Work instruction device

Abstract

A robot system (100) includes a mobile robot (10) including a local controller (11), a table robot (20) including a local controller (21), a unified controller (30), and a job instruction device (40) that performs a job instruction for performing an experiment on cells. The work instruction device (40) accesses experiment definition data including ready-to-transport information and table experiment specifying information, creates a ready-to-transport instruction for taking out the cells to be experimented from the first storage site and transporting the cells to the table on the basis of the ready-to-transport information, and creates a work instruction for taking out the cells to be experimented from the first storage site and transporting the cells to the table on the basis of the table experiment specifying information. A table experiment indication is created for performing an experiment for the delivered cells.

Description

Technical Field

[0001] This disclosure relates to a work instruction device for creating work instructions for controlling a robot. Background Technology

[0002] The following technology exists: using a marking method of processing marks to create protocols for experiments in the fields of biochemistry, biology, and bioengineering using computers. For example, a protocol creation apparatus (Patent Document 1) has been proposed, which includes: an initial mark configuration unit for configuring initial marks indicating the initial state of a container containing an object to be examined; a sequence line configuration unit for configuring a sequence line indicating the processing order for the container along a first axis starting from the initial marks; a processing mark configuration unit for arranging tables indicating the processing performed on the container along the sequence line, and arranging processing marks indicating the processing performed on a container along the sequence line when multiple processing is performed on one container; and a separation unit for separating the configurations of the initial marks, sequence lines, and processing marks for different containers along a second axis intersecting the first axis.

[0003] Furthermore, there are techniques for enabling robots to execute schemes created by computers. For example, a system (Patent Document 2) has been proposed that automatically generates motion instructions using a motion instruction generation device for enabling a processing system including a robot to perform scheme-based experiments. The motion instruction generation device includes: a processing task generation unit that generates one or more tasks corresponding to each of two or more processing indicators based on multiple processing indicators with a predetermined processing order and one or more tasks stored in a task storage unit; and a connecting task generation unit that generates a connecting task for moving an arm from a first reference point to a second reference point based on a first reference point and a second reference point, with respect to two processing indicators in a consecutive processing order. The first reference point belongs to the last first task among the one or more tasks corresponding to the processing indicator with a preceding processing order, and the second reference point belongs to the first second task among the one or more tasks corresponding to the processing indicator with a following processing order.

[0004] Existing technical documents

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent No. 5886482

[0007] Patent Document 2: Japanese Patent No. 6399214 Summary of the Invention

[0008] The technical problem that the invention aims to solve

[0009] Typically, the experimental protocol describes the steps of the experimental operation performed by the researcher on the workbench. The technologies described in the aforementioned patent documents 1 and 2 also utilize computers in the creation of such protocols and enable robots to perform experimental operations based on the protocols.

[0010] On the other hand, regarding experiments involving cells, the following scenarios are common: cells that have been processed through experimental procedures on a workbench are stored or cultured in incubators or similar incubators. In subsequent experiments, specific cells that have been stored or cultured are first removed, and then experimental procedures are performed on those cells.

[0011] The purpose of this disclosure is to automate experiments on cells, including removing cells intended for experimentation and, if necessary, preserving cells that have been processed through experimental procedures.

[0012] Solutions for solving technical problems

[0013] To achieve the above objectives, the operation instruction device disclosed herein provides operation instructions to a robot system to perform experiments targeting cells. The robot system includes: a mobile manipulator with mechanisms for movement on the ground and for grasping objects; a workbench robot fixed relative to a workbench and with mechanisms for grasping objects on the workbench; and controllers for controlling the movements of the mobile manipulator and the workbench robot. The operation instruction device includes: an experiment definition data access unit that accesses experiment definition data, which includes preparation delivery information and workbench experiment determination information. The preparation delivery information is for setting the experiment to... The information required to remove the cells of the experimental subject from the first storage location; the workbench experiment determination information is information for determining the experiment based on the workbench robot; and the instruction creation unit, which creates a preparation delivery instruction for the controller controlling the movement of the mobile manipulator, and a workbench experiment instruction for the controller controlling the movement of the workbench robot. The preparation delivery instruction is created based on the preparation delivery information and is an instruction for removing the cells, which are the experimental subject, from the first storage location and delivering them to the workbench. The workbench experiment instruction is created based on the workbench experiment determination information and is an instruction for performing the experiment on the delivered cells.

[0014] The effects of the invention

[0015] According to the operation instruction device involved in this disclosure, experiments on cells can be automated, including removing cells intended for experimentation and, if necessary, storing cells that have been processed through experimental operations. Attached Figure Description

[0016] Figure 1 This is a simplified top view illustrating an example of the experimental environment in which the robot system involved in this embodiment operates.

[0017] Figure 2 This is a block diagram illustrating a simplified structure of the robot system according to this embodiment.

[0018] Figure 3 This is a 3D view of the mobile robotic arm.

[0019] Figure 4 This is a 3D view of the workbench robot.

[0020] Figure 5 This is a block diagram showing the hardware structure of the work instruction device.

[0021] Figure 6 This is a block diagram illustrating an example of the functional structure of a work instruction device.

[0022] Figure 7 This is a flowchart illustrating the process of handling work instructions during a thawing experiment.

[0023] Figure 8 This is a diagram showing an example of data before input for a thawing experiment.

[0024] Figure 9 This is a diagram showing an example of the data at the start of a thawing experiment.

[0025] Figure 10 This is a diagram illustrating an example of subsequent experimental data in a thawing experiment.

[0026] Figure 11 This is a flowchart illustrating the process of handling work instructions during a maintenance subculture experiment.

[0027] Figure 12 This is a diagram illustrating an example of data maintained before the input of a subculture experiment.

[0028] Figure 13 This is a diagram illustrating an example of data maintained at the start of a subculture experiment.

[0029] Figure 14 This is a diagram illustrating an example of data from a scheme for maintaining generation.

[0030] Figure 15 This is a diagram illustrating an example of subsequent experimental data in a passaging experiment.

[0031] Figure 16 This is a diagram showing an example of data at the start of an amplification and passaging experiment.

[0032] Figure 17 This is a figure illustrating an example of subsequent experimental data in an amplification and passaging experiment.

[0033] Figure 18 This is a flowchart illustrating the process of handling work instructions in the case of conducting a pre-testing experiment.

[0034] Figure 19 This is a diagram illustrating an example of data obtained before the experimental pretreatment input.

[0035] Figure 20 This is a diagram showing an example of data obtained at the start of a pretreatment experiment.

[0036] Figure 21 This is a figure illustrating an example of subsequent experimental data in a pretreatment experiment.

[0037] Figure 22 This is a flowchart illustrating the control processing flow based on a unified controller.

[0038] Figure 23 This is a flowchart illustrating the process of inheritance.

[0039] Figure 24 This is a diagram used to illustrate the inoculation of cells into the second container.

[0040] Figure 25A These are other examples of diagrams used to illustrate the structure of a controller.

[0041] Figure 25B These are other examples of diagrams used to illustrate the structure of a controller.

[0042] Figure 26A These are other examples of diagrams used to illustrate the structure of a controller.

[0043] Figure 26B These are other examples of diagrams used to illustrate the structure of a controller. Detailed Implementation

[0044] Hereinafter, an example of an embodiment of the present disclosure will be described with reference to the accompanying drawings. It should be noted that the same or equivalent constituent elements and parts are labeled with the same reference numerals in the various drawings. Furthermore, the dimensions and scale of the drawings have been exaggerated for ease of explanation and may sometimes differ from the actual scale.

