Apparatus and method for transporting sample carriers in a diagnostic laboratory system

Abstract

A method for operating a diagnostic laboratory system includes providing a first sample carrier and a second sample carrier, each capable of asynchronous movement on a track. The first and second sample carriers each have at least one motion characteristic. The positions of the first and second sample carriers are identified, and a first route is generated for moving the first sample carrier from a first position to a first destination, and a second route is generated for moving the second sample carrier from a second position to a second destination. It is determined whether sample carrier collisions exist in the routes. In response to determining the existence of sample carrier collisions, at least one motion dependency is identified in the routes to prevent sample carrier collisions. Other methods and systems are also disclosed in this invention.

Description

[0001] Cross-references to the applications involved This application claims the benefit of U.S. Provisional Patent Application No. 63 / 552,800, filed February 13, 2024, pursuant to 35 USC §119(e), the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0002] This disclosure relates to apparatus and methods for transporting sample carriers in diagnostic laboratory systems. Background Technology

[0003] Diagnostic laboratory systems perform clinical chemistry or assays to identify analytes or other components in biological samples such as serum, plasma, urine, interstitial fluid, cerebrospinal fluid, etc. Samples may be received in sample containers and / or transported via sample containers throughout the laboratory system. Many laboratory systems process large numbers of sample containers and the samples contained within them simultaneously.

[0004] Some diagnostic laboratory systems include multiple diagnostic instruments for processing and testing samples. Such systems may include tracks that interconnect the diagnostic instruments. These tracks can be configured to move sample containers using sample carriers. The tracks allow sample carriers to move via multiple different paths or routes extending between the diagnostic instruments. When two sample carriers are guided to move in different directions and / or at different speeds on the same section of the track, collisions can easily occur. Therefore, there is a need to provide systems and methods for transporting sample carriers that prevent collisions throughout the laboratory system. Summary of the Invention

[0005] According to a first aspect, a method for operating a diagnostic laboratory system is provided. The method includes: providing a first sample carrier movable on a track within the diagnostic laboratory system, wherein the first sample carrier has at least one first motion characteristic, and the track extends between a plurality of instruments; providing a second sample carrier movable on the track, wherein the second sample carrier has at least one second motion characteristic, and the first and second sample carriers are capable of moving independently of each other; identifying a first position of the first sample carrier and a second position of the second sample carrier; generating a first route for moving the first sample carrier from the first position to a first destination; generating a second route for moving the second sample carrier from the second position to a second destination; determining whether a sample carrier conflict exists between the first and second routes; and, in response to determining that a sample carrier conflict exists, identifying at least one dependency between the first and second routes, wherein the at least one dependency causes the motion of the first sample carrier to depend on the motion of the second sample carrier.

[0006] On the other hand, a diagnostic laboratory system for analyzing biological samples is provided. The system includes: a plurality of instruments; a track located within the diagnostic laboratory system, wherein the track extends between the plurality of instruments; a first sample carrier movable on the track, wherein the first sample carrier has at least one first motion characteristic; and a second sample carrier movable on the track, wherein the second sample carrier has at least one second motion characteristic, and the first and second sample carriers are capable of moving independently of each other. The system further includes a computer having instructions executable to perform the following operations: identifying a first location of the first sample carrier; identifying a second location of the second sample carrier; generating a first route for moving the first sample carrier from the first location to a first destination, in some embodiments, the first route being at least partially based on the at least one first motion characteristic; generating a second route for moving the second sample carrier from the second location to a second destination, in some embodiments, the second route being at least partially based on the at least one second motion characteristic; determining whether a sample carrier conflict exists between the first route and the second route; in response to determining that a sample carrier conflict exists, identifying at least one dependency of the first route or the second route, wherein the at least one dependency makes the motion of the first sample carrier dependent on the motion of the second sample carrier; executing the first route and the second route and monitoring the locations of the first carrier and the second carrier; and in response to detecting that the first route or the second route has not been successfully completed, determining whether the first route or the second route needs to be replanned.

[0007] In another aspect, a method is provided for moving a first sample carrier and a second sample carrier in a diagnostic laboratory system. The method includes: providing a track in the diagnostic laboratory system, wherein the track extends between a plurality of instruments; providing a first sample carrier movable on the track, wherein the first sample carrier is self-propelled and capable of moving at a first speed; providing a second sample carrier movable on the track, wherein the second sample carrier is self-propelled and capable of moving at a second speed, and wherein the first speed is different from the second speed; identifying a first position of the first sample carrier; identifying a second position of the second sample carrier; generating a first route for moving the first sample carrier from the first position to a first destination, at least partially based on the first speed; generating a second route for moving the second sample carrier from the second position to a second destination, at least partially based on the second speed; determining whether a sample carrier conflict exists between the first route and the second route; in response to determining that a sample carrier conflict exists, identifying at least one dependency, wherein the at least one dependency includes instructing the first sample carrier to wait while instructing the second sample carrier to move; and executing the first route and the second route.

[0008] Other aspects, features, and advantages of this disclosure will become apparent from the following description and the illustration of several exemplary embodiments, including the best mode contemplated for carrying out this disclosure. This disclosure is also capable of having other and different embodiments, and several details thereof may be modified in various respects without departing from the scope of this disclosure. Attached Figure Description

[0009] The accompanying drawings described below are provided for illustrative purposes and are not necessarily drawn to scale. Therefore, the drawings and descriptions should be considered illustrative in nature and not restrictive. The drawings are not intended to limit the scope of this disclosure in any way.

[0010] Figure 1A A block diagram of a diagnostic laboratory system according to one or more embodiments is shown.

[0011] Figure 1B An illustration is provided according to one or more embodiments. Figure 1A The magnified portion of the track of the diagnostic laboratory system.

[0012] Figure 1C An illustration is provided according to one or more embodiments. Figure 1B The enlarged portion of the track shows the individual blocks or transport components.

[0013] Figure 1D An illustration is provided according to one or more embodiments. Figure 1AAn isometric magnified view of a portion of the track, the portion including two sample carriers holding the sample container, wherein the sample carriers are capable of moving asynchronously relative to each other.

[0014] Figure 1E An illustration is provided according to one or more embodiments. Figure 1D A side view of one of the sample carriers and sample containers.

[0015] Figure 1F An illustration is provided according to one or more embodiments. Figure 1A An isometric magnified view of a portion of the track, the portion including two sample carriers holding the sample container, wherein the sample carriers are capable of moving asynchronously relative to each other by means of a linear motor.

[0016] Figure 1G An illustration is provided according to one or more embodiments. Figure 1F A side view of one of the sample carriers and sample containers.

[0017] Figure 2A A sample container is shown in one or more blocks on the track of a laboratory system at time t=0, according to one or more embodiments.

[0018] Figure 2B The following is illustrated according to one or more embodiments after the incremental time t=1. Figure 2A The sample container, wherein the sample container has been synchronously moved to different blocks in the block.

[0019] Figure 3A An illustration is provided according to one or more embodiments. Figure 1A A block diagram of an embodiment of a diagnostic laboratory system track, wherein the track is represented as a plurality of adjacent blocks.

[0020] Figures 3B to 3E An illustration is provided according to one or more embodiments. Figure 1A Diagnostic laboratory systems and Figure 3A A magnified view of certain blocks in the block diagram.

[0021] Figure 4A An illustration is provided according to one or more embodiments. Figure 3A It is part of the orbit in which sample containers are moving to different destinations.

[0022] Figure 4B The following is illustrated to avoid according to one or more embodiments. Figure 4A The dependency graph is generated due to the conflict of sample carriers in the sample container routing.

[0023] Figure 5 Operation according to one or more embodiments is shown Figure 1AA flowchart of a laboratory system for avoiding sample carrier conflicts.

[0024] Figure 6 An illustration is provided according to one or more embodiments. Figure 3A It is part of the orbit in which sample carriers are moving toward each other and may collide.

[0025] Figure 7 A three-dimensional block representing a portion of a track in a diagnostic laboratory system, according to one or more embodiments, is shown, the track being capable of moving a sample carrier in three dimensions.

[0026] Figure 8 A flowchart illustrating a method for operating a diagnostic laboratory system according to one or more embodiments is shown.

[0027] Figure 9 A flowchart illustrating a method for moving a first sample carrier and a second sample carrier in a diagnostic laboratory system according to one or more embodiments is shown. Detailed Implementation

[0028] Individuals with male, female, or other gender identities are included within the terminology, independent of grammatical usage.

[0029] Automated diagnostic laboratory systems (Laboratory Systems) transport sample containers to different instruments or other destinations within the laboratory system via tracks. The tracks provide multiple different routes or paths for the sample containers to move between different instruments, where various processes or tests are performed on the samples located within the containers. Routing procedures determine the route each sample container will take to reach its instrument. As more sample types and testing capabilities are added to the Laboratory System, routing becomes more complex. For example, sample containers may have to pass or yield to each other at specific times and / or locations on the tracks to reach a specific instrument at a specific time. Routing becomes even more complex when high-priority samples are added to the Laboratory System, as routes must be updated to allow low-priority samples to yield to high-priority samples.

