TRANSPORT SYSTEM FOR TRANSPORTING SAMPLES IN A MEDICAL ANALYSIS LABORATORY

Description

[0001] The present invention relates to a transport system for transporting samples in an analytical laboratory, in particular a medical and / or chemical analytical laboratory, according to claim 1.

[0002] In medicine, laboratory medicine is a field of considerable relevance for diagnostics. Specialized and highly technological medical analysis laboratories operate in this area, examining and analyzing medical samples submitted from various medical facilities, such as doctors' offices or hospitals, according to a given order. These samples can include bodily fluids, such as blood or urine samples, but also stool samples, swabs, and similar specimens. The work in these analysis laboratories encompasses not only medical and clinical-chemical examinations and analyses, but also chemical analyses, meaning that these laboratories can typically examine both medical and chemical samples.

[0003] Samples are typically submitted by the senders to the medical or chemical analysis laboratories in designated sample containers. These are predominantly tubular containers, usually made of transparent plastic, sealed with a cap, typically a screw cap or stopper, for shipping and handling. Often, the sample containers are pre-assigned by the suppliers, particularly through the selection of color-coded caps, to specific types of samples or samples for specific analyses.

[0004] The submitted sample containers are labelled by the senders with appropriately coded data sets, from which conclusions can be drawn about the origin of the sample, i.e., the sender and the patient from whom the sample was taken, as well as about the analysis request associated with the sample submission. These codes are usually applied to the sample container via barcodes or QR codes and can, for example, correlate with a request letter or an electronically transmitted order containing the relevant data.

[0005] Medical analysis laboratories typically contain a wide range of analytical instruments and equipment, enabling samples to undergo specific analyses relevant to medical diagnostics. These include clinical chemistry tests, morphological blood analyses, hormone tests, immunological tests, marker analyses for specific tumor markers, and similar procedures. Medical analysis laboratories also have pre-analytical preparation equipment, such as automated centrifuges, which prepare incoming samples for subsequent analysis according to the requested criteria.

[0006] In modern medical and / or chemical analysis laboratories, medical and / or chemical sample analyses are performed with high throughput and a high degree of automation. Incoming samples are transferred to an automated analysis system, specifically a transport system, which then automatically moves the samples to predetermined destinations and intermediate destinations. For example, first to a primary analyzer for an initial medical analysis, then to a second analyzer for a second medical analysis, and finally to an archive; or first to a processing device, such as a centrifuge, then to an analyzer, and finally to an archive, or transported between the individual stations.Since the healthcare system pays comparatively low reimbursements in the field of laboratory medicine, particularly for standardized analyses, a high degree of automation and a high throughput rate are essential for the economical operation of an analytical laboratory. Particular attention is paid to sample transport within the laboratory facility, as the processing speed in this area—i.e., laboratory logistics—regularly represents a limiting factor in throughput. Accordingly, transport systems are already established in large medical analytical laboratories, in which the samples—more precisely, the sample containers filled with the respective samples—are moved along predetermined routes using individual transport carts and transported to their respective destinations, be they preparation equipment or analytical instruments.An example of such a transport system with corresponding transport trolleys is disclosed in US 2010 / 0239461 A1. Another example is described in EP 2 629 100 A1. EP 2 629 099 A1 and US 2002 / 146347 A1 also deal with automated sample transport in medical analysis laboratories.

[0007] A problem with known transport systems used for transporting samples in medical analysis laboratories is that, on the one hand, they are limited in transport speed and thus the laboratory's throughput rate, and on the other hand, the proposed systems are complex in design and prone to failure and maintenance issues. The present invention addresses this problem by providing an improved transport system for transporting samples in a medical analysis laboratory. This system is robust, requires minimal maintenance, and enables a high sample throughput due to its high cycle rate and transport speed.

[0008] The solution to this problem is provided by a transport system for the transport of samples in an analytical laboratory, especially a medical and / or chemical analytical laboratory, as described below.

[0009] Accordingly, a transport system for transporting samples in an analytical laboratory, particularly a medical and / or chemical analytical laboratory, initially comprises a transport track defining the route. Furthermore, at least one self-propelled transport cart, designed for movement along the route on the transport track, is provided; in particular, several, preferably a plurality, of such transport carts can be part of the transport system according to the invention. The at least one transport cart has a receptacle for a sample to be transported, typically a receptacle in which a sample container holding the sample itself can be received, held, and transported.The transport vehicle of the transport system according to the invention has electrically driven wheels, an electrical energy storage device for providing electrical energy for the electric drive of the wheels, and a control unit for the electric drive. The control unit allows the electric drive to be regulated or adjusted, in particular with regard to the drive speed of the wheels. The control unit can also be configured, in particular, for exchanging data and signals with an external environment.