[0045] In this embodiment, a robotic system that automates experiments on cells in an environment identical to that used by researchers is described. It should be noted that the term "experiment" in this embodiment is not limited to experiments aimed at obtaining the results of operations or treatments on objects such as cells, but also includes situations where operations or treatments on objects are performed without investigating the results. For example, cell passage is also referred to as an experiment.

[0046] A typical example of an experimental environment used by researchers could be an environment with a large number of workbenches for conducting experiments, while cell observation devices, cell counting devices, centrifuges, etc., are located in places far from the workbenches. When researchers are conducting experiments, they work at the workbenches while simultaneously moving between the workbenches and the cell observation devices, cell counting devices, or centrifuges as needed, carrying sample containers and using these devices.

[0047] The robot system described in this embodiment operates in the same environment as the typical experimental environment used by the researchers described above. Figure 1 This is a simplified top view illustrating an example of the experimental environment in which the robot system according to this embodiment operates. Figure 1 In the examples, in addition to the cell observation devices, cell counting devices, centrifuges, and workbenches mentioned above, experimental equipment such as medicine cabinets, incubators, refrigerators, consumable cabinets, charging stations, pools, and chairs are also included in the experimental environment. It should be noted that... Figure 1 The microscope in the image is an example of the aforementioned cell observation and cell counting devices.

[0048] like Figure 2 As shown, the robot system 100 involved in this embodiment includes: a mobile manipulator 10, a workbench robot 20, a unified controller 30, a work instruction device 40, an experimental definition database 50, a scheme database 52, and a storage location database 54. It should be noted that... Figure 2 The example shown illustrates two mobile robotic arms 10 and two workbench robots 20, but this is not a limitation. There can be one mobile robotic arm 10 and three or more workbench robots 20.

[0049] The mobile robotic arm 10 includes: a local controller 21, a movement mechanism for moving on the ground, and a gripping mechanism for holding objects. Figure 3 The image shows a perspective view of the mobile robotic arm 10. (See image for details.) Figure 3 As shown, the mobile robotic arm 10 includes a trolley 12 and a robotic arm 13.

[0050] The trolley 12 is an example of a moving mechanism, having two drive wheels 12A driven by control based on a local controller 11. Furthermore, the trolley 12... Figure 3 The bottom surface near the front of the trolley 12 has small casters that can freely change direction. Two drive wheels 12A are driven independently, so the trolley 12 can move freely on the ground, just like the researcher. The movement mechanism is not limited to two independent drive wheels; it can be any mechanism capable of moving on the ground, preferably one with fewer restrictions on movement including rotation. The robotic arm 13, an example of a gripping mechanism, is mounted on the trolley 12. The robotic arm 13 has an arm 13A and a hand 13B attached to the end of the arm 13A. The arm 13A can be configured as a vertical, multi-jointed arm with a structure for adjusting the position and orientation of the hand 13B in three-dimensional space, for example, with six degrees of freedom of displacement. The hand 13B is, for example, a two-fingered robotic hand capable of gripping containers, etc. It should be noted that... Figure 3 Although an example of a mobile robotic arm 10 with one robotic arm 13 is shown, the robotic arm 13 can also be configured to have two wrists.

[0051] The mobile robotic arm 10 has a vision sensor (not shown) near the hand 13B of the arm 13A. The vision sensor is used to identify objects around the mobile robotic arm 10, as well as objects to be held, such as containers, by the hand 13B. The vision sensor is configured to include a camera and an image processing device. By processing the image captured by the camera, the surrounding objects and the objects to be held are identified. This enables autonomous movement of the mobile robotic arm 10. It should be noted that the sensor used to identify surrounding objects and the objects to be held is not limited to a vision sensor; a lidar or similar device capable of measuring the three-dimensional position of various points in the surrounding area can also be used. Furthermore, the sensor for identifying surrounding objects can also be mounted on the trolley 12.

[0052] The local controller 11 controls the movements of each motor of the mobile robot 10 in a manner that enables it to receive instructions from the unified controller 30. Specifically, the local controller 11 controls the movements of the mobile robot 10 based on recognition results output from the vision sensor and instructions from the unified controller 30. More specifically, the local controller 11 controls the movements of the mobile robot 10 by using its hand 13B to grasp a container or other object and transport the grasped object to a predetermined position such as a worktable.

[0053] The workbench robot 20 is fixed relative to the workbench and includes a local controller 21 and a gripping mechanism for holding objects on the workbench. The objects gripped by the workbench robot 20 include, in addition to containers, suction tubes for aspirating cells or other substances within the containers and for removing cells or other substances from the containers, motorized pipettes, and motorized micropipettes. Figure 4 The image shows a perspective view of the workbench robot 20. (See image for details.) Figure 4 As shown, the workbench robot 20 has two robot arms 22 and a vision sensor 23.

[0054] The robotic arm 22 is an example of a gripping mechanism, comprising an arm 22A and a hand 22B attached to the end of the arm 22A. The arm 22A may be configured as a vertical, multi-jointed arm with a structure for positioning and orientation of the hand 22B in three-dimensional space, such as with six degrees of freedom of displacement. The hand 22B is a three-fingered robotic hand capable of gripping containers, for example, with each finger having joints.

[0055] exist Figure 4 The lower part shows a simplified diagram of the hand 22B. In this simplified diagram, the joints of each finger of the hand 22B are omitted, and the shape and arrangement of each finger are simplified for illustration. The hand 22B has a first group of fingers including a first finger 22B1, and a second group of fingers including a second finger 22B2 and a third finger 22B3. The first and second groups are arranged opposite each other and are configured to grasp objects between them. Corresponding to human fingers, the first finger 22B1 functions as the thumb, the second finger 22B2 functions as the index finger, and the third finger 22B3 functions as the middle finger. It should be noted that the hand 22B can also be a robotic hand with four or more fingers. That is, the first group can also include fingers other than the first finger 22B1, and the second group can also include fingers other than the second finger 22B2 and the third finger 22B3. Furthermore, it is preferable that each finger of the hand 22B has two joints midway through its length. This allows for a stable grip, similar to enclosing an object, and also facilitates precise operations such as pressing buttons on experimental devices.

[0056] In the following description, the left and right hands of the two robotic arms 22 22 will be distinguished, with the left hand labeled as hand 22BL and the right hand labeled as hand 22BR. Similarly, the fingers of the hands 22B will be labeled as first finger 22B1L, second finger 22B2L, and third finger 22B3L for the left hand 22BL, and as first finger 22B1R, second finger 22B2R, and third finger 22B3R for the right hand 22BR.

[0057] The vision sensor 23 is mounted on the gimbal and is used to identify objects such as containers that are handled and placed on the worktable.

[0058] The local controller 21 controls the movements of each motor of the table robot 20 in a manner that enables it to receive instructions from the unified controller 30. Specifically, the local controller 21 controls the movements of the table robot 20 based on the recognition results output from the vision sensor 23 and instructions from the unified controller 30. More specifically, the local controller 21 controls the movements of the table robot 20 in a manner that causes the two robotic arms 22 to cooperate in performing experimental processing on the cells. For example, the local controller 21 controls the movements of the table robot 20 in such a way that one robotic arm 22's hand 22B holds a container, and the other robotic arm 22's hand 22B holds a pipette, performing processes such as aspirating liquid from the container.