[0030] Some laboratory systems use sample carriers to transport sample containers throughout the system. These carriers can move asynchronously relative to each other, meaning they move independently. For example, some carriers can be self-propelled, allowing each carrier to have different motion characteristics, such as different accelerations and velocities. These different motion characteristics can further complicate route planning.

[0031] Diagnostic laboratory systems can be arranged in different physical configurations (e.g., different layouts of tracks and different instruments), so routing procedures must often be customized for the specific diagnostic laboratory configuration adopted. However, customizing routing procedures for each different configuration is difficult and increases the cost of implementing a diagnostic laboratory system.

[0032] The laboratory systems and methods described herein support asynchronous movement of sample carriers throughout the laboratory system. An initial routing plan can be generated based on the synchronous movement of the sample carriers. The initial routing plan can be adapted or modified to accommodate the asynchronous movement of the sample carriers according to one or more embodiments described herein. In some embodiments, the asynchronous movement of the sample carriers can be performed in the presence of unknown or unforeseen sample carrier conflicts, such as potential collisions and / or objects obstructing the sample carriers' path. The laboratory systems and methods can trigger a rerouting process when a sample carrier conflict is identified in real time via position sensors, feedback from the sample carriers, and / or track and instrument operating status received at the system controller. Sample carrier conflicts may occur when a new sample container is added to the laboratory system. For example, a newly added sample container may need to be moved in a manner that could cause the newly added sample carrier to collide with (e.g., potentially collide with) a sample container already existing on the track.

[0033] The embodiments of the diagnostic laboratory system and routing method described herein use dynamic routing algorithms to generate routes for transporting sample containers along one or more tracks throughout the laboratory system. For illustrative purposes, each track may be represented as a small segment or block, where each block represents a portion of the track configured to accommodate one sample carrier or a finite number of sample carriers. For further illustrative purposes, the movement and tracking of the sample carriers may initially be based on the movement of the sample carriers between adjacent blocks rather than on the entire track. Sample carriers may move independently (e.g., asynchronously) relative to each other between and across blocks. The routing procedure may generate routes that allow sample carriers to reach specific destinations at specific times. For example, the routing procedure may determine when certain sample carriers move, how far they move, how fast they move, and how long they wait at specific locations on the track.

[0034] Each block may have associated motion constraints (e.g., up, down, left, right) that indicate the direction in which sample carriers can move into and / or out of the respective blocks. For example, some blocks may receive sample carriers only from the left and pass them one at a time to the right to adjacent blocks (e.g., destination blocks). For example, a cross block may receive sample carriers from the left and output them to the right or down to an adjacent destination block. If it is determined that motion from one block to an adjacent destination block will cause sample carrier conflicts, the routing can be modified to include motion dependencies to avoid sample carrier conflicts as described herein.

[0035] When sample containers are introduced into the laboratory system, they are loaded into sample carriers. The sample carriers are then guided to specific groups of destinations, such as multiple instruments. Examples of instruments include centrifuges, chemical analyzers, decapping machines, and storage / refrigeration modules. A specific order of access to these destinations may be required, such as centrifuges followed by decapping machines. Routing may require sample containers to be moved to some of these destinations within a time window. For example, samples may need to be aspirated at a suction station within a fixed time after decapping.

[0036] The routing program can generate instructions that guide all sample carriers to their respective destinations within a specific time window, while ensuring that the sample carriers do not collide with or encounter other obstacles. When samples need to be at a specific destination within a specific time window, sample carriers can be guided to an area near the destination and may remain idle (e.g., waiting) or linger around that area. In some embodiments, routes can be planned assuming that the routes will be executed synchronously, wherein the sample carriers perform an action synchronously with each other at each time step. The routing program according to one or more embodiments considers the kinematic constraints of the transportation system. That is, the routing program can modify or adjust the synchronously planned routes by considering higher-order dynamics, such as changes in the velocity and acceleration of the sample carriers that each sample carrier may encounter, and track friction, which assume that each action takes a consistent amount of time.

[0037] Synchronous routing plans can be generated for moving sample carriers within a laboratory system, such as when sample carrier routing is based on the movement of sample carriers into and out of individual track blocks. However, this route planning can cause problems when the synchronous plan is executed by asynchronously moving sample carriers, and can lead to issues when the underlying synchronization is violated. Violations can result in potential collisions between sample carriers, exceeding time windows, and / or other sample carrier conflicts.

[0038] The laboratory system and method disclosed herein overcome the problems of synchronous routing plans in asynchronous execution by providing an execution framework to detect potential problems in advance. The laboratory system and method disclosed herein generate routes for the asynchronous movement of sample carriers on a track. As the routing plan changes, such as by adding newly received sample containers, the routes are updated. Furthermore, if collisions or other sample carrier conflicts are predicted, the routes can be replanned to avoid any sample carrier conflicts. See Figures 1 to... Figure 9 Describe these and other laboratory systems and methods in detail.

[0039] Now refer to Figure 1A The diagram illustrates an example embodiment of an automated diagnostic laboratory system 100 according to one or more embodiments. The laboratory system 100 may include a plurality of instruments 102 configured to process sample containers 104 (some of which are labeled) and to determine or test biological samples contained in the sample containers 104. The laboratory system 100 includes a first sample container 104A located in a first sample carrier 108A and a second sample container 104B located in a second sample carrier 108B. The laboratory system 100 may include a first instrument 102A and a second instrument 102B. Furthermore, the laboratory system 100 may include a third instrument configured as a sample handler 102C. The sample handler 102C is configured to receive the sample container 104 into the laboratory system 100 and to discharge the sample container from the laboratory system 100 after testing. The first instrument 102A and / or the second instrument 102B may process samples located in the sample containers 104 (e.g., sample 162A— Figure 1D The analysis is performed. Other embodiments of the laboratory system 100 may include more or fewer instruments.

[0040] The samples located in sample container 104 can be various biological specimens collected from patients evaluated by medical professionals. Samples can be collected from patients and placed into sample container 104. Sample container 104 can then be delivered to laboratory system 100. Sample container 104 can be loaded into sample handler 102C. From sample handler 102C, sample container 104 can be transferred to sample carrier 108 (some of which are labeled), which transports sample container 104 throughout laboratory system 100, such as to instrument 102, via track 110. Once the sample container is introduced into laboratory system 100 and placed in a sample carrier, the sample carrier can be guided to visit specific groups of destinations (i.e., instrument 102 and / or other components) in a specific order. For example, a sample container may need to visit a centrifuge, followed by a capping machine. In some cases, some sample containers 104 may have to visit their destinations within a specific time window. For example, after capping, sample container 104 may have to be aspirated within a specific time period.

[0041] Track 110 is configured to enable sample carrier 108 to move throughout the laboratory system 100, including to and from sample handler 102C, in response to transport instructions described herein. For example, track 110 may be as follows: Figure 1A As shown, at least some of these extend in the vicinity and / or around the instrument 102. The instrument 102 may have devices such as robots. Figure 1A (Not shown in the image), the robot transfers sample container 104 back and forth between sample carrier 108. Track 110 may have a track sensor (…). Figure 1A (Not shown in the image), the track sensor monitors the operating status of the track switches / gates and track sections. Track 110 may also have electronic transport components (…). Figure 1A (Not shown in the diagram), the electronic transport component moves the sample container 104 via the sample carrier 108 and / or monitors the position of the sample carrier 108 on the track 110. In other embodiments, the sample carrier 108 may be self-propelled. For example, a motor or the like within the sample carrier 108 may move the sample carrier 108 to a pre-selected destination within the laboratory system 100. In some embodiments, the sample carriers 108 may transmit their position and / or operating parameters to the routing procedure described herein.

[0042] Instrument 102, the track sensor, and the transport component may include or be coupled to a computer 120, which may be a system controller. The computer 120 is configured to execute one or more programs to control the operation of the laboratory system 100. The computer 120 may be configured to communicate with instrument 102, the transport component, the sample carrier 108, and other components of the laboratory system 100. The computer 120 may include a processor 122 configured to execute programs, including programs other than those described herein. The programs may be implemented in computer code. In some embodiments, the computer 120 may be located remotely from instrument 102. Furthermore, in some embodiments, the computer 120 may control the operation of multiple different laboratory systems. Therefore, data generated by the laboratory system 100 may be stored and / or processed at a location remote from the laboratory system 100.

