controller 21 causes the workbench robot 20 to perform the measurement process of the second substance. The measurement process of the second substance includes the measurement process of scooping up the amount obtained from the original container containing the second substance, and the specific processing content is the same as the control process in the first embodiment ( Figure 12 ). Next, in step S100, the local controller 21 causes the workbench robot 20 to perform the sorting of the measured destination containers, and the control process on the workbench robot 20 side ends.

[0166] Next, the control process on the robotic arm 10 side will be described.

[0167] In step S102, the local controller 11 causes the robotic arm 10 to take out the container rack from the storage rack in the laboratory that houses the container rack with the empty destination containers. Next, in step S104, the local controller 11 causes the robotic arm 10 to transport the taken-out container rack with the empty destination containers to the side of the workbench.

[0168] Next, in step S106, the local controller 11 causes the robotic arm 10 to retrieve the container rack with the measured destination containers that was placed at the placement location of the measured destination containers by the workbench robot 20 in the above step S94. Next, in step S108, the local controller 11 causes the robotic arm 10 to supply the transported container rack with the empty destination containers to the placement location of the empty destination containers on the workbench.

[0169] Next, in step S110, the local controller 11 causes the mobile robotic arm 10 to convey the container rack with the measured destination containers that have been retrieved to the storage location in the laboratory where the container rack with the measured destination containers is stored. Next, in step S112, the local controller 11 causes the mobile robotic arm 10 to store the conveyed container rack with the measured destination containers in the storage location where the container rack with the measured destination containers is stored. Then, the control process on the side of the mobile robotic arm 10 ends. Similar to the case of the original container, the storage location for the measured destination containers can be Figure 18 a storage rack or a refrigerator. As the storage location, a refrigerator is selected when the drug in the destination container has temperature activity, and a dark place (a storage rack with a light-shielding door or a refrigerator) is selected when the drug in the destination container has light activity.

[0170] As described above, the robot system according to the fifth embodiment causes the mobile robotic arm to retrieve the measured destination containers on the workbench. Thereby, the free space on the workbench can be increased. In addition, the timing for retrieving the destination containers containing the first substance can be any time after the measurement process of the first substance. Retrieving as early as possible can make good use of the free space on the workbench after retrieval.

[0171] Furthermore, the robot system according to the fifth embodiment causes the mobile robotic arm to supply empty destination containers to the workbench after retrieving the measured destination containers. Thereby, there is no need for a location on the workbench to set empty destination containers that are not yet in use from an early stage.

[0172] In addition, in the above fifth embodiment, it is assumed that the workbench robot moves one container rack from the placement location of the empty destination containers that are densely or piled up on the workbench in advance to the operation area to use the empty destination containers for the measurement process of the first substance, but this is not limited thereto. The empty destination containers for the measurement process of the first substance can also be supplied by the mobile robotic arm.

[0173] Moreover, the empty destination containers for the measurement process of the second substance can also be used from the container racks that are densely or piled up on the workbench in advance at the placement location of the empty destination containers. In this case, only the process on the side of the workbench robot 20 needs to be executed without using the mobile robotic arm. In this case, the measured destination containers still remain placed on the workbench. Then, the measured destination containers can be moved to the storage location by a person or together with the mobile robotic arm, or can be solubilized by a person or together with the workbench robot.

[0174] In addition, in the above-described fifth embodiment, the mobile robotic arm first retrieves the destination container that has been filled with the first substance, and then supplies an empty destination container for the measurement process of the second substance to the workbench. The space for supplying this empty destination container can also be the space on the workbench vacated by retrieving the destination container that has been filled. In addition, the mobile robotic arm or the workbench robot can also appropriately move the items on the workbench to change the available space. If there is a surplus of space on the workbench, it is also possible to first supply an empty destination container for the measurement process of the second substance, and then retrieve the destination container that has been filled with the first substance. In this way, even if there is no surplus space on the mobile robotic arm, the replacement of the destination container can be performed.

[0175] In addition, as Figure 27 shown, it is also possible to first retrieve and convey the destination container that has completed the measurement process of the first substance, and then convey and supply an empty destination container for the measurement process of the second substance. In addition, the first mobile robotic arm and the second mobile robotic arm can also be different mobile robotic arms. In particular, when performing other processes such as the measurement process of the third substance during the time between the measurement process of the first substance and the measurement process of the second substance, if an empty destination container for the third substance can be prepared on the workbench, even if it takes time from retrieving the destination container that has completed the measurement process of the first substance to supplying the empty destination container for the second substance, it is acceptable.