[0059] It should be noted that, in Figure 4 Although the example shown is of the workbench robot 20 being directly fixed to the workbench, the relative positional relationship between the workbench robot 20 and the workbench can be fixed. For example, it can also be fixed to the ground, wall, ceiling, etc.

[0060] The unified controller 30, based on the work instructions from the work instruction device 40, collaborates with the local controller 11 of the mobile robot 10 and the local controller 21 of the workbench robot 20 to control the respective movements of the mobile robot 10 and the workbench robot 20. Specifically, the unified controller 30 enables the mobile robot 10 and the workbench robot 20 to perform experiments including the transport and setup of cell-containing containers between the workbench and other experimental equipment.

[0061] The gripping actions and operation of the experimental equipment by the mobile robot 10 are achieved by the local controller 11 executing a pre-taught motion plan based on the recognition results output from the vision sensor. The same applies to the gripping actions and operation of the experimental equipment by the workbench robot 20.

[0062] Furthermore, the movement of the mobile robot 10 is achieved by the local controller 11 moving the mobile robot 10 towards the position of the experimental equipment indicated by the unified controller 30 based on a pre-stored layout diagram of the experimental environment. It should be noted that the local controller 11 moves the mobile robot 10 towards the target position while avoiding obstacles, based on the recognition results output from the vision sensor.

[0063] The work instruction device 40 provides work instructions for performing experiments on cells. Figure 5 This is a block diagram showing the hardware structure of the work instruction device 40. (Example) Figure 5As shown, the work instruction device 40 includes a CPU (Central Processing Unit) 41, a memory 42, a storage device 43, an input device 44, an output device 45, a storage medium reading device 46, and a communication I / F (Interface) 47. All components are connected to each other via a bus 48.

[0064] The storage device 43 stores a program for executing the job instruction processing described later. The CPU 41 is a central processing unit that executes various programs or controls various structures. That is, the CPU 41 reads the program from the storage device 43 and executes the program using the memory 42 as the working area. The CPU 41 performs control of the aforementioned structures and various arithmetic operations according to the program stored in the storage device 43.

[0065] The memory 42 consists of RAM (Random Access Memory), which serves as a temporary storage area for programs and data. The storage device 43 consists of ROM (Read Only Memory), HDD (Hard Disk Drive), SSD (Solid State Drive), etc., which store various programs, including the operating system, and various data.

[0066] For example, input device 44 can be a keyboard, mouse, or other device used for various inputs. Output device 45 can be a display, printer, or other device used for outputting various information. Alternatively, a touch panel display can be used as output device 45, allowing the touch panel display to function as input device 44.

[0067] The storage medium reading device 46 performs tasks such as reading data from various storage media, including CD (Compact Disc)-ROM, DVD (Digital Versatile Disc)-ROM, Blu-ray discs, and USB (Universal Serial Bus) memory, and writing data to the storage media. The communication I / F 47 is an interface for communicating with other devices, using standards such as Ethernet, FDDI, and Wi-Fi. It should be noted that the unified controller 30 is included among these other devices. Additionally, other devices may include, as needed, the local controller 11 of the mobile robot 10, the local controller 21 of the workbench robot 20, a cell observation device, a cell counting device, and a centrifuge. In this embodiment, it is assumed that other devices besides these also have communication capabilities.

[0068] It should be noted that the hardware structure of the unified controller 30, the local controller 11 of the mobile robot 10, and the local controller 21 of the workbench robot 20 is roughly the same as the hardware structure of the work instruction device 40, so the description is omitted.

[0069] Next, the functional structure of the work instruction device 40 will be explained. Figure 6 This is a block diagram illustrating an example of the functional structure of the work instruction device 40. For example... Figure 6 As shown, the job instruction device 40 includes an experiment definition data access unit 142, an instruction creation unit 144, an input unit 146, and a subsequent experiment data creation unit 148 as its functional structure. Each functional structure is implemented by the CPU 41 reading the job instruction program stored in the storage device 43, deploying the job instruction program to the memory 42, and executing it.

[0070] The experiment definition data access unit 142 accesses the experiment definition DB50, which stores experiment definition data including preparation delivery information, workbench experiment determination information, and storage delivery information. The physical location of the experiment definition DB50 is arbitrary, as long as the work instruction device 40 can access it. For example, it can be stored in the storage device 43 within the work instruction device 40, in an external storage device connected to the work instruction device 40, or in a server accessible via a network. The work instruction device 40 can also access external devices indirectly, for example, by specifying specific experiment definition data using data such as an experiment ID that serves as a key for determining the experiment, and then sending the specified experiment definition data in response to the request.

[0071] The preparation transport information is the information needed to remove the cells, which are intended to be used in the experiment, from the first storage location. The workbench experiment determination information is the information used to determine the experiment based on the workbench robot 20. The storage and transport information is the information used to transport the cells, after the experiment has been performed in the workbench, to the second storage location.

[0072] It should be noted that the experiment used to determine information through the workbench experiment is not limited to experiments where only the workbench robot 20 operates or processes the information; it can also include experiments in which the mobile robot 10 participates midway through the experiment. For the part involving the mobile robot 10, the workbench experiment instructions include instructions for the controller that controls the movement of the mobile robot 10. Here, "controller" refers to the controller that receives the workbench experiment instructions from the work instruction device 40. Figure 2In this implementation, the unified controller 30 is compatible. The movement of the mobile robot 10 is controlled hierarchically by the unified controller 30 and the local controller 11, and the unified controller 30 is also compatible with the controller that controls the movement of the mobile robot 10. For example, the mobile robot 10 may participate in the experiment by transporting reagents, tools, etc., or by transporting the cells of the experimental subject between the workbench and equipment such as cell observation devices, centrifuges, and incubators. It is assumed that the incubator here is not used primarily for cell culture, but rather for, for example, in assay pretreatment, after the cells have been treated with reagents, to keep the cells in a constant temperature environment for a constant time while waiting for the effects of the reagents to become apparent.

[0073] In addition, the experiment definition data access unit 142 enables the experiment definition DB50 to store subsequent experiment data created by the subsequent experiment data creation unit 148, which will be described later.

[0074] The instruction creation unit 144 creates a preparation delivery instruction for the controller controlling the movement of the mobile robot 10, and a workbench test instruction for the controller controlling the movement of the workbench robot 20. Here, "controller" refers to the controller that has been assigned the preparation delivery instruction or the workbench test instruction from the work instruction device 40. Figure 2 In the implementation, the unified controller 30 is compatible. The movement of the mobile robot 10 is controlled hierarchically by the unified controller 30 and the local controller 11, so the unified controller 30 is also compatible with the controller that controls the movement of the mobile robot 10. In addition, the movement of the workbench robot 20 is controlled hierarchically by the unified controller 30 and the local controller 21, so the unified controller 30 is also compatible with the controller that controls the movement of the workbench robot 20.

[0075] The preparation transport instruction, created based on preparation transport information, is an instruction for removing cells intended as experimental subjects from a first storage location and transporting them to a workbench. For example, the preparation transport instruction includes instructions related to the movement of the mobile robot 10 and instructions related to the operation of the mobile robot 10. For example, instructions related to the movement of the mobile robot 10 include information about the location of the movement destination. For example, instructions related to the operation of the mobile robot 10 include information for grasping an object and information for placing the grasped object. For example, information for grasping an object includes, if the object being grasped is a container, information on identifying the container and information on identifying the location of the container. For example, information for placing the object includes information on the position of the object on the workbench.