[0043] Computer 120 may include memory 124 or accessible memory 124, which may store one or more programs and / or data described herein. Programs may include instructions executable by processor 122. In some embodiments, the memory may be located remotely from other components of computer 120. Memory 124 may be any suitable type of memory, such as, but not limited to, one or more of volatile memory and / or non-volatile memory. Memory 124 may have multiple programs including computer instructions stored therein, which, when executed by processor 122, cause processor 122 to perform various actions specified by one or more of the stored instructions. Instructions may be provided to processor 122 to perform the system and methods specified in the flowcharts and / or block diagrams described herein. Processor 122 thus configured becomes a dedicated machine particularly suited for execution according to the system and methods. Instructions may be stored in a computer-readable medium, such as memory 124, which may instruct processor 122 to function in a particular manner. As used herein, the term "memory" may refer to both non-transitory and transient memory.

[0044] Memory 124 may include routing program 126 (e.g., computer code executable by processor 122) configured to generate routes (e.g., routing plans) for moving sample containers 104 carried by sample carrier 108 throughout laboratory system 100. Routes may guide sample containers 104 carried by sample carrier 108 to specific instruments in instrument 102 to perform tests or processes on the samples in sample containers 104. Memory 124 may include sample carrier controller 128 configured to move sample carrier 108 to a pre-selected destination within laboratory system 100. Thus, sample carrier controller 128 may guide sample carrier 108 to move in a pre-selected direction, at a pre-selected speed, and / or at a pre-selected time. Sample carrier controller 128 may also generate instructions that initiate the movement of certain components on track 110 to move sample carrier 108 in a specific direction and to a specific destination. For example, the sample carrier controller 128 can guide a gate (not shown) or the like to move to a pre-selected position to transfer the sample carrier to a specific destination.

[0045] Workstation 132 can be electrically connected to and communicate with computer 120. In some embodiments, workstation 132 may be located remotely from track 110. Workstation 132 may include at least a display 134 and a keyboard 136. Workstation 132 enables users of laboratory system 100 to input data to computer 120 and enables computer 120 to output data to users, such as through display 134.

[0046] The illustration of track 110 includes dashed lines that show the path that sample carrier 108 (and therefore sample container 104) can take within laboratory system 100. Figure 1A As shown, sample carrier 108 may be able to take many routes along the path throughout the laboratory system 100. Router 126 generates instructions that enable sample carrier 108 to move along these paths at predetermined times to designated instruments and other destinations to keep the laboratory system 100 operational. In some embodiments, considering the possibility that other sample carriers 108 may be traveling on the same path and / or to the same instruments, router 126 may determine the most efficient route for one or more of the sample carriers 108. Sample carrier controller 128 may activate a transport component (described below) on track 110 that moves sample carrier 108 via the route determined by router 126. Sample carrier controller 128 may also transmit motion instructions to sample carrier 108 that guide the self-propelled sample carrier 108 to a specific destination as described herein.

[0047] Now refer to another source Figure 1B The diagram shows an enlarged portion of track 110. For illustrative and descriptive purposes, track 110 is shown as having different segments 140, wherein the sample carrier 108 moves at least in the x and y directions and changes direction between the x and y directions on segment 140. Types of segments 140 include curved segments 140A that change the direction of the sample carrier 108 between the x and y directions and vice versa. Other types of segments 140 are cross segments 140B that receive the sample carrier 108 from a first port and selectively output the sample carrier 108 to one of at least two other ports. Cross segments 140B may also receive the sample carrier 108 from at least a first port and a second port and output the sample carrier 108 to a third port. Track 110 may also include straight segments 140C that allow the sample carrier 108 to continue moving in a straight line. Specific segments of track 110 will be described in detail below with reference to the operation of routing procedure 126.

[0048] Each segment in segment 140 includes a first segment 142, a straight segment extending along the x-direction. A second segment 144 is a curved segment extending along both the y and x directions. A third segment 146 is an intersecting segment extending along the y-direction and having a branch extending along the positive x-direction. A fourth segment 148 is another intersecting segment extending along the x-direction and having a branch extending along the negative y-direction. A fifth segment 150 is a curved segment, and a sixth segment 152 is a curved segment mirrored from the fifth segment 150. A seventh segment 153 is parallel to the first segment 142.

[0049] Some embodiments of track 110 may include transport mechanisms 154 (some of which are labeled) configured to transport sample carriers 108 independently of each other on track 110. For example, transport mechanism 154 may move sample carriers 108 asynchronously. Examples of transport mechanisms 154 are referred to below. Figures 1C to 1G The description may include a movable belt and rollers (not shown separately) that move the sample carrier 108 using frictional forces. The transport mechanism 154 may include magnetic devices (e.g., see...). Figure 1F and Figure 1G The magnetic device magnetically moves the sample carrier 108 relative to the track 110. In other examples, the sample carrier 108 can self-propel itself on the track 110 (e.g., see...). Figure 1D Furthermore, in some embodiments, the self-propelled sample carrier 108 may wirelessly receive motion commands from the computer 120 and / or the transport mechanism 154. The transport mechanism 154 is not limited to the examples described above. The transport mechanism 154 may receive signals from the sample carrier controller 128, wherein signals generated by the sample carrier controller 128 cause the transport mechanism 154 to operate.

[0050] Laboratory system 100 may also include a plurality of position sensors 156 (some of which are labeled) configured to identify the position of sample container 104 and / or sample carrier 108 on track 110. Position sensors 156 are schematically shown as straight or curved rectangular shapes adjacent to segment 140 of track 110. Position sensors 156 can be any device that senses or determines the position of sample carrier 108 and / or sample container 104 and transmits position information for processing by routing procedure 126. In some embodiments, position sensors 156 may be small, individual elements located near track 110. Examples of position sensors 156 include optical devices that read markings (not shown) located on sample carrier 108 and / or sample container 104, radio frequency identification (RFID) devices that read RFID tags (not shown) located on sample carrier 108 and / or sample container 104, etc. Other embodiments of position sensors 156 may include devices within or attached to sample carrier 108. Other position sensors may be employed to determine the position of sample container 104 and / or sample carrier 108.

[0051] Now refer to another source Figure 1C It shows the magnified portion of orbit 110. Figure 1C Track 110 in the diagram is represented by multiple blocks 160. Figure 1CThe portion of the first segment 142 shown is schematically represented as having four blocks, referred to as first block 160A, second block 160B, third block 160C, and fourth block 160D, respectively. Other numbers of blocks 160 may be used. As described in more detail below, the transport mechanism 154 is configured to move the first sample carrier 108A (carrying the first sample container 104A) and the second sample carrier 108B (carrying the second sample container 104B) asynchronously or independently between adjacent blocks 160.

[0052] exist Figure 1C In this embodiment, the position sensor 156 is schematically divided into multiple individual sensors. Each sensor is configured to sense the position of the first sample carrier 108A in each of the blocks 160 and transmit the position information to the router 126. The first sensor 156A is configured to sense the first sample carrier 108A in the first block 160A, the second sensor 156B is configured to sense the second sample carrier 108B in the second block 160B, and the third sensor 156C is configured to sense the sample carrier 108A in the third block 160C. Figure 1A The fourth sensor 156D is configured to sense the sample carrier 108 in the fourth block 160D.

[0053] Asynchronous movement of the sample carrier 108 (which may or may not carry the corresponding sample container 104) can be performed via a linear motor or the like located within the sample carrier 108, and said linear motor or the like receives signals and / or electricity applied to the sample carrier 108. For example, the transport mechanism 154 may have hardware components configured to asynchronously move the sample carrier 108 between the various blocks in the block 160. Figure 1C In one embodiment, transport mechanism 154 is moving a first sample carrier 108A from a first block 160A to a second block 160B, and moving a second sample carrier 108B from the second block 160B to a third block 160C. In some embodiments, each of the blocks 160 may include a separate transport mechanism. In other embodiments, multiple blocks 160 may be associated with a single transport mechanism, wherein the single transport mechanism is configured to asynchronously transport the first sample carrier 108A and the second sample carrier 108B between the various blocks in the blocks 160.

[0054] See also Figure 1D , it is Figure 1C An isometric view of a portion of track 110. Figure 1D In one embodiment, the first sample container 104A is received in the first sample carrier 108A and contains components that can be disposed of by the instrument 102 ( Figure 1A The first sample 162A of one or more analyses in ). Figure 1DIt also includes a second sample container 104B that receives the second sample carrier 108B and contains the third sample 162B. Figure 1D The transport mechanism 154 may be a single mechanism that enables the first sample carrier 108A and the second sample carrier 108B to be asynchronously moved into and out of the first block 160A and the second block 160B. For example, the transport mechanism 154 may allow the first sample carrier 108A to wait within the first block 160A while the second sample carrier 108B is moved from the second block 160B to the third block 160C. The position sensor 156 may be configured to identify the position of the first sample carrier 108A and the second sample carrier 108B on the track 110 and transmit the position data to the routing program 126. Figure 1A In some embodiments, block 160 may be only slightly larger than sample carrier 108. For example, block 160 may be slightly larger than the footprint of either the first sample carrier 108A or the second sample carrier 108B.