[0010] The special feature of the transport system according to the invention, in one embodiment essential to the invention, is that the transport cart has four wheels, each positioned in an arrangement of two parallel axes. In other words, two wheels are arranged along a first axis on the transport cart, and at an offset distance, two further wheels are arranged along a second axis. When we refer here to an arrangement of wheels along an axis, this does not mean that the wheels are mounted on an actual common axle; rather, the wheels can, and in particular are, as explained below, individually suspended.Furthermore, for this design essential to the invention, it is important that the wheels of the first axle are driven, while the wheels of the second axle are not, and that the wheels of the driven axle are each connected to their own electric motor drive and can be driven by this motor at a rotational speed that can be individually set by the control system. Finally, for this embodiment of the transport system according to the invention, it is important that longitudinal grooves are guided along the travel paths in the transport track and that a guide projection projecting on the underside, designed to engage in the longitudinal grooves, is formed on the at least one transport carriage. In particular, it is advantageous to have a single longitudinal groove for each travel path.

[0011] This inventive design of the transport system presented here offers a particular advantage in the construction of the transport track. Especially where there are branching or merging tracks in the transport track, for example, to move a sample from a circular main track towards an analysis device, the inventive design of the transport carriage in the transport system allows for transfer to the branching track or continuation of the transport carriage on the main track without the need for a switch in the transport track.Solely by adjusting the drive speeds of the driven wheels, which may be located on an axle at the rear of the transport vehicle in the direction of travel, a direction of travel can be specified either to the left or to the right, so that if the different drive speeds are adjusted accordingly and spatially adapted before the branch, the guide projection is transferred into the continued course of the longitudinal groove along a main travel path or along the branch, and the transport vehicle then continues along the main travel path or turns into the branch.As already mentioned, switches or other adjustment mechanisms can be omitted in the transport track itself along the travel paths, as these are prone to defects and failures due to their mechanically moving parts and frequently performed movements.

[0012] However, if, as can happen quite frequently with known transport systems of the type mentioned above, a corresponding component of the transport track fails and needs to be replaced, this often leads to a shutdown of at least large sections of the analytical laboratory, resulting in a backlog of samples, a loss of throughput, and consequently, a loss of revenue. In the solution according to the invention, the technology required for specifying the direction of travel at junctions, with regard to the necessary mechanical adjustment and adjustability for this direction of travel, is transferred exclusively to the transport cart, which, in the event of a failure, can be easily removed from the transport system and, if necessary, replaced by a spare cart. The transport system itself does not fail, and the analytical laboratory can continue to operate normally.

[0013] Another aspect of the invention, which can be used in a transport system according to the invention, particularly independently of the specific design of the transport cart with four wheels and the guide projection and the transport track with longitudinal groove, is that the electrical energy storage device is formed by one or more capacitors. In known transport systems, the transport carts are equipped with accumulators, so-called batteries. While these have the advantage of storing relatively large amounts of electrical energy and thus enabling comparatively long travel or operating times for the transport carts, such batteries are also comparatively heavy and add extra weight to the transport carts, which on the one hand increases energy consumption and on the other hand also limits the dynamics of the transport carts.Furthermore, such batteries require comparatively long charging times. Therefore, in established transport systems that use battery-powered trolleys, charging stations must be provided where a portion of the trolley fleet is always parked for battery charging. These trolleys cannot participate in the actual sample transport, so when loading the transport system, a correspondingly larger number of trolleys must be deployed to account for the portion of the fleet unavailable due to charging. Additionally, batteries lose capacity over time, requiring either replacement or replacement of the entire trolleys after a certain operating period. This also results in further maintenance and associated costs.

[0014] In contrast, electrical capacitors are advantageous as electrical energy storage devices. They can be built relatively lightweight and, compared to batteries, allow for a virtually unlimited number of charge and discharge cycles, thus offering a longer lifespan. Furthermore, they can be charged with relatively high currents and / or with the aid of short charging processes, particularly due to the usability of relatively high currents. These short charging processes can be carried out especially during the operation of the transport vehicle. The disadvantage of capacitors—that they can only store a limited amount of charge and thus a limited amount of electrical energy—can be compensated for by shorter charging cycles, especially those planned for use during the operation of the transport vehicle.It is particularly advantageous to use capacitors with high capacitance, for example so-called supercapacitors, also known as supercaps in English.