[0076] Benchtop experiment instructions are instructions created based on benchtop experiment determination information and used to perform experiments on the delivered cells.

[0077] Additionally, the instruction creation unit 144 creates storage and transport instructions for the controller that controls the movement of the mobile robotic arm 10. The storage and transport instructions are created based on storage and transport information and are used to transport cells that have undergone experiments on the workbench to a second storage location. Here, "controller" refers to the controller that receives the storage and transport instructions from the work instruction device 40. Figure 2 In the implementation, the unified controller 30 is compatible. The movement of the mobile robot 10 is controlled hierarchically by the unified controller 30 and the local controller 11, so the unified controller 30 is also compatible with the controller that controls the movement of the mobile robot 10.

[0078] The input unit 146 accepts input of workbench experiment determination information. If the workbench experiment determination information is not included in the experiment definition data corresponding to the experiment to be performed, or if it is desired to change the workbench experiment determination information included in the experiment definition data, the input unit 146 accepts the workbench experiment determination information input by the user.

[0079] The subsequent experimental data creation unit 148 creates data for subsequent experiments (hereinafter referred to as "subsequent experimental data") that includes data for use in subsequent experiments, such as data for determining the container containing cells or data for determining a second storage location for storing the container containing cells.

[0080] Subsequent experimental data may include both data identifying the container holding the cells and data identifying the second storage location for holding the container, or data on either one. If the data on the second storage location is not included, management is performed to allow the second storage location to be determined from the data identifying the container. For example, at the moment the container is placed in the second storage location, a separately prepared system for managing storage locations records which container was placed in which storage location. Thus, during subsequent experiments, the storage location of the container can be retrieved from the information identifying the container.

[0081] Alternatively, the container holding the cells after the experiment can be placed in a second storage area within the reach of the workbench robot 20, instead of being transported by the mobile robot 10, for subsequent experiments. In this case, if subsequent experiments are conducted on the same workbench, preparation and transport based on the mobile robot 10 are not required in the subsequent experiments.

[0082] Next, the function of the robot system 100 according to this embodiment will be explained. Hereinafter, explanations will be provided for experiments including thawing experiments, passage experiments, and pretreatment experiments. It should be noted that in this embodiment, passage treatment aimed at ensuring cell survival rather than increasing cell number is called maintenance passage, while passage treatment aimed at increasing cell number is called expansion passage. In maintenance passage, the cell number increases during culture in the incubator, but the number of cells seeded into the new container during the passage experiment remains at the same level as the number of cells before culture. Cells not seeded into the new container are discarded. In expansion passage, a greater number of cells than the number of cells before culture are seeded into the new container. Therefore, multiple new containers are used to seed cells cultured in one cell container before the passage experiment, or larger containers are used.

[0083] Figure 7 This is a flowchart illustrating the process of job instruction processing in the case of performing a defrosting experiment by the CPU 41 of the job instruction device 40.

[0084] In step S10, when freezing cells, the creation unit 144 is instructed to create pre-thaw experiment input data including cell ID, cell ID branch number, container ID, and container storage location ID. The container ID and container storage location ID are examples of information to be transmitted. The experiment definition data access unit 142 stores the created pre-thaw experiment input data in the experiment definition DB50. Figure 8 The diagram shows an example of data stored in the experiment definition DB50 before the thawing experiment input. Each ID can be automatically labeled based on predetermined rules, or it can be manually entered or modified via the input unit 146.

[0085] exist Figure 8 In the example, the cell ID is written as "CEL-aaa-bb". CEL is the string representing the cell ID, aaa is the number indicating the cell type, and bb is the number used to distinguish entry paths, variants, etc. Additionally, the cell ID branch number is written as "-nop-...". The cell ID branch number is updated by appending the cell from which it belongs in the nth container after being divided into multiple containers during amplification and passage processing, in the order n, o, p, ... Figure 8 In the example, n=14, which shows that the thawed cell is the cell in the 14th container after the cells were divided into multiple containers before freezing.

[0086] Additionally, the container ID is written in the format "CTN-cc-dd-eeeee". CTN is the string representing the container ID, cc is a number indicating the broad category of the container type (e.g., 01 for conical tubes, 02 for square flasks), dd is a number indicating the subcategory of the container type (e.g., a number associated with the container's product model), and eeee is the individual container number. Container IDs can also be obtained by pre-attaching optically readable codes such as barcodes or RFID (radio frequency identification) tags to the container and reading them. Alternatively, the container ID can be retrieved by tracking the location of the container with the identified ID and obtaining it from the container's current location.

[0087] The container storage location ID is represented in the format "PLA-ff-gg-hh-ii-jj". PLA is the string representing the container storage location ID; ff is a number representing the type of storage location, for example, 01 for refrigerator, 02 for incubator, 03 for storage cabinet, 04 for table, etc.; gg is the number identifying the storage location of the same type, for example, 03 for machine number 3 (if ff is 01 for refrigerator, it means refrigerator number 3), etc.; hh is a number representing the area within the storage location where container racks are placed. If container racks are not used, it represents the area within the storage location where containers are placed, for example, it is the cabinet number. ii is a number representing the position within the area where container racks are placed. If container racks are not used, it represents the position within the area where containers are placed, for example, it is the position on top of a cabinet. jj is a number representing the position of the container within the container rack. If container racks are not used, for example, it is 00.

[0088] The storage location DB54 stores storage location data that establishes a correspondence between storage location IDs and storage location locations. The location of a storage location is represented by a combination of the location of equipment such as refrigerators, incubators, storage cabinets, and tables serving as storage locations, and the location within that equipment. For example, the location of an equipment is represented by coordinates set within the room where the equipment is located. Similarly, the location within an equipment is represented by coordinates set within each piece of equipment. The physical location of the storage location DB54 can be within the same storage device as the storage device storing the aforementioned experimental definition DB50, or it can be within another storage device. For example, it can also be within the storage device of the unified controller 30. If the unified controller 30 does not have a storage location DB54, the unified controller 30 can obtain the storage location data from the storage location DB via the work instruction device 40, or it can obtain the storage location data directly from the storage location of the storage location DB54 without going through the work instruction device 40, for example, via wireless communication.

[0089] Next, in step S12, the creation unit 144 is instructed to create experimental definition data (data at the start of the thawing experiment) for the thawing experiment. Specifically, the input unit 146 accepts input from any one of the following: cell ID (and cell ID branch number), container ID before the experiment, and container storage location ID before the experiment. The creation unit 144 is instructed to search the experimental definition DB50 using the accepted IDs and obtain the matching data before the thawing experiment input from the experimental definition DB50 as the experimental definition data. Then, the creation unit 144 is instructed to determine the scheme ID for the thawing experiment. The scheme ID is an example of workbench experiment determination information. The scheme ID can also be determined by accepting input or by selecting from a list of displayed options. The creation unit 144 is instructed to append the determined scheme ID to the experimental definition data.

[0090] exist Figure 9 In the example, the protocol ID is written as "PRT-kk-lll". PRT is the string representing the protocol ID. kk is a number representing the type of protocol, for example, 01 for thawing, 02 for maintenance passage, 03 for amplification passage, 04 for pretreatment, etc. lll is the identification number within the same protocol.

[0091] Additionally, the instruction creation unit 144 appends the experiment ID, the cell ID branch number after the experiment, the container ID after the experiment, and the container storage location ID after the experiment to the experiment definition data. Each ID can also be automatically labeled based on predetermined rules, or it can be manually entered or modified via the input unit 146.