[0055] See also Figure 1E This illustrates an embodiment of a first sample carrier 108A configured as a self-propelled vehicle. The first sample carrier 108A may include a housing 168, within which a motor 170 and a receiver 172 may be located. The motor 170 may be coupled to wheels 174 extending from the housing 168. The receiver 172 may receive a transport command from a sample carrier controller 128 instructing the first sample carrier 108A to move. In some embodiments, the command may include the speed, acceleration, and / or direction at which the first sample carrier 108A will move. The receiver 172 may then activate the motor 170, which rotates the wheels 174 and moves the first sample carrier 108A according to the command. In some embodiments, coils or the like may be located in a transport mechanism 154, and an electric field may be generated to power the motor 170. Alternatively, power may be supplied to the motor 170 to move the first sample carrier 108A using other methods and devices.

[0056] Reference Figure 1F and Figure 1G This illustrates an embodiment of a transport mechanism 154 configured as a linear motor. Figure 1F In one embodiment, the transport mechanism 154 includes components configured to respond to a sample carrier controller 128 ( Figure 1A Coil 178 generates a magnetic field by generating a signal. Housing 168 ( Figure 1G The base 180 of the sample carrier 108A can be magnetized so that a force can be applied to the base 180 when the magnetic field generated by the coil 178 changes. This force causes the first sample carrier 108A to move on the track 110.

[0057] During operation of the laboratory system 100, the routing program 126 can generate a routing plan, which is executed at least in part by the sample carrier controller 128 based on the asynchronous motion of the sample carrier 108. As described above, asynchronous motion includes the motion of the sample carrier 108 based on various motion characteristics of the sample carrier 108. (Refer to...) Figure 2A and Figure 2B This is to illustrate the synchronous and asynchronous motion of the sample carrier 108. Figure 2A The sample carriers 1, 2 and 3 are shown in some blocks 202 on the track at time t=0. Figure 2B The sample carriers 1, 2, and 3 are shown after the incremental time t=1, where sample carriers 1 and 2 have been synchronously moved to different blocks in block 202.

[0058] At time t=0, a routing plan has been generated to move sample carrier 1 eastward from block A to block B, and sample carrier 2 southward from block B to block D. This routing can be executed by synchronously moving sample carrier 1 and sample carrier 2 at t=1, which prevents collisions between sample carrier 1 and sample carrier 2. In asynchronous motion, sample carrier 1 and sample carrier 2 can move independently, such as by instructions generated by sample carrier controller 128. If sample carrier 2 has a motion characteristic that prevents it from moving south before sample carrier 1 moves eastward, there is a possibility of collision when sample carrier 1 moves eastward at t=1. Collisions can also be avoided by instructing sample carrier 2 to move faster or instructing sample carrier 1 to move slower. Collisions can also be avoided by instructing sample carrier 1 to wait until sample carrier 2 has moved. Any of these collision avoidance methods can be included in the routing plan generated by routing program 126 for executing the asynchronous motion of sample carrier 1 and sample carrier 2 as described herein.

[0059] The laboratory system 100 and method disclosed herein provide a routing plan that allows asynchronous movement of sample carrier 108 in the presence of unknown or unforeseen sample carrier conflicts. Unknown or unforeseen sample carrier conflicts may exist in the original synchronous routing plan, which is the routing plan generated by routing procedure 126. The laboratory system 100 and method disclosed herein can trigger a rerouting process when the sample carrier conflict is large enough that the original routing plan may need to be modified to match the operating state of the laboratory system 100. This rerouting process regenerates the routing plan. For example, in… Figure 2A and Figure 2B If the routing procedure 126 determines that the sample carrier 2 cannot move from block B at or before t=1, the routing procedure 126 may need to re-plan a new action for the sample carrier 1 in view of the dependence of the sample carrier 1 on the motion and / or motion characteristics of the sample carrier 2.

[0060] In some embodiments, the route of sample carrier 108 with a specific destination is initially planned by routing program 126 to move sample carrier 108 synchronously. The routing plan can be converted into distributed commands configured to guide the individual sample carriers in sample carrier 108 to move along the specific route. For example, sample carrier controller 128 can generate instructions to be transmitted to the individual sample carriers in sample carrier 108. The instructions can be executed by the controller, which moves the individual sample carriers in sample carrier 108 asynchronously. Routing program 126 can ensure that the original synchronous routing plan is followed even if the routing plan can be executed by the asynchronous movement of sample carrier 108. In some embodiments, a multi-agent path discovery (MAPF) algorithm can be used by routing program 126 to plan the route of sample carrier 108. In some embodiments, routing program 126 can ensure that the synchronous characteristics of the routing plan are maintained, thereby avoiding collisions and conflicts with other sample carriers. For example, sample carrier conflicts are avoided when each sample carrier follows a synchronous movement order. However, if a sample carrier moves at a speed different from that of other sample carriers, there is a possibility of sample carrier conflicts.

[0061] In addition, refer to Figure 3A This is an example of a block diagram 300 representing a track 110 of multiple adjacent blocks 160. Figure 3A The block diagram 300 can be a simplified block representation of track 110. Other block representations may include more or fewer blocks 160. In some embodiments, routing program 126 or another program may electronically represent track 110 as a plurality of blocks 160. Routing program 126 then generates routes between adjacent blocks in block 160 for each sample carrier 108. For example, when adjacent blocks are empty, routing program 126 may instruct transport mechanism 154 to move sample carrier 108 to certain adjacent blocks. Routing program 126 may generate a block command queue for each block 160, which instructs individual blocks in block 160 to synchronously receive sample carrier 108 from specific adjacent blocks as described herein, and to discharge sample carrier 108 to specific adjacent blocks in a specific order. One advantage of block representation is that the initial planning of the movement of sample carrier 108 becomes much simpler, as only the movement of sample carrier 108 between blocks 160 needs to be considered.

[0062] The embodiments described herein depict the movement of sample carrier 108 between adjacent blocks 160 (this also includes the movement of sample containers 104 carried by sample carrier 108 between adjacent blocks). Each of the blocks 160 may have associated motion constraints (indicated by arrows) that indicate the direction in which sample carrier 108 can move into and out of each of the blocks 160. By default, motion constraints may be defined by the physical layout of the track 110. For example, a four-way intersection with four ports may have default motion constraints for entering and leaving each of the four ports. Motion constraints may be physical constraints, wherein portions of track 110 corresponding to one or more of the blocks 160 may only enable sample carrier 108 to move in a particular direction. In other embodiments, motion constraints may be variable. For example, software, such as routing program 126 and / or sample carrier controller 128, may determine the direction of the motion constraints for each block 160. For example, these directions may restrict some blocks to have unidirectional (e.g., from left to right) motion constraints.

[0063] See also Figure 3B The diagram shows an enlarged view of the first block 160A, which in some embodiments may be identical to at least blocks 160A, 160B, 160D, and 160E, as well as blocks representing other straight segments of track 110. Block 160A has a first port 301A and a second port 301B, with a bidirectional arrow shown between the two ports. The bidirectional arrow indicates the motion constraints of the first block 160A and indicates that the sample carrier 108 (and therefore the sample container 104) can be received into and transported out of both the first port 300A and the second port 300B.

[0064] Refer again Figure 3A Block 302 is related to Figure 1B The second segment 144 corresponds to the corner block. Block 302 is configured to change the orientation of sample container 104 between the x and y directions. See also... Figure 3C The diagram shows an enlarged view of block 302. Block 302 has a first port 302A and a second port 302B, with a bidirectional arrow shown between the two ports. The bidirectional arrow indicates the motion constraints of block 302 and indicates that the sample carrier 108 (and therefore the sample container 104) can be received into and transported out of both the first port 302A and the second port 302B, causing the sample carrier 108 to change orientation between the x and y directions.

[0065] Refer again Figure 3A Block 304 is related to Figure 1BThe third segment 146 corresponds to the cross block. Block 304 is configured to receive the sample carrier into the first port and transport the sample carrier out from one of the two other ports. See also... Figure 3D The diagram shows an enlarged view of block 304. Block 304 has a first port 304A, a second port 304B, and a third port 304C, with arrows shown between them. The arrows indicate the motion constraints of block 304, wherein the sample carrier 108 (and therefore the sample container 104) can be received into one port and transported out from one of the other ports. The sample carrier 108 can also be received into one of two ports and transported out from a third port.

[0066] Figure 3A Block 308 in the middle is with Figure 1B The fourth segment, 148, corresponds to the intersection block. Block 308 is configured similarly to block 304. Figure 3A In the middle, block 310 is with Figure 1B The corner block corresponding to the fifth segment 150, block 312 is... Figure 1B The corner block corresponding to the sixth segment 152. Blocks 310 and 312 are configured similarly to block 302. Block 310 is a mirror image of block 302, and block 312 is a mirror image of block 310.