[0176] In addition, when the storage location of the destination container filled with the first substance is in a refrigerator or a dark place on a storage rack, as Figure 28 shown, it is also possible to make the mobile robotic arm start the process of conveying part or all of the destination container filled with the first substance from the workbench to the storage location before finishing the measurement process of the second substance. Thus, compared with the case of performing the process of conveying the destination container filled with the first substance to the storage location after finishing the measurement process of the second substance, the time for placing the first substance in the destination container in a normal temperature environment or a bright place can be shortened. In addition, for the destination container filled with the second substance, it can be moved to the refrigerator or a dark place by the mobile robotic arm, and if refrigeration or light shielding is not required, it can be moved to a bright place on the storage rack or still placed on the workbench.

[0177] In addition, as Figure 29 shown, when putting the same type of substance into multiple destination containers during the measurement process, it is also possible to make the mobile robotic arm retrieve at least a part of the destination containers whose measurement has been completed from the workbench before finishing the measurement of all the destination containers. In Figure 29In [the above], in step S93, the metering process of metering the same type of material amount into a plurality of destination containers is performed by the workbench robot. This metering process includes the preparation of empty destination containers and the sorting of the destination containers after the measurement transfer is completed. In addition, the workbench robot performs the process of transferring insufficient empty destination containers to the work area during the metering process, and the process of retracting the metered destination containers that cannot be placed in the work area to outside the work area. Moreover, the first moving robotic arm retrieves, transports, and stores a specified unit quantity of metered destination containers during the metering process (steps S106, S110, S112), and the second moving robotic arm retrieves, transports, and stores the next specified unit quantity of metered destination containers (steps S107, S111, S113). Thereby, it is possible to prevent the shortage of the placement locations for the metered containers on the workbench. In addition, the unit number of the retrieval, transportation, and storage of the plurality of destination containers by the moving robotic arm can be set, for example, to the number of containers that can be stored in Figure 6 the container rack as shown. That is, the retrieval, transportation, and storage are performed in units of the container rack in a state where a plurality of destination containers are inserted. In addition, in Figure 29 , two processes of retrieval, transportation, and storage based on the moving robotic arm are illustrated, but these processes are performed the required number of times for the entire metering process.

[0178] In addition, in each of the above embodiments, as shown in Figure 1 or Figure 19 , as an example of the controller of the present disclosure, the case where the moving robotic arm and the workbench robot use independent overall controllers is illustrated, but it is not limited thereto. For example, as shown in Figure 30A , any workbench robot 20 may be equipped with an overall controller 30, or as shown in Figure 30B , any moving robotic arm 10 may be equipped with an overall controller 30.

[0179] In addition, as shown in Figure 31A and Figure 31B , the controller of the present disclosure may also be constituted by a plurality of distributed controllers 40. In this case, the distributed controllers communicate with each other and are controlled so that the moving robotic arm 10 and the workbench robot 20 respectively cooperate with each other to perform actions. For example, when the moving robotic arm 10 transports a container to the workbench, the distributed controller 40 of the moving robotic arm 10 notifies the distributed controller 40 of the workbench robot 20 of the completion of the transportation. Then, through the received distributed controller 40, the workbench robot 20 can start the processing of the transported container.

[0180] Alternatively, instead of separately providing the local controllers 11 and 21 for the mobile robotic arm 10 and the workbench robot 20, the overall controller 30 or the distributed controller 40 may control the operations of the respective motors of the mobile robotic arm 10 and the workbench robot 20.

[0181] In addition, the mobile robotic arm in each of the above embodiments may also convey and place tools such as pipettes used in the operation from the storage rack to the workbench, and retrieve the used tools from the workbench and store them in the storage rack. In addition, after the mobile robotic arm 10 reaches the timing for charging, it may move to the charging station to charge the device.

[0182] In addition, in each of the above embodiments, the overall controller may also confirm the working conditions of the mobile robotic arm and the workbench robot, and cause the idle mobile robotic arm and workbench robot to execute the above processing. In addition, with respect to the mobile robotic arm, it may also obtain the position information in the experimental environment, select the mobile robotic arm that can move to the designated position most efficiently among the idle mobile robotic arms, and cause it to execute the above processing.

[0183] In addition, in each of the above embodiments, the case where the mobile robotic arm conveys a container or the like between the workbench on which the workbench robot is fixed and the storage rack or the like has been described, but it is not limited thereto. For example, a storage rack or the like may be provided on the workbench on which the workbench robot is fixed, or within the reach of the hand of the workbench robot adjacent to the workbench. In this case, the workbench robot may also take out a container or the like from the storage rack or the like and store the container or the like in the storage rack or the like.