[0092] exist Figure 9 The diagram shows an example of the created experimental definition data (data at the start of the unfreezing experiment). This experimental definition data can be temporarily stored in the experimental definition DB50, or it can be set to be sent to the unified controller 30 without being stored in the experimental definition DB50. In the former case, the experimental definition data access unit 142 causes the experimental definition data created by the instruction creation unit 144 to be stored in the experimental definition DB50.

[0093] Next, in step S14, the instruction creation unit 144 instructs the unified controller 30 to execute the experiment. Specifically, the input unit 146 accepts the input of the experiment ID. The instruction creation unit 144 uses the accepted experiment ID to retrieve the experiment definition DB50 and obtains the data that conforms to the experiment definition from the experiment definition DB50. This process is not required if the experiment definition data created in step S12 is not stored in the experiment definition DB50 before transmission. It should be noted that the experiment definition data can also be retrieved using any one of the following IDs instead of the experiment ID: cell ID (and cell ID branch number), container ID before the experiment, and container storage location ID before the experiment.

[0094] The instruction creation unit 144 retrieves the protocol data, determined by the protocol ID included in the acquired experimental definition data, from the protocol DB52. The protocol data is text-based, describing the protocol ID, experimental content, target cells, and experimental procedures. Multiple protocol data sets are stored in the protocol DB52 for each type of experiment. The instruction creation unit 144 instructs the execution of the experiment by sending a command instructing the experiment to be executed, the experimental definition data, and the protocol data to the unified controller 30.

[0095] Next, in step S16, the creation unit 144 is instructed to create subsequent experimental data. Specifically, the creation unit 144 is instructed to create data such as... Figure 10 The subsequent experimental data, as shown, inherits the cell IDs included in the experimental definition data indicating the performed experiment, and sets the post-experiment cell ID branch number, post-experiment container ID, and post-experiment container storage location ID included in the experimental definition data indicating the performed experiment to the pre-experiment cell ID branch number, pre-experiment container ID, and pre-experiment container storage location ID. Then, the experimental definition data access unit 142 stores the created subsequent experimental data in the experimental definition DB50. Then, the job instruction processing in the case of performing a thawing experiment ends.

[0096] Figure 11 This is a flowchart illustrating the process of handling job instructions during a maintenance propagation experiment executed by the CPU 41 of the job instruction device 40. It should be noted that this is for situations involving... Figure 7 The operation instructions for the thawing experiment shown are the same, but detailed instructions are omitted.

[0097] In step S20, the creation unit 144 is instructed to create experimental definition data (data at the start of the maintenance subculture experiment) for maintaining the subculture experiment. Specifically, the data matching the input data of the maintenance subculture experiment is retrieved from the experimental definition DB50 using any one of the following IDs: cell ID (and cell ID branch number), container ID before the experiment, and container storage location ID before the experiment. Figure 12 As shown, data prior to the maintenance passaging experiment input is stored as subsequent experimental data for any of the previous thawing experiments, maintenance passaging experiments, and amplification passaging experiments.

[0098] Instruction creation unit 144 to, if the acquired experimental definition data is subsequent experimental data created in a past thawing experiment, such as Figure 13As shown, the protocol ID for maintaining the passage experiment is determined and added to the experiment definition data. Additionally, the instruction creation unit 144 adds the experiment ID, specified number of passages, cell ID branch number after the experiment, number of passages completed before the experiment, culture time after the experiment, container ID after the experiment, and container storage location ID after the experiment to the experiment definition data.

[0099] exist Figure 13 In the example, the number of passages completed before the experiment is denoted as "m". m is incremented regardless of whether maintenance or amplification passages are performed. Figure 13 Although the number of passages completed after thawing is shown, the number of passages may also be included if passage was performed before freezing.

[0100] When the acquired experimental definition data is subsequent experimental data created in a past maintenance passage experiment or amplification passage experiment, the instruction creation unit 144 appends the experiment ID, post-experiment cell ID branch number, post-experiment culture time, post-experiment container ID, and post-experiment container storage location ID to the experimental definition data. Each ID can be automatically labeled based on predetermined rules, or it can be manually entered or modified via the input unit 146. Furthermore, the post-experiment culture time and protocol ID can also be manually changed.

[0101] Next, in step S22, the creation unit 144 is instructed to instruct the unified controller 30 to execute the experiment. The creation unit 144 is instructed to retrieve the experiment definition DB50 using the experiment ID, and obtain matching experiment definition data from the experiment definition DB50. The obtained experiment definition data is treated as the data used at the start of the maintenance propagation experiment. The creation unit 144 is instructed to obtain the scheme data determined by the scheme ID included in the obtained experiment definition data from the scheme DB52. Figure 14 The diagram shows an example of protocol data for maintaining passages. It should be noted that actual protocol data also specifies the types and quantities of reagents and culture media. The instruction creation unit 144 instructs the execution of the experiment by sending commands, experimental definition data, and protocol data to the unified controller 30.

[0102] Next, in step S24, the instruction creation unit 144 is instructed to create subsequent experimental data. Specifically, the instruction creation unit 144 creates subsequent experimental data that inherits the cell ID, specified passage number, post-experiment culture time, and protocol ID from the experimental definition data of the experiment to be performed, and sets the post-experiment cell ID branch number, post-experiment container ID, and post-experiment container storage location ID of the experimental definition data of the experiment to the pre-experiment cell ID branch number, pre-experiment container ID, and pre-experiment container storage location ID. Furthermore, the instruction creation unit 144 sets the pre-experiment passage completion number of the subsequent experimental data to one more than the pre-experiment passage completion number of the experimental definition data of the experiment to be performed. Then, the experimental definition data access unit 142 accesses the data as follows: Figure 15 The subsequent experimental data created as shown is stored in the experimental definition DB50.

[0103] Next, in step S26, the instruction creation unit 144 notifies the user of the date and time of the post-experiment culture time included in the experimental definition data of the experiment, from the moment the instruction to perform the experiment was given. For example, the instruction creation unit 144 may display a message on the screen or send a reminder email to the user before a predetermined time on that date and time. Additionally, if the number of passages completed before the experiment included in the experimental definition data of the experiment plus one is consistent with the specified number of passages, the instruction creation unit 144 also notifies the user of the date and time of the culture time after the last maintenance passage experiment. Then, the work instruction processing for the maintenance passage experiment ends.

[0104] The handling of job instructions in the case of amplification and passaging experiments is the same as that for conducting amplification and passaging experiments. Figure 11 The work instructions shown are the same as those for maintaining the subculture experiment. For example, Figure 16 as well as Figure 17 As shown, in amplification and passaging experiments, the number of containers increases, and the experimental definition data and subsequent experimental data also increase accordingly, which is different from maintenance and passaging experiments.

[0105] It should be noted that, Figure 16In the example, the cell ID branch number (-nop) with o=1,2 indicates either a cell that was split into the first or second container during the amplification and passage treatment of experiment ID00193. Similarly, p=1,2 indicates either a cell that was split into the first or second container during the amplification and passage treatments of experiments ID00202 and 00203. For example, the post-experiment cell ID branch number "-14-2-1" in experiment ID00203, which is the second amplification and passage treatment, indicates that this cell was placed in the second container during the first amplification and passage treatment and in the first container during the second passage treatment. In this way, the cell splitting history can be tracked using the cell ID branch number.