[0067] Block 160H is with Figure 1A The intersection 190 corresponds to a four-way intersection. Block 160H is configured to receive sample carrier 108 into the first, second, third, and fourth ports and transport sample carrier 108 out from the first, second, third, and fourth ports. See also... Figure 3E The diagram shows an enlarged view of block 160H. Block 160H has a first port 306A, a second port 306B, a third port 306C, and a fourth port 306D that allow the sample carrier 108 to enter and exit all ports. Router 126 can be configured to guide the sample carrier 108 into and out of block 106 as described above.

[0068] Now refer to Figure 4A It shows segments 142 and 153 of orbit 110 ( Figure 1B Some blocks in block 160 correspond to the sample carrier 108 and will be used to illustrate an example of asynchronously moving the sample carrier 108 when a sample carrier collision occurs. Blocks 160A-160J correspond to the first segment 142 in track 110. Figure 1BThe first segment 142 of track 110 is configured to accommodate five sample carriers 108, thus having five blocks 160A-160E. Further in this example, the seventh segment 153 of track 110 is also configured to accommodate five sample carriers 108, thus having five blocks 160F-160J. In the illustrated example embodiment, each of blocks 160A-160J is configured to accommodate a single sample carrier 108, and the movement of the sample carriers 108 can be initially synchronized to move from one block to an adjacent block when an adjacent block is empty or as an adjacent block becomes empty.

[0069] In a first scenario, a first sample carrier 108A is guided to move a first sample container 104A from a first position 400 (shown as a solid square) in block 160C to a first destination 402 (shown as a dashed square) in block 160F. Examples of the first route may include a route from the first position 400 to the first destination 402 (e.g., block 160C → block 160H → block 160G → block 160F) or another suitable route. Simultaneously, a second sample carrier 108B is guided to move a second sample container 104B from a second position 406 (shown as a solid circle) in block 160G to a second destination 408 (shown as a dashed circle) in block 160I. Examples of the second route may include a route from the second position 406 to the second destination 408 (e.g., block 160G → block 160H → block 160I) or another suitable route.

[0070] If the routes of the first sample carrier 108A and the second sample carrier 108B do not consider each other's positions and their movements are synchronized, then the first sample carrier 108A and the second sample carrier 108B will collide at block 160H. In some synchronous routing plans, the first sample carrier 108A may wait for a time increment while the second sample carrier 108B moves to block 160H. During the next time increment, the second sample carrier 108B may move to block 160I while the first sample carrier moves to block 160H. If both the first sample carrier 108A and the second sample carrier 108B execute their motion planning synchronously, such a plan will work correctly. However, if the first sample carrier 108A and the second sample carrier 108B are controlled independently and / or move asynchronously, this synchronous routing plan is prone to failure. For example, if the first sample carrier 108A executes the instruction and moves at twice the speed of the second sample carrier 108B, the sample carrier will still collide in block 160H, even though the original route did not result in a collision.

[0071] According to one or more embodiments, one approach to overcoming sample carrier conflicts (e.g., collisions) when asynchronously executing a synchronous routing plan is to incorporate dependencies. Dependencies include the motion of a first sample carrier that depends on the position or motion of a second sample carrier. Dependencies can be generated using a dependency graph. See also... Figure 4B It shows how to avoid Figure 4A The dependency graph represents the sample carrier conflicts in the sample container routing. Using dependency representation, the movement of the first sample carrier 108A to block 160H is shown as dependent on the second sample carrier 108B completing its movement to block 160H and then to block 160I. The first sample carrier 108A can then safely traverse block 160H. Sample carrier movements independent of other sample carrier movements can advantageously be performed asynchronously (e.g., at their own speed) without the risk of collision. For example, if there are no other sample containers that could potentially impede or interfere with the movement of the second sample carrier 108B, the second sample carrier 108B can asynchronously advance to block 160J and further.

[0072] In some embodiments, routing program 126 may determine that the original routing plan is not feasible and may generate a new routing plan. For example, if the second sample carrier 108B cannot move to block 160I (i.e., constraints exist, such as sample overflow or track defects), then the first sample carrier 108A has no way to reach the first destination 402. In these cases, routing program 126 may generate a new routing plan for one or both of the first sample carrier 108A and the second sample carrier 108B. In some embodiments, the new routing plan may utilize other areas of track 110 to move the sample carriers to their respective destinations.

[0073] In some embodiments, router 126 may attempt to minimize the number of dependencies in the route. This enables each of the sample carriers 108 to travel the shortest path or reach its destination in the shortest time. This also enables the sample carriers 108 to move at their maximum speed, as they will only encounter a minimum number of other sample carriers and / or sample carrier conflicts. In some embodiments, router 126 may include time buffers around dependencies in the routing plan to ensure safer execution of the routing plan. For example, router 126 may generate instructions to guide the first sample carrier 108A to wait two time steps at block 160C before moving to block 160H, even if the ideal (synchronous) routing plan makes block 160H open after one time step. In some embodiments, a dependency may be one that causes the second sample carrier 108B to move to block 160I.

[0074] Figure 5A flowchart is shown of a method 500 for operating a laboratory system 100 using an asynchronous sample carrier 108 that avoids sample carrier conflicts. Method 500 begins at block 502, where a sample container 104 and testing instructions are received at the laboratory system 100. The sample container 104 may contain biological samples to be tested by instrument 102 and may be received in a sample handler 102C. The sample container 104 may be placed into the independently controlled sample carrier 108 for movement on a track 110 according to instructions generated by a sample carrier controller 128. In some embodiments, the testing instructions may be sent from a hospital information system (not shown) to a computer 120. The testing instructions may include tests to be performed on each biological sample.

[0075] Processing proceeds to block 504, where the status of laboratory system 100 can be updated. This updated information can be used by routing program 126 to plan the routes for sample carriers 108. The status of laboratory system 100 may include the current position of sample carriers 108, their destinations, the operational status of instrument 102 (e.g., online or offline), track status (e.g., whether any track segments are closed due to sample overflow, faulty carriers stuck on them, and / or track switch malfunctions or other track defects), etc. The current position of the sample carriers can be determined by position sensor 156 (…). Figure 1B The layout of track 110 may be determined, for example, by the sample carrier itself transmitted back to computer 120. In some embodiments, the layout of track 110 may be input to routing program 126. In some embodiments, routing program 126 may receive a block representation of track 110 ( Figure 3A Alternatively, the routing program 126 can generate a block representation of track 110.

[0076] In block 506, routing procedure 126 generates routes (e.g., routing plans) to simultaneously move at least a plurality of sample carriers 108 (including, for example, sample carriers 108 that receive the most recently received sample container 104 at sample handler 102C). In some embodiments, routing procedure 126 may initially generate a list of discrete time steps constituting the synchronized motion of sample carriers 108 and associated sample carrier motions. Each sample carrier time step may be based at least in part on the positions of all sample carriers 108. From one time step to the next, the routing plan may direct each of the sample carriers 108 to remain in place (e.g., wait) in the current track block or move to an adjacent track block. In some embodiments, a track block may never be occupied by more than one sample carrier 108. After generating the routing plan, the routing plan may be converted into a block command queue for each track block 160. Block commands may include a time step, whether the sample carrier is to enter or leave the block, a sample carrier identifier, and the direction of motion of the sample carrier. If it is required that a sample carrier wait in the block for a certain amount of time (or until a specific time), the block command may include a wait command. For example, refer to Figure 4A The routing program 126 can generate the following time-step motions for sample carriers 108A and 108B: Carrier 108A: Block 160C → Waiting for Block 160C → Block 160H → Block 160G → Block 160F Carrier 108B: Block 160G → Block 160H → Block 160I At this node in the route planning, each of the blocks 160 has a series of block commands that depend on the order in which the sample carriers 108 arrive at and / or leave the block 160. Using synchronous motion, the routing plan will be executed correctly as long as each queue of block commands is executed in sequence. Specifically, each of the sample carriers 108 will not collide and will arrive at its corresponding destination in the correct order. However, as mentioned above, when the sample carriers 108 move asynchronously, the routing plan may not work correctly. For example, if there is a possible conflict between the first and second sample carriers, and the first sample carrier moves faster or slower than the second sample carrier, a single time-step wait command (which can work with synchronous carrier motion) may cause a collision between the first and second carriers.

[0077] To resolve the potential carrier conflicts mentioned above, the routing program 126 in block 508 can identify sample carrier dependencies in the routes generated in block 506. Sample carrier dependencies can include situations where a first sample carrier (e.g., first sample carrier 108A) cannot move into block 160 until a second sample carrier (e.g., second sample carrier 108B) moves out of block 160. For example, the routing program 126 can identify dependencies created by the planned routes of the aforementioned sample carriers 108A and 108B relative to blocks 160H and 160G. That is, the routing program 126 can run to identify that sample carrier 108A cannot move into block 160H and subsequently into block 160G until sample carrier 108B moves out of block 160G and through block 160H to block 160I. This dependency can be represented by a "dependency graph," such as... Figure 4B As shown. Such identified dependencies can be incorporated into the routing plan. For example, a dependency can be incorporated into the routing plan of the first sample carrier 108A, wherein movement of the first sample carrier 108A cannot occur until the second sample carrier 108B is removed from block 160H. The dependency may also include the first sample carrier moving from one track segment to another track segment to allow the second sample carrier to pass through the first track segment.