[0184] In addition, the control processing executed by reading software (program) by the CPU in each of the above embodiments may also be executed by various processors other than the CPU. As the processor in this case, examples include PLDs (Programmable Logic Devices) such as FPGAs (Field Programmable Gate Arrays) whose circuit structure can be changed after manufacturing, and dedicated circuits such as ASICs (Application Specific Integrated Circuits) that have a circuit structure specifically designed to execute specific processing. In addition, the control processing may be executed by one of these various processors, or may be executed by a combination of two or more processors of the same type or different types (for example, a combination of multiple FPGAs, and a combination of a CPU and an FPGA, etc.). More specifically, the hardware structure of these various processors is a circuit that combines circuit elements such as semiconductor elements.

[0185] In addition, in each of the above-described embodiments, the case where the program is pre-stored (installed) in the storage device has been described, but it is not limited thereto. The program may also be provided in a form stored in a storage medium such as a CD-ROM, a DVD-ROM, a Blu-ray Disc, or a USB memory. In addition, the program may be configured to be downloaded from an external device via a network.

[0186] Reference Numeral Explanation

[0187] 100, 200, 300, 400, 500 Robot System

[0188] 10 Mobile Manipulator

[0189] 11 Local Controller

[0190] 12 Flatbed Cart

[0191] 12A Driving Wheel

[0192] 13 Robot Arm

[0193] 13A Arm

[0194] 13B Hand

[0195] 20 Bench Robot

[0196] 21 Local Controller

[0197] 22, 22L, 22R Manipulator

[0198] 22A Arm

[0199] 22B, 22BL, 22BR Hand

[0200] 22B0, 22B0L, 22B0R Hand Body

[0201] 22B1, 22B1L, 22B1R First Finger

[0202] 22B2, 22B2L, 22B2R Second Finger

[0203] 22B3, 22B3L, 22B3R Third Finger

[0204] 23 Vision Sensor

[0205] 30, 230, 330, 430, 530 Overall Controller

[0206] 31 CPU

[0207] 32 Memory

[0208] 33 Storage Device

[0209] 34 Input device

[0210] 35 Output device

[0211] 36 Storage medium reading device

[0212] 37 Communication I / F

[0213] 38 Bus

[0214] 40 Decentralized controller

Claims

1. A robot system, which includes a workbench robot and a controller for controlling the actions of the workbench robot. The workbench robot is fixed to a workbench and has a mechanism for gripping an object on the workbench. In this robot system, the controller performs the following measurement process: causing the workbench robot to grip a medicine spoon, performing an action of scooping and transferring a substance in powder, granule, or viscous form, which is the object to be measured and placed in an original container, to a destination container using the medicine spoon, and causing the workbench robot to measure the weight of the substance in the destination container using a scale, thereby obtaining a measurement result.

2. The robot system according to claim 1, wherein the controller further performs a process of obtaining a target value and an allowable range of the weight of the substance in the destination container, the measurement process includes the following process: when the measurement result obtained after performing the scooping and transferring action one or more times exceeds the allowable range and is smaller than the target value, the controller causes the workbench robot to perform an additional scooping and transferring action.

3. The robot system according to claim 2, wherein the measurement process includes the following process: when the measurement result obtained after performing the scooping and transferring action one or more times exceeds the allowable range and is larger than the target value, the controller causes the workbench robot to perform an action of scooping and transferring the substance in the destination container to the original container using the medicine spoon.

4. The robot system according to claim 2 or 3, wherein the controller further performs the following process: according to the magnitude of the difference between the measurement result and the target value or the magnitude of the difference between the estimated value of the weight of the substance in the destination container and the target value, causing the workbench robot to replace medicine spoons of multiple different sizes, so that the smaller the difference, the smaller the medicine spoon used for the scooping and transferring action.

5. The robot system according to any one of claims 1 to 3, wherein the controller causes the workbench robot to perform the scooping and transferring action in a state where the destination container is not placed on the scale, and causes the workbench robot to place the destination container on the scale for the purpose of performing the measurement.

6. The robot system according to claim 5, wherein the controller causes the workbench robot to perform the scooping and transferring action in a state where the destination container is placed on another scale that is not the scale, measures the weight of the substance in the destination container using the other scale, thereby obtaining the measurement result of the other scale, and when the measurement result of the other scale falls within a specified range including the target value of the weight of the substance in the destination container, causes the workbench robot to place the destination container on the scale and measure the weight of the substance in the destination container.

7. The robot system according to claim 1 or 2, wherein the workbench robot has a first robotic arm and a second robotic arm as the mechanism, When the controller causes the workbench robot to perform the action of picking up and transferring, the first robotic arm holds the original container to make the original container assume an inclined posture, and the second robotic arm holds the medicine spoon.