[0106] Figure 18 This is a flowchart illustrating the process of job instruction processing in the case of performing a pre-measurement processing experiment executed by the CPU 41 of the job instruction device 40. It should be noted that this is for experiments involving... Figure 7 The work instructions and procedures for the thawing experiment shown are as follows. Figure 11 The operating instructions shown for maintaining or amplifying the passage experiments are the same, and detailed instructions are omitted.

[0107] In step S30, the creation unit 144 is instructed to create experimental definition data (data at the start of the pre-measurement experiment) for the pre-measurement experiment based on the data input before the pre-measurement experiment. For example... Figure 19 As shown, the data obtained before the pretreatment experiment input is stored in the experiment definition DB50 as subsequent experimental data for any of the previous thawing experiment, maintenance subculture experiment, and amplification subculture experiment.

[0108] Next, in step S32, the instruction creation unit 144 sends a command to the unified controller 30 instructing the experiment to be executed, such as... Figure 20 The experimental definition data and protocol data shown are used to guide the execution of the experiment.

[0109] Next, in step S34, the creation unit 144 is instructed to create, as follows: Figure 21 The subsequent experimental data is then obtained as shown. The experimental definition data access unit 142 then stores the created subsequent experimental data in the experimental definition DB50. Finally, the work instruction processing for the pre-measurement experiment ends.

[0110] It should be noted that while the above descriptions of the various work instruction processes have addressed the scenario where the work instruction device 40 sends commands, experiment definition data, and scheme data to the unified controller 30, this is not a limitation. For example, the work instruction device 40 could send commands and experiment IDs to the unified controller 30, and the unified controller 30 could retrieve experiment definition data determined by the experiment ID from the experiment definition DB50, and retrieve scheme data determined by the scheme ID included in the retrieved experiment definition data from the scheme DB52. The combination of commands and experiment definition data related to the determination of the experiment content constitutes a preparation transport instruction, a workbench experiment instruction, or a storage transport instruction.

[0111] The unified controller 30 creates motion instructions for controlling the mobile robot 10 and the workbench robot 20 based on the scheme data, and controls the mobile robot 10 and the workbench robot 20 via the local controller 11 and the local controller 21.

[0112] Taking the case of generational processing as an example, we will explain the control processing based on a unified controller. Figure 22 This is a flowchart illustrating the control processing flow executed by the CPU of the unified controller 30. The following explanation uses an example of adhesion culture.

[0113] In step S100, as a preparation for passage processing, the unified controller 30 causes the mobile robot 10 to remove the first container containing the cultured cells from the first incubator and transport it to the worktable. For example, the first container is a square flask, etc.

[0114] Specifically, the unified controller 30 instructs the local controller 11 of the mobile robot 10 to prepare for processing. Under the control of the local controller 11, which has received the preparation for processing instruction, the mobile robot 10 moves to the position of the first incubator, opens the door of the first incubator, and grasps the first container with its hand 13B. Then, while holding the first container, the mobile robot 10 moves to the worktable and places the first container on the worktable.

[0115] Next, in step S200, the unified controller 30 causes the mobile robotic arm 10 and the workbench robot 20 to perform a succession process. Here, refer to... Figure 23 This section explains the process of passaging.

[0116] In step S202, the unified controller 30 instructs the local controller 21 of the workbench robot 20 to remove the culture medium from the first container. For example, the local controller 21, upon receiving the instruction, controls the workbench robot 20 in the following manner: holding the first container with hand 22BL, holding the suction tube with hand 22BR, and operating the suction tube to aspirate and remove the culture medium from the first container.

[0117] Next, in step S204, the unified controller 30 instructs the local controller 21 of the workbench robot 20 to add cell dispersing enzyme solution to the first container. The cell dispersing enzyme solution is an example of a cell dispersing reagent, such as trypsin. For example, the local controller 21, upon receiving the instruction, controls the workbench robot 20 in such a way that it holds a power pipette 22BR with its hand 22BR and operates the power pipette to add the cell dispersing enzyme solution into the first container. For example, the operation of the power pipette is achieved by pressing the discharge button with any finger of the hand 22BR (e.g., the second finger 22B2R or the third finger 22B3R).

[0118] Next, in step S206, the unified controller 30 instructs the local controller 11 of the mobile robot 10 to transport the first container to the cell observation device. Upon receiving the instruction, the local controller 11 controls the mobile robot 10 to transport the first container, containing cell dispersing enzyme solution, from the worktable to a cell observation device, such as an optical microscope used for amplification image acquisition and image measurement of the observed object under computer control, and positions it at a predetermined position within the cell observation device. The cell observation device is a device capable of observing cells at a sufficiently long distance through the transparent walls of the first container.

[0119] Next, in step S208, the unified controller 30 determines whether the passage process can continue based on the observation results from the cell observation device. For example, the unified controller 30 acquires images or image measurement results of the cells in the first container from the cell observation device as observation results. If the cells have fully detached from the container wall and become floating, it is determined that the passage process can continue. It should be noted that the observation of the degree of cell detachment based on the cell observation device can be performed automatically using the cell observation device or the image processing in the unified controller 30, or it can be performed manually. If the passage process can continue, the process proceeds to step S210; if it cannot continue, the process proceeds to step S226. It should be noted that instead of proceeding to step S226, it is also possible to wait a few minutes and try the observation based on the cell observation device again. This is because sometimes it can be expected that the detachment of cells from the container wall will progress over time.

[0120] In step S210, the unified controller 30 instructs the local controller 11 of the mobile robot 10 to transport the first container onto the worktable. Upon receiving the instruction, the local controller 11 controls the mobile robot 10 to remove and hold the first container from the cell observation device, transport it to the worktable, and place it on the worktable. Steps S206 to S210 described above can be omitted if it is possible to estimate the success of cell detachment from the container wall without confirmation using the cell observation device. For example, there are precedents where the same type of cells have been cultured under the same conditions and cell detachment from the container wall has been successful under the same conditions.

[0121] Next, in step S212, the unified controller 30 instructs the local controller 21 of the workbench robot 20 to add an additive, either an enzyme reaction stop solution or a new culture medium, to the first container. For example, the local controller 21, upon receiving the instruction, controls the workbench robot 20 in such a way that hand 22BL holds the first container, hand 22BR holds an electric pipette, and adds the additive to the first container. Hereinafter, the first container containing the mixture of cells and the additive, or the third container into which the contents of the first container have been transferred, will be referred to as a centrifugation container.

[0122] It should be noted that when transferring the mixture of cells and additives into a third container, the unified controller 30 instructs the local controller 21 of the workbench robot 20 to do so. For example, upon receiving the instruction, the local controller 21 controls the workbench robot 20 in the following manner: operating an electric pipette to aspirate the mixture from the first container. For example, the operation of the electric pipette here is to press the aspiration button with any finger of the hand 22BR (e.g., the second finger 22B2R or the third finger 22B3R). Then, the local controller 21 controls the workbench robot 20 in the following manner: using the hand 22BL to hold a centrifugation container such as a conical tube. Further, the local controller 21 controls the workbench robot 20 in the following manner: operating an electric pipette to transfer the aspirated mixture to a centrifugation container. For example, the operation of the electric pipette here is to press the discharge button with any finger of the hand 22BR (e.g., the second finger 22B2R or the third finger 22B3R).

[0123] It should be noted that when the first container is directly set as a container for centrifugation, a conical tube is used from the beginning instead of a square flask.