[0078] In block 510, the planned route is executed. That is, routing program 126 transmits the routing plan to sample carrier controller 128, which in turn issues a motion command to sample carrier 108. Note that in addition to the carrier destination, the planned route may also include a time window or time constraint, wherein the planned route or a portion thereof (hereinafter collectively referred to as the “planned route” or “multiple planned routes”) may be expected or required to be completed within a specific time window or time period. In some embodiments, method 500 and routing program 126 may be executed and implemented continuously / perpetually as new sample containers 104 arrive at laboratory system 100 and are loaded into sample disposal unit 102C and / or as the state of laboratory system 100 changes. During the execution of the routing plan, position sensor 156 and sample carrier 108 may provide real-time feedback to computer 120 (and routing program 126) regarding sample carrier position, distance between sample carriers, sample carrier motion characteristics (e.g., speed), etc.

[0079] In decision block 512, it is determined whether all planned routes for the sample carriers have been successfully executed. That is, method 500 determines at decision block 512 whether the planned routes for the sample carriers have been successfully executed within any time window or time constraint associated with the planned routes. If the result at decision block 516 is "yes" (meaning all planned routes have been successfully executed), the process proceeds to end block 514, which terminates the current route planning. As described above, in some embodiments, route planning is a continuous / continuous process, so the process may alternatively return from end block 514 to block 502 to repeat method 500 using one or more recently received sample containers 104, which will be loaded onto the corresponding sample carriers 108 at sample handler 102C.

[0080] If the determination at decision block 512 is "No" (meaning that one or more planned routes exceed or may exceed their respective time windows or time constraints (as determined by computer 120 in response to communications received from position sensor 156 and / or sample carrier 108) and / or one or more planned routes cannot be completed due to system state conditions (e.g., unavailable instrument 102, defective sample carrier 108, and / or track 110 defects reported to computer 120 by instrument 102, track sensor, position sensor 156, and / or sample carrier 108 during the execution of the planned routes), then processing proceeds to decision block 516.

[0081] At decision block 516, it is determined whether one or more of the unsuccessful planned routes need to be replanned. If the determination at decision block 516 is "yes," the process returns to block 504 to replan the unsuccessful routes (and any other sample carrier routes affected by the unsuccessful routes). Where possible, in some embodiments, method 500 can dynamically replan one or more planned routes (which may include modifying or adding one or more motion dependencies) via routing procedure 126 while one or more planned routes are being executed. That is, the remaining (unexecuted) portions of the planned routes and / or valid or pending motion dependencies can be modified through replanning.

[0082] If a planned route cannot be successfully completed due to system state conditions, it may need to be replanned. For example, if an instrument in the planned route suddenly goes offline or a track switch fails to switch as required, method 500 may proceed to block 504 to replan the unsuccessful route and any other routes affected as a result.

[0083] In another example, if sample carrier 108 malfunctions and does not move or moves too slowly, as reported by position sensor 156 and / or the malfunctioning sample carrier 108 to computer 120, the planned route may not be completed. In this case, manual intervention may be required to remove and / or replace the malfunctioning sample carrier 108, and method 500 may proceed to block 504 to replan its route and any other routes thereby affected.

[0084] In another example, if a planned route with an associated time constraint is determined by computer 120 based on sample carrier location feedback to be potentially unable to meet that time constraint, replanning may be necessary. For example, suppose sample carrier 108 is required to visit four instruments 102 within a total time period T, and location feedback indicates that time period T may be exceeded after visiting the first instrument 102. In this case, method 500 may proceed to block 504 to replan a portion of the route to the remaining three instruments (and replan all other carrier routes thus affected) by assigning the highest priority to sample carrier 108 relative to all other sample carriers encountered on the path to the remaining three instruments 102, to ensure that time period T is met.

[0085] If the sample carrier location monitoring indication cannot maintain motion dependence, replanning may also be necessary. For example, refer to... Figure 6Suppose that the first sample carrier and the second sample carriers 108C and 108D are initially separated by block 160F (as shown). Each of the first sample carrier and the second sample carriers 108C and 108D has a planned route to move in the same direction D61, and the second sample carrier 108D has a motion dependency that maintains a one-track block distance between it and the first sample carrier 108C. However, position monitoring indicates that the second sample carrier 108D is moving faster than the first sample carrier 108C, and therefore the motion dependency of the second sample carrier 108D cannot be maintained. In this case, method 500 may proceed to block 504 to replan the route of the first sample carrier 108C, for example, by adding the motion dependency of the first sample carrier 108C to increase its speed (if possible), such that the second sample carrier 108D will not catch up with and collide with the first sample carrier 108C. Additionally or alternatively, the route of the second sample carrier 108D can be replanned by adding / modifying its motion dependencies, for example, by reducing its speed so that the second sample carrier 108D will not catch up with and collide with the first sample carrier 108C, waiting for a predetermined amount of time to allow the first sample carrier 108C to increase its distance from the second sample carrier 108D, and / or maintaining a larger track block distance between it and the first sample carrier 108C. Another route replanning option could be to guide the first sample carrier 108C out of the path of the second sample carrier 108D so that the second sample carrier 108D passes through the first sample carrier 108C. For example, the first sample carrier 108C could be temporarily moved to block 160C. This alternative dependency can be added by method 500 if, for example, the first sample carrier 108C has fewer time constraints or a lower priority than the second sample carrier 108D. Other replanning options for avoiding collisions between the first and second sample carriers 108C and 108D, which are moving along direction D1, are possible.

[0086] On the other hand, if the planned route exceeds the associated time window, but its applicable motion dependencies remain valid (i.e., effective or in effect), it may not be necessary to replan the unsuccessful route. For example, refer to... Figure 4A The following planned routes are for sample carriers 108A and 108B: t0 t1 t2 t3 Carrier 108A: Block 160C → Waiting for Block 160C → Block 160H → Block 160G Carrier 108B: Block 160G → Block 160H → Block 160I → Block 160J Sample carrier 108A has a motion dependency (identified at block 508 of method 500), wherein sample carrier 108A cannot move until sample carrier 108B moves into and out of track block 160H. Assuming sample carriers 108A and 108B move synchronously, sample carrier 108A is expected to wait one time step at time t1 before arriving at track block 160H at time step t2. However, if position monitoring indicates that sample carrier 108B moves slower than expected and sample carrier 108A has not yet arrived at track block 160H at time step t2, method 500 can indicate at decision block 512 that the planned route of sample carrier 108A has not been successfully completed. At decision block 516, method 500 can determine that replanning is not necessary because the dependency that sample carrier 108A does not move until sample carrier 108B moves into and out of track block 160H remains valid, therefore there is no possibility of a collision between sample carriers 108A and 108B at track block 160H. In this case, the decision at block 516 is "No" (meaning that there is no need to replan the route), and method 500 can return to block 510 to allow the planned route to continue.

[0087] In summary, if sample carrier location monitoring and other feedback indicate potential problems affecting one or more planned routes during execution at block 510 (e.g., unexpected changes in carrier motion characteristics, possible collisions, unacceptable delays, etc.), method 500 may proceed to decision blocks 512 and 516 to determine whether routing procedure 126 needs to replan one or more planned routes or any unexecuted portions thereof, including modifying or adding motion dependencies to avoid any sample carrier collisions and / or meet any sample carrier time constraints. The replanned routing plan may be forwarded to sample carrier controller 128, which may then transmit appropriate route instructions to the affected sample carriers.

[0088] As described above, in some embodiments, the route planning for all or some of the sample carriers 108 in laboratory system 100 can be generated or updated in a continuous or ongoing manner. For example, the route plan may be generated or updated after a predetermined number of time steps. In other embodiments, the route plan may be generated or modified whenever one or more new sample containers are received into laboratory system 100. In other embodiments, the route plan may be generated or modified whenever a change occurs in laboratory system 100 requiring sample carriers 108 (carrying sample containers 104) to access different instruments, such as whenever an instrument is offline due to maintenance, malfunction, or supply depletion.

[0089] Refer again Figure 3AAlthough track block 160 has been described as a square or rectangle, other block shapes / types may be used. For example, a pentagonal block may be used to represent an intersection segment with five ports. The motion of sample carrier 108 and sample container 104 has been described as being in a two-dimensional plane. Therefore, block 160 has also been described as two-dimensional. In other embodiments, the motion of sample container 104 and / or sample carrier 108 may be three-dimensional, such as X, Y, and Z, where the Z dimension is perpendicular to track 110. In this embodiment, one or more of blocks 160 may be three-dimensional and represented, for example, as a cube shape.