8. The robot system according to any one of claims 1 to 3, wherein the controller further performs the following processing: causing the workbench robot to inject a solvent liquid into the destination container after the metering process, thereby solubilizing the substance in the destination container.

9. The robot system according to claim 8, wherein the controller performs processing to obtain the target concentration of the solution, processing to determine the amount of solvent required to make the solution reach the target concentration based on the measurement result, and processing to cause the workbench robot to inject the amount of solvent liquid into the destination container using a pipette.

10. The robot system according to claim 2 or 3, wherein when the first original container and the second original container containing the same type of the substance are prepared as the original containers, when the remaining amount of the substance in the first original container is so small that the weight of the substance in the destination container cannot reach within the allowable range only by the action of picking up and transferring from the first original container to the destination container, the controller causes the workbench robot to perform the action of picking up and transferring from the second original container to the destination container after the action of picking up and transferring from the first original container to the destination container.

11. The robot system according to any one of claims 1 to 3, wherein when the first original container containing the first substance and the second original container containing the second substance of a different type from the first substance are prepared as the original containers, the controller causes the workbench robot to use the first medicine spoon when performing the metering process related to the first substance, and then use the second medicine spoon, which is a different individual from the first medicine spoon, when performing the metering process related to the second substance.

12. The robot system according to claim 11, wherein the robot system further includes a mobile robotic arm having a mechanism for moving on the ground and a mechanism for holding an object, the controller controls the actions of the mobile robotic arm and the workbench robot respectively, the controller performs a first medicine spoon recovery process of causing the mobile robotic arm to recover the used first medicine spoon from the workbench.

13. The robot system according to claim 12, wherein the controller performs the following processing: causing the mobile robotic arm to supply the unused second medicine spoon to the workbench after the first medicine spoon recovery process and before performing the metering process related to the second substance.

14. The robot system according to any one of claims 1 to 3, wherein the robot system further includes a mobile robotic arm having a mechanism for moving on the ground and a mechanism for holding an object, The controller controls the actions of the mobile manipulator and the workbench robot respectively. The controller also performs the following processes: A preparation transfer process to cause the mobile manipulator to transfer the original container from the storage location of the original container to the workbench; and A storage transfer process to cause the mobile manipulator to transfer the original container from the workbench to the storage location after the metering process is performed.

15. The robot system according to claim 14, wherein When the original containers are prepared as the first original container containing the first substance and the second original container containing the second substance of a different type from the first substance, The controller performs the preparation transfer process, the metering process, and the storage transfer process for the first substance and the second substance respectively.

16. The robot system according to claim 15, wherein The controller performs the following process: When the metering process related to the first substance is performed earlier than the metering process related to the second substance, after the metering process related to the first substance, the controller causes the mobile manipulator to retrieve the first original container from the workbench.

17. The robot system according to claim 16, wherein The storage location of the first original container is in a refrigerator or a dark place, The controller causes the mobile manipulator to start the storage transfer process related to the first original container before ending the metering process related to the second substance.

18. The robot system according to claim 15, wherein The storage location of the second original container is in a refrigerator or a dark place, When the metering process related to the first substance is performed earlier than the metering process related to the second substance, the controller causes the mobile manipulator to complete the preparation transfer process related to the second original container after starting the metering process related to the first substance.

19. The robot system according to any one of claims 1 to 3, wherein The robot system further includes a mobile manipulator having a mechanism for moving on the ground and a mechanism for gripping an object, The controller controls the actions of the mobile manipulator and the workbench robot respectively, The controller performs the following process: Prepare the first original container containing the first substance and the second original container containing the second substance of a different type from the first substance as the original containers. When the metering process related to the first substance is performed earlier than the metering process related to the second substance, after the metering process related to the first substance, the controller causes the mobile manipulator to retrieve a part or all of the destination container containing the first substance from the workbench.

20. The robot system according to claim 19, wherein The controller performs the following processing: after performing the processing of recovering a part or all of the destination container from the workbench, the mobile robotic arm is caused to supply an empty destination container to the workbench.

21. The robot system according to claim 19, wherein, before ending the metering process related to the second substance, the controller starts the process of causing the mobile robotic arm to convey a part or all of the destination container containing the first substance from the workbench to a refrigerator or a dark place.

22. The robot system according to any one of claims 1 to 3, wherein, the robot system further includes a mobile robotic arm having a mechanism for moving on the ground and a mechanism for holding an object, the controller controls the operations of the mobile robotic arm and the workbench robot respectively, the controller performs the following processing: when the same type of the substance is placed in a plurality of the destination containers during the metering process, before ending the metering related to all the destination containers, the mobile robotic arm is caused to recover at least a part of the destination containers for which the metering has ended from the workbench.

Images