[0124] Next, in step S214, the unified controller 30 instructs the local controller 11 of the mobile robot 10 to transport the centrifugal separation container to the centrifuge. Upon receiving the instruction, the local controller 11 controls the mobile robot 10 to transport the centrifugal separation container from the worktable to the centrifuge and place it at a predetermined position (e.g., the rotating section) within the centrifuge. At this time, if required by the centrifuge specifications, the local controller 11 controls the mobile robot 10 to remove the component to which the centrifugal separation container should be placed from the centrifuge, place the centrifugal separation container on that component, and then return the component to the centrifuge. Further, the local controller 11 controls the mobile robot 10 to press the start button of the centrifuge, thus starting the centrifuge's operation. It should be noted that the centrifuge's operation can also be started by the unified controller 30 sending a control signal to the centrifuge.

[0125] Next, in step S216, the unified controller 30 instructs the local controller 11 of the mobile robot 10 to transport the centrifugal separation container onto the worktable. Upon receiving the instruction, the local controller 11 controls the mobile robot 10 to retrieve and hold the centrifugal separation container from the centrifuge, transport it to the worktable, and place it on the worktable.

[0126] Next, in step S218, the unified controller 30 instructs the local controller 21 of the workbench robot 20 to extract a portion of the cells from the centrifugation container and place it in a sample holder. The sample holder is one that conforms to the specifications of the cell counting device. For example, in the case of an optical microscope, the sample holder is a glass slide. The slide may also have a recess for inserting the sample. Sometimes, a specific container is used as the sample holder depending on the specifications of the cell counting device.

[0127] For example, the local controller 21, upon receiving instructions, controls the benchtop robot 20 in such a way that it operates a motorized micropipette to aspirate a portion of cells from a centrifugation container. Then, the local controller 21 controls the benchtop robot 20 in such a way that it operates the motorized micropipette to displace the aspirated cells into the recess of a sample holder, such as a cell counting plate. The unified controller 30 can also cause the benchtop robot 20 to perform a staining process on the cells to be measured prior to cell counting.

[0128] It should be noted that the motorized micropipettes are instruments capable of aspirating and dispensing small amounts of cells. The on / off control of aspiration and dispensing of the motorized micropipettes can also be set to wired electronic control via a USB cable or the like, without the on / off operation of the hand 22B of the workbench robot 20.

[0129] Next, in step S220, the unified controller 30 instructs the local controller 11 of the mobile robot 10 to transport the sample holder to a cell counting device for measuring the number or concentration of cells. Upon receiving the instruction, the local controller 11 controls the mobile robot 10 to transport the sample holder from the worktable to a cell counting device, such as an optical microscope controlled by a computer for amplification image acquisition and image measurement of the observed object, and to place it in the setting section of the cell counting device. It should be noted that the "setting section" here refers to a location where, if the sample holder is placed, subsequent measurements based on the cell counting device can be performed. The sample holder placed in the setting section can also be moved to the measurement location according to the function of the cell counting device, without needing to remain in the setting section for measurement.

[0130] Next, in step S222, the unified controller 30 determines whether the passage process can continue based on the measurement results from the cell counting device. For example, the unified controller 30 obtains the number or concentration of cells in the sample holder from the cell counting device as the measurement result. If the number or concentration of cells is above a predetermined threshold, it is determined that the passage process can continue. It should be noted that the measurement of the number or concentration of cells based on the cell counting device can be performed automatically using image processing or by manual intervention. If the passage process can continue, the process proceeds to step S224; if it cannot continue, the process proceeds to step S226.

[0131] In step S224, the unified controller 30 instructs the local controller 21 of the workbench robot 20 to seed cells into one or more second containers. It should be noted that the second container can also be the same as the first container. In the case of amplification and passage, the second container can be one of two cases: maintaining the number of containers at 1 while increasing the size of the container, or increasing the number of containers. For containers with multiple pores (recesses), each pore is considered a second container.

[0132] For example, the local controller 21, upon receiving instructions, controls the workbench robot 20 in the following manner: Figure 24 As shown in the diagram above, an electric micropipette is operated to aspirate a quantity of cells (including culture medium) seeded into a second container from a centrifugation container. Then, the local controller 21 controls the workbench robot 20 in the following manner: Figure 24 As shown in the diagram below, the electrically powered micropipette is operated to dispense the aspirated cells into a second container, such as a square flask. The local controller 21 repeats this control according to the number of second containers. Additionally, the electrically powered pipette can be used to replenish culture medium into the second containers as needed.

[0133] In step S226, the unified controller 30 outputs from the output device 45 that the passaging process cannot continue, ending the passaging process and control processing. At this time, the output may also include information indicating the reason for the inability to continue. In this way, the person receiving the output or the higher-level system can easily grasp the status of the passaging process and handle it appropriately. It should be noted that the next first container in the first incubator can also be used as the object of passaging to continue the control processing.

[0134] In this case, the process can return to step S100 of the control process after step S226.

[0135] Next, in step S300, as a final step in the passage process, the unified controller 30 causes the mobile robot 10 to place the second container containing the passaged cells into the second incubator. The second incubator can also be the same as the first incubator.

[0136] Specifically, the unified controller 30 instructs the local controller 11 of the mobile robot 10 to perform a sorting process. Under the control of the local controller 11, which receives the sorting process instruction, the mobile robot 10 grasps the second container on the worktable and moves it to the position of the second incubator, opens the door of the second incubator, and stores the second container inside the second incubator. Then, the control process ends.

[0137] As described above, the robot system according to this embodiment includes: a mobile manipulator having a mechanism for moving on the ground and a mechanism for grasping objects; a workbench robot fixed relative to a workbench and having a mechanism for grasping objects on the workbench; a controller for controlling the movement of the mobile manipulator and a controller for controlling the movement of the workbench robot; and a work instruction device for issuing work instructions for performing experiments on cells. The work instruction device includes: an experiment definition data access unit that accesses experiment definition data, which includes preparation delivery information and workbench experiment determination information. The preparation delivery information is information required to remove cells, which are the subjects of the experiment, from a first storage location, and the workbench experiment determination information is information for determining the experiment based on the workbench robot; and an instruction creation unit that creates preparation delivery instructions for the controller controlling the movement of the mobile manipulator and workbench experiment instructions for the controller controlling the movement of the workbench robot. The preparation delivery instructions are instructions created based on the preparation delivery information for removing cells, which are the subjects of the experiment, from the first storage location and delivering them to the workbench. The workbench experiment instructions are instructions created based on the workbench experiment determination information for performing experiments on the delivered cells. This automates experiments involving cells, including removing cells intended for experimentation and, if necessary, preserving cells that have been processed through experimental procedures.

[0138] Furthermore, in the above embodiments, such as Figure 2 As shown, as an example of the controller disclosed herein, a case has been described using a unified controller 30 independent of the mobile robotic arm 10 and the workbench robot 20, but it is not limited thereto. For example, as Figure 25A As shown, any workbench robot 20 can also be equipped with a unified controller 30, such as... Figure 25B As shown, any mobile robotic arm 10 can be equipped with a unified controller 30. In this case, the work instruction device 40 only needs to be able to communicate wirelessly with the unified controller 30.

[0139] In addition, such as Figure 26A as well as Figure 26B As shown, the controller of this disclosure can also be composed of multiple distributed controllers 60. In this case, the distributed controllers 60 communicate with each other to control each of the mobile robot 10 and the workbench robot 20 in a cooperative manner. In this case, the work instruction device 40 can communicate wirelessly with each of the distributed controllers 60.