[0090] Reference Figure 7 It demonstrates that the sample carrier 108 can be moved in three dimensions. Figure 1A A three-dimensional block diagram 700 of a portion of the orbit (not shown separately) of the sample carrier 108 and / or the sample carrier 108. Figure 7 In this embodiment, sample carrier 108 is configured to move to an adjacent empty block along the x, y, and z directions. Block 702 has motion constraints in the x and y directions. Block 704 has motion constraints in the y and z directions. Other blocks may have other motion constraints. Router 126 may route sample carrier 108 between adjacent blocks or cubes as described above.

[0091] Now refer to Figure 8 The diagram illustrates a flowchart of a method 800 for operating a diagnostic laboratory system (e.g., laboratory system 100). Method 800 includes, in block 802, providing a first sample carrier (e.g., first sample carrier 108A) movable on a track (e.g., track 110) within the diagnostic laboratory system, wherein the first sample carrier has at least one first motion characteristic, and the track extends between a plurality of instruments (e.g., instrument 102) and supports asynchronous movement of the sample carrier.

[0092] Method 800, in block 804, includes providing a second sample carrier (e.g., second sample carrier 108B) movable on a track, wherein the second sample carrier has at least one second motion characteristic, and the first and second sample carriers are capable of moving independently of each other. The at least one first motion characteristic and the second motion characteristic may each include the velocity or acceleration of the respective sample carrier, or the frictional force between the respective sample carrier and the track.

[0093] Method 800 includes, in block 806, identifying a first position (e.g., first position 400) of the first sample carrier and identifying a second position (e.g., second position 406) of the second sample carrier. Method 800 includes, in block 808, generating a first route for moving the first sample carrier from the first position to a first destination (e.g., first destination 402), wherein in some embodiments, the first route may be at least partially based on the at least one first motion characteristic. Figure 4A The route from the first location 400 to the first destination 402 is an example of a first route, although other first routes may be used. Method 800 includes in block 810: generating a second route for moving the second sample carrier from the second location to a second destination (e.g., second destination 408), in some embodiments, the second route may be at least partially based on the at least one second motion characteristic. Figure 4A The route from the second location 406 to the second destination 408 is an example of a second route, although other second routes may be used.

[0094] Method 800 includes, in block 812, determining whether a sample carrier conflict exists between the first route and the second route. A sample carrier conflict can be, for example, a potential collision between a first sample carrier and a second sample carrier. Method 800 includes, in block 814, in response to determining that a sample carrier conflict exists, identifying at least one dependency in either the first route or the second route, wherein the at least one dependency makes the motion of the first sample carrier dependent on the motion of the second sample carrier (e.g., preventing the first and second sample carriers from colliding). If the conflict cannot be resolved by identifying at least one dependency, the routing plan can be regenerated.

[0095] Now refer to Figure 9 The diagram illustrates a flowchart of a method 900 for moving a first sample carrier (e.g., first sample carrier 108A) and a second sample carrier (e.g., second sample carrier 108B) within a diagnostic laboratory system (e.g., laboratory system 100). Method 900 includes, in block 902, providing a track (e.g., track 110) within the diagnostic laboratory system, wherein the track extends between multiple instruments (e.g., instrument 102). The track supports asynchronous movement of the sample carriers.

[0096] Method 900, in block 904, includes providing a first sample carrier (e.g., first sample carrier 108A) movable on a track, wherein the first sample carrier is self-propelled and capable of moving at a first speed. Method 900, in block 906, includes providing a second sample carrier (e.g., second sample carrier 108B) movable on a track, wherein the second sample carrier is self-propelled and capable of moving at a second speed, wherein the first speed is different from the second speed. In some embodiments, the speed of the sample carrier may be variable and set by a sample carrier controller 128.

[0097] Method 900 includes, in block 908: identifying a first location (e.g., first location 400) of the first sample carrier and identifying a second location (e.g., second location 406) of the second sample carrier. Method 900 includes, in block 910: generating, at least partially based on the first speed, a first route for moving the first sample carrier from the first location to a first destination (e.g., first destination 402), and generating, at least partially based on the second speed, a second route for moving the second sample carrier from the second location to a second destination (e.g., second destination 408). Figure 4A The route from the first location 400 to the first destination 402 is an example of a first route, although other first routes may be used. Figure 4A The route from the second location 406 to the second destination 408 is an example of a second route, although other second routes may be used.

[0098] Method 900 includes, in block 912, determining whether a sample carrier conflict exists between the first route and the second route. The conflict can be determined during the execution of the first and second routes if the first and second sample carriers must pass each other or yield to each other at a specific time or location on the track. Method 900 includes, in block 914, identifying at least one dependency in response to determining the existence of a sample carrier conflict, wherein the at least one dependency includes instructing the first sample carrier to wait while simultaneously instructing the second sample carrier to move. Alternatively, in some embodiments, the first sample carrier may be guided to a portion of the track that is not part of the path of the second sample carrier. Method 900 includes, in block 916, executing the first and second routes.

[0099] While various modifications and alternatives may be made to this disclosure, specific methods and apparatus embodiments have been illustrated by way of example in the accompanying drawings and described in detail herein. However, it should be understood that the specific methods and apparatus disclosed herein are not intended to limit this disclosure.

[0100] Non-limiting illustrative examples Illustrative Example 1. A method of operating a diagnostic laboratory system, the method comprising: providing a first sample carrier movable on a track within the diagnostic laboratory system, wherein the first sample carrier has at least one first motion characteristic, and the track extends between a plurality of instruments; providing a second sample carrier movable on the track, wherein the second sample carrier has at least one second motion characteristic, and the first and second sample carriers are capable of moving independently of each other; identifying a first position of the first sample carrier and a second position of the second sample carrier; generating a first route for moving the first sample carrier from the first position to a first destination; generating a second route for moving the second sample carrier from the second position to a second destination; determining whether a sample carrier conflict exists between the first and second routes; and in response to determining that a sample carrier conflict exists, identifying at least one dependency of the first route or the second route, wherein the at least one dependency causes the motion of the first sample carrier to depend on the motion of the second sample carrier.

[0101] Illustrative Example 2. The method according to the foregoing illustrative example, wherein determining whether a sample carrier conflict exists includes: determining whether, during the execution of the first route and the second route, the first sample carrier and the second sample carrier must pass each other or give way to each other at a specific time or at a specific location on the track.

[0102] Illustrative Example 3. The method according to any one of the foregoing illustrative examples, wherein identifying the at least one dependency includes: instructing the first sample carrier to wait while instructing the second sample carrier to move.

[0103] Illustrative Example 4. The method according to any one of the foregoing illustrative examples further includes: executing the first route and the second route and monitoring the positions of the first carrier and the second carrier to determine whether the first route and the second route have been successfully completed.

[0104] Illustrative Example 5. The method according to any one of the foregoing illustrative examples further includes: in response to detecting that the first route or the second route has not been successfully completed, determining whether the first route or the second route needs to be replanned.

[0105] Illustrative Example 6. The method according to any one of the foregoing illustrative examples further includes: in response to detecting that the first sample carrier or the second sample carrier moves slower than expected and that the at least one dependency remains valid, determining that it is not necessary to replan the first route or the second route.

[0106] Illustrative Example 7. The method according to any one of the foregoing illustrative examples further includes: in response to a monitoring indication that the first sample carrier or the second sample carrier is moving faster than expected and the at least one dependency relationship cannot be maintained, determining that the first route or the second route needs to be replanned.

[0107] Illustrative Example 8. The method according to any one of the foregoing illustrative examples further includes: replanning the first route or the second route to include indicating that the speed of the first sample carrier or the second sample carrier moving faster than expected is reduced.

[0108] Illustrative Example 9. The method according to any one of the foregoing illustrative examples further includes: replanning the first route or the second route to include a dependency on a correction for an increased latency for one of the first carrier or the second carrier.

[0109] Illustrative Example 10. The method according to any one of the foregoing illustrative examples further includes: in response to a monitoring indication that the first sample carrier or the second sample carrier has malfunctioned, determining that the first route or the second route needs to be replanned.

[0110] Illustrative Example 11. The method according to any one of the foregoing illustrative examples, wherein the at least one first motion characteristic or the at least one second motion characteristic is velocity, acceleration or track friction.

[0111] Illustrative Example 12. The method according to any one of the foregoing illustrative examples, wherein the first sample carrier and the second sample carrier are independently controlled by a sample carrier controller.

[0112] Illustrative Example 13. A diagnostic laboratory system for analyzing biological samples, comprising: a plurality of instruments; a track located in the diagnostic laboratory system, wherein the track extends between the plurality of instruments; a first sample carrier movable on the track, wherein the first sample carrier has at least one first motion characteristic; a second sample carrier movable on the track, wherein the second sample carrier has at least one second motion characteristic, and the first and second sample carriers are capable of moving independently of each other; a computer having instructions executable to perform the following operations: identifying a first position of the first sample carrier; identifying a second position of the second sample carrier; generating a first route for moving the first sample carrier from the first position to a first destination; generating a second route for moving the second sample carrier from the second position to a second destination; determining whether a sample carrier conflict exists between the first and second routes; in response to determining that a sample carrier conflict exists, identifying at least one dependency of the first or second route, wherein the at least one dependency makes the motion of the first sample carrier dependent on the motion of the second sample carrier; executing the first and second routes and monitoring the positions of the first and second sample carriers; and in response to detecting that the first or second route has not been successfully completed, determining whether the first or second route needs to be replanned.

[0113] Illustrative Example 14. A diagnostic laboratory system according to the foregoing illustrative examples, wherein, during the execution of the first route and the second route, there is a sample carrier conflict in which the first sample carrier and the second sample carrier must pass each other or give way to each other at a specific time or at a specific location on the track.

[0114] Illustrative Example 15. A diagnostic laboratory system according to any one of the foregoing illustrative embodiments, wherein if the first sample carrier has not moved after a predetermined time period indicated in the at least one dependency, it is determined that the first route or the second route has not been successfully completed.

[0115] Illustrative Example 16. A diagnostic laboratory system according to any one of the foregoing illustrative embodiments, wherein when the first sample carrier and the second sample carrier arrive at the first destination and the second destination respectively within a predetermined time period indicated in the at least one dependency, it is determined that the first route and the second route have been successfully completed.

[0116] Illustrative Example 17. A diagnostic laboratory system according to any one of the foregoing illustrative examples, wherein the at least one first motion characteristic or the at least one second motion characteristic is friction, velocity, or acceleration between the track and the first sample carrier or the second sample carrier.

[0117] Illustrative Example 18. A diagnostic laboratory system according to any one of the foregoing illustrative examples, wherein at least one of the first sample carrier and the second sample carrier is self-propelled.

[0118] Illustrative Example 19. A diagnostic laboratory system according to any one of the foregoing illustrative examples, wherein, as the state of the diagnostic laboratory system changes, the computer repeatedly determines whether there is a sample carrier conflict in each of the first route and the second route.

[0119] Illustrative Example 20. A method for moving a first sample carrier and a second sample carrier in a diagnostic laboratory system, the method comprising: providing a track in the diagnostic laboratory system, wherein the track extends between a plurality of instruments; providing a first sample carrier movable on the track, wherein the first sample carrier is self-propelled and capable of moving at a first speed; providing a second sample carrier movable on the track, wherein the second sample carrier is self-propelled and capable of moving at a second speed, and wherein the first speed is different from the second speed; identifying a first position of the first sample carrier; identifying a second position of the second sample carrier; generating a first route for moving the first sample carrier from the first position to a first destination, at least partially based on the first speed; generating a second route for moving the second sample carrier from the second position to a second destination, at least partially based on the second speed; determining whether a sample carrier conflict exists between the first route and the second route; in response to determining that a sample carrier conflict exists, identifying at least one dependency, wherein the at least one dependency includes instructing the first sample carrier to wait while instructing the second sample carrier to move; and executing the first route and the second route.

Claims

1. A method for operating a diagnostic laboratory system, the method comprising: A first sample carrier is provided that can move on a track in a diagnostic laboratory system, wherein the first sample carrier has at least one first motion characteristic, and the track extends between multiple instruments; A second sample carrier that can move on the track is provided, wherein the second sample carrier has at least one second motion characteristic, and the first sample carrier and the second sample carrier are capable of moving independently of each other; Identify the first position of the first sample carrier and the second position of the second sample carrier; Generate a first route for moving the first sample carrier from the first location to the first destination; Generate a second route for moving the second sample carrier from the second location to the second destination; Determine whether there is a sample carrier conflict between the first route and the second route; and In response to the determination that a sample carrier conflict exists, at least one dependency in either the first route or the second route is identified, wherein the at least one dependency makes the motion of the first sample carrier dependent on the motion of the second sample carrier.

2. The method of claim 1, wherein, The determination of whether a sample carrier conflict exists includes: determining whether, during the execution of the first route and the second route, the first sample carrier and the second sample carrier must pass each other or give way to each other at a specific time or at a specific location on the track.

3. The method of claim 1, wherein, Identifying the at least one dependency includes instructing the first sample carrier to wait while simultaneously instructing the second sample carrier to move.

4. The method of claim 1, further comprising: The first and second routes are executed and the positions of the first and second carriers are monitored to determine whether the first and second routes have been successfully completed.

5. The method of claim 4, further comprising: In response to the monitoring indicating that the first route or the second route has not been successfully completed, determine whether the first route or the second route needs to be replanned.

6. The method of claim 5, further comprising: In response to the monitoring indicating that the first or second sample carrier is moving slower than expected and that at least one dependency remains valid, it is determined that there is no need to replan the first or second route.

7. The method of claim 5, further comprising: In response to a monitoring indication that the first or second sample carrier is moving faster than expected and cannot maintain the at least one dependency, it is determined that the first or second route needs to be replanned.

8. The method of claim 7, further comprising: The first or second route is replanned to include instructing the first or second sample carrier to reduce its speed if it is moving faster than expected.

9. The method according to claim 7, further comprising: The dependency of rescheduling the first route or the second route to include a correction for increased latency for one of the first carriers or the second carrier.

10. The method of claim 5, further comprising: In response to the monitoring indicating that the first or second sample carrier has malfunctioned, it is determined that the first or second route needs to be replanned.

11. The method according to claim 1, wherein, The at least one first kinematic characteristic or the at least one second kinematic characteristic is velocity, acceleration, or track friction.

12. The method according to claim 1, wherein, The first sample carrier and the second sample carrier are independently controlled by the sample carrier controller.

13. A diagnostic laboratory system for analyzing biological samples, comprising: Multiple instruments; A track located in a diagnostic laboratory system, wherein the track extends between multiple instruments; A first sample carrier that can move on the track, wherein the first sample carrier has at least one first motion characteristic; A second sample carrier that can move on the track, wherein the second sample carrier has at least one second motion characteristic, and the first sample carrier and the second sample carrier are capable of moving independently of each other; A computer having instructions that can be executed to perform the following operations: Identify the first position of the first sample carrier; Identify the second location of the second sample carrier; Generate a first route for moving the first sample carrier from the first location to the first destination; Generate a second route for moving the second sample carrier from the second location to the second destination; Determine whether there is a sample carrier conflict between the first route and the second route; In response to determining that a sample carrier conflict exists, at least one dependency relationship in the first route or the second route is identified, wherein the at least one dependency relationship makes the motion of the first sample carrier dependent on the motion of the second sample carrier; Execute the first and second routes and monitor the positions of the first and second sample carriers; and In response to the detection that the first route or the second route has not been successfully completed, it is determined whether the first route or the second route needs to be replanned.

14. The diagnostic laboratory system according to claim 13, wherein, During the execution of the first and second routes, sample carrier conflicts may occur where the first and second sample carriers must pass each other or give way to each other at specific times or locations on the track.

15. The diagnostic laboratory system according to claim 13, wherein, If the first sample carrier has not moved after a predetermined time period indicated in the at least one dependency, it is determined that the first route or the second route has not been successfully completed.

16. The diagnostic laboratory system of claim 13, wherein, When the first sample carrier and the second sample carrier arrive at the first destination and the second destination respectively within the predetermined time period indicated in the at least one dependency, it is determined that the first route and the second route have been successfully completed.

17. The diagnostic laboratory system according to claim 13, wherein, The at least one first motion characteristic or the at least one second motion characteristic is the friction, velocity, or acceleration between the track and the first sample carrier or the second sample carrier.

18. The diagnostic laboratory system according to claim 13, wherein, At least one of the first sample carrier and the second sample carrier is self-propelled.

19. The diagnostic laboratory system according to claim 13, wherein, As the state of the diagnostic laboratory system changes, the computer repeatedly determines whether there is a sample carrier conflict in each of the first and second routes.

20. A method for moving a first sample carrier and a second sample carrier in a diagnostic laboratory system, the method comprising: A track is provided in the diagnostic laboratory system, wherein the track extends between multiple instruments; A first sample carrier that can move on the track is provided, wherein the first sample carrier is self-propelled and capable of moving at a first speed; A second sample carrier is provided that can move on the track, wherein the second sample carrier is self-propelled and capable of moving at a second speed, wherein the first speed is different from the second speed; Identify the first position of the first sample carrier; Identify the second location of the second sample carrier; A first route for moving the first sample carrier from the first location to the first destination is generated, at least in part based on the first speed; A second route for moving the second sample carrier from the second location to the second destination is generated, at least in part based on the second velocity; Determine whether there is a sample carrier conflict between the first route and the second route; In response to determining that a sample carrier conflict exists, at least one dependency is identified, wherein the at least one dependency includes instructing the first sample carrier to wait while simultaneously instructing the second sample carrier to move; and Execute the first route and the second route.

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