[0140] It should be noted that, instead of setting up local controllers 11 and 21 for each of the mobile robot 10 and the workbench robot 20, the unified controller 30 or the distributed controller 60 can control the movement of each motor of each of the mobile robot 10 and the workbench robot 20.

[0141] Furthermore, the example described in the above embodiment, which uses a database constructed according to the data of a data logger for each experiment ID, illustrates the experiment definition DB, but it is not limited to this. For example, if a database capable of extracting the data needed to conduct a specified experiment is formed in a manner such as a relational database, then the data construction of the experiment definition data is not limited.

[0142] Furthermore, the robot system processing executed by the CPU reading the software (program) in the above embodiments can also be executed by various processors other than the CPU. Examples of processors in this case include PLDs (Programmable Logic Devices) whose circuit structure can be changed after manufacturing, such as FPGAs (Field-Programmable Gate Arrays), and ASICs (Application Specific Integrated Circuits), which are processors with dedicated circuit structures designed to execute specific processes, i.e., dedicated electrical circuits. In addition, the robot system processing can be executed by one of these various processors, or by a combination of two or more processors of the same or different types (e.g., multiple FPGAs, and a combination of a CPU and an FPGA). More specifically, the hardware structure of these various processors is an electrical circuit composed of circuit elements such as semiconductor elements.

[0143] Furthermore, while the above embodiments describe a method where the robot system program is pre-stored (installed) on a storage device, this is not a limitation. The program may also be provided as a storage medium such as a CD-ROM, DVD-ROM, Blu-ray disc, or USB memory. Alternatively, the program may be configured to be downloaded from an external device via a network.

[0144] The following are appendices related to this disclosure.

[0145] (Appendix Item 1)

[0146] A work instruction device (40) provides work instructions to a robot system (100) for the robot system (100) to perform cell-based experiments. The robot system (100) includes: a mobile manipulator (10) having a mechanism (12A) for moving on a ground and a mechanism (13) for grasping an object; a workbench robot (20) fixed relative to a workbench and having a mechanism (22) for grasping an object on the workbench; and a controller for controlling the movement of the mobile manipulator and a controller (30) for controlling the movement of the workbench robot. The work instruction device (40) includes:

[0147] The experiment definition data access unit (142) accesses experiment definition data (50), which includes preparation delivery information and workbench experiment determination information. The preparation delivery information is required to remove the cell, which is the object of the experiment, from the first storage location. The workbench experiment determination information is information used to determine the experiment based on the workbench robot.

[0148] The instruction creation unit (144) creates a preparation delivery instruction for the controller that controls the movement of the mobile robotic arm, and a workbench experiment instruction for the controller that controls the movement of the workbench robot.

[0149] The preparation for transport instruction, created based on the preparation for transport information, is an instruction for removing the cells, which are intended to be the subjects of the experiment, from the first storage location and transporting them to the workbench.

[0150] The workbench experiment instruction is created based on the workbench experiment determination information and is an instruction for performing the experiment on the delivered cells.

[0151] (Appendix Item 2)

[0152] In the work instruction device described in Appendix 1, the work instruction device further includes an input unit (146) that accepts the input of the workbench experiment determination information.

[0153] (Appendix Item 3)

[0154] In the work instruction device described in Appendix 1 or Appendix 2, the work instruction device further includes a subsequent experimental data creation unit (148), which creates subsequent experimental data, including data for use in subsequent experiments, for determining the container containing cells or for determining a second storage location for storing the container containing cells.

[0155] (Appendix Item 4)

[0156] In any of the work instruction devices described in Appendices 1 to 3, the experimental definition data further includes storage and transport information, which is information used to transport cells that have undergone the experiment in the workbench to a second storage location.

[0157] The instruction creation unit also creates storage and delivery instructions for the controller that controls the movements of the mobile robotic arm.

[0158] The storage and transport instruction is created based on the storage and transport information and is used to transport cells that have undergone the experiment in the workbench to the second storage location.

[0159] (Appendix Item 5)

[0160] In the work instruction device described in Appendix 4, the work instruction device further includes a subsequent experimental data creation unit (148), which creates subsequent experimental data, including data for determining the container containing cells or the second storage location for use in subsequent experiments.

[0161] Description of Reference Numerals

[0162] 100: Robot system; 10: Mobile manipulator; 11: Local controller; 12: Cart; 12A: Drive wheel; 13: Robot arm; 13A: Arm; 13B: Hand; 20: Workbench robot; 21: Local controller; 22: Robot arm; 22A: Arm; 22B, 22BL, 22BR: Hand; 22B1, 22B1L, 22B1R: First digit; 22B2, 22B2L, 22B2R: Second digit; 22B3, 22B3L, 22B3R: Third digit; 2 3: Vision sensor; 30: Unified controller; 40: Operation instruction device; 41: CPU; 42: Memory; 43: Storage device; 44: Input device; 45: Output device; 46: Storage medium reading device; 47: Communication I / F; 48: Bus; 142: Experiment definition data access unit; 144: Instruction creation unit; 146: Input unit; 148: Subsequent experiment data creation unit; 50: Experiment definition DB; 52: Scheme DB; 54: Storage location DB; 60: Distributed controller.

Claims

1. A task instruction device for instructing a robotic system to perform a cell-based experiment, the robotic system comprising: A mobile robotic arm, comprising mechanisms for movement on the ground and mechanisms for grasping objects; a workbench robot, fixed relative to a workbench, comprising mechanisms for grasping objects on the workbench; and controllers for controlling the movements of the mobile robotic arm and the workbench robot. The work instruction device includes: The experiment definition data access unit accesses experiment definition data, which includes preparation delivery information and workbench experiment determination information. The preparation delivery information is the information required to remove the cell, which is the object of the experiment, from the first storage location. The workbench experiment determination information is the information used to determine the experiment based on the workbench robot. as well as The instruction creation unit creates preparation delivery instructions for the controller that controls the movement of the mobile robotic arm, and workbench experiment instructions for the controller that controls the movement of the workbench robot. The preparation for transport instruction, created based on the preparation for transport information, is an instruction for removing the cells, which are intended to be the subjects of the experiment, from the first storage location and transporting them to the workbench. The workbench experiment instruction is created based on the workbench experiment determination information and is an instruction for performing the experiment on the delivered cells.

2. The work instruction device according to claim 1, wherein, The operation instruction device also includes an input unit, which accepts the input of the experimental determination information of the workbench.

3. The work instruction device according to claim 1 or 2, wherein, The operation instruction device also includes a subsequent experimental data creation unit, which creates subsequent experimental data, including data for use in subsequent experiments, for determining the container containing cells or for determining a second storage location for storing the container containing cells.

4. The work instruction device according to claim 1 or 2, wherein, The experimental definition data also includes storage and transport information, which is used to transport cells to a second storage location after the experiment has been performed in the workbench. The instruction creation unit also creates storage and delivery instructions for the controller that controls the movements of the mobile robotic arm. The storage and transport instruction is created based on the storage and transport information and is used to transport cells that have undergone the experiment in the workbench to the second storage location.

5. The work instruction device according to claim 4, wherein, The operation instruction device also includes a subsequent experimental data creation unit, which creates subsequent experimental data, including data for use in subsequent experiments, such as determining the container containing cells or determining the second storage location.

Images