[0015] Particularly for transport vehicles equipped with capacitors as energy storage devices, as described above, it can be advantageous to have charging sections provided in the transport track and along the travel paths. These sections allow for the transfer of electrical charge to the transport vehicle to recharge the electrical energy storage device while it passes over a charging section. Especially when capacitors are used as energy storage devices, which can only store small amounts of electrical energy compared to batteries, such charging sections can ensure a continuous and timed replenishment of the electrical energy during operation.The lengths and positions of the loading sections must be coordinated, taking into account the speeds of travel, so that the electrical capacitors or other electrical energy storage devices are sufficiently charged with electrical energy to safely bridge a subsequent distance to another loading section arranged in the transport track, i.e., in such a way that a sufficient residual charge or amount of electrical energy is still present in the electrical energy storage device when the transport vehicle reaches the next loading section to replenish the electrical energy.

[0016] Electrical energy can be transferred in the loading section in various ways, for example wirelessly, but also by means of a mechanically produced electrical contact. The latter option is advantageous because it represents a simple and robust solution in which comparatively large amounts of electrical energy can be transferred even with short contact times. Furthermore, mechanical electrical energy transfer does not pose the risk of crosstalk or interference with radio signals, which can be used, for example, for communication within the transport system. Accordingly, in an advantageous further development of the transport system according to the invention, conductor tracks, in particular those made of copper, can run along the track in the loading sections, and the at least one transport carriage can have sliding or rolling contacts that can be brought into contact with these conductor tracks.Accordingly, when the transport cart crosses the loading tracks, an electrical connection is established through contact between the conductor tracks and the sliding or rolling contacts, and electrical energy is transferred to the transport cart for storage in the electrical energy storage device, for example the capacitor(s) described above.

[0017] Advantageously, the aforementioned sliding or rolling contacts can be spring-mounted on the transport carriage and pre-tensioned in a position where they are lifted from the transport track. It can also be provided that, in the loading area, magnetic force draws the sliding or rolling contacts against the spring tension, bringing them into mechanical and thus also electrical contact. This magnetic force is achieved, in particular, by providing a magnet in at least one of the elements (either the rolling track or the sliding or rolling contacts) and either a magnet or a magnetizable material in the other element. Specifically, a magnetizable material, for example, an iron or stainless steel rail in addition to a copper rail, can be provided in the area of ​​the rolling track, and permanent magnets can be arranged on the spring-mounted sliding or rolling contacts.This design prevents the sliding or rolling contacts from constantly rubbing against the transport track and thus generating additional friction. Mechanical contact and the associated friction then only occur in those sections where charge transfer actually takes place to replenish the electrical energy storage device.

[0018] Another special aspect of the transport system according to the invention, which can be implemented independently of the four-wheeled design of the transport carriage and the provision of guide projections on the transport carriage and longitudinal grooves in the transport track, and also independently of the design of the energy storage device as a capacitor or capacitors, consists in the fact that, to establish bidirectional communication with the transport carriage, first optical, in particular infrared, communication interfaces can be integrated into the transport track and arranged in the area of ​​the travel path, and that second optical, in particular infrared, communication interfaces are arranged on the transport carriage. The first and second optical communication interfaces are arranged such that they interact when the transport carriage passes over it in an area where a first optical communication interface is located.The first optical communication interfaces arranged in the transport track can be particularly elongated, for example, with several synchronized LEDs or laser diodes, so that a communication link, especially a bidirectional one, can be maintained for a period of time during a passage. Driving commands can be transmitted via such communication interfaces, particularly to the transport vehicle, or more precisely, its control system. These commands can be used, for example, in the area before a branch in the transport track, specifying the direction of travel along the main route or when entering the branch. Conversely, identification data can be transmitted back towards the transport track and from there, for example, to a central control system. This data uniquely identifies the transport vehicle currently passing the first communication point in the transport track.Such optical communication is advantageous because it can be set up in a very confined space, thus preventing overlaps, which can be a concern with radio communication, especially when several such initial communication interfaces are arranged in the transport path. Furthermore, optical communication, particularly infrared communication, can be protected and covered by a cover transparent to the relevant wavelength of light, making it robust and resistant to, for example, abrasion particles, dust, moisture, or similar elements.

[0019] Another aspect of the transport system according to the invention, which can be implemented in combination with the features described above, but also independently, consists of a distance sensor arranged in the transport carriage and connected to the control system. This sensor has a measuring range pointing forward in the direction of travel of the transport carriage. The control system is then configured to reduce the speed of the transport carriage when an obstacle is detected by the distance sensor and is below a predetermined threshold, and / or to adjust the speed of the transport carriage to maintain a constant minimum distance when the obstacle is moving. With this configuration, for example, a convoy of several transport carriages traveling at a uniform speed can be automatically implemented.It can also prevent the transport vehicle from running into a stationary obstacle without braking and colliding with it.

[0020] Another special aspect of the invention, which can also be implemented independently of the previously described special features in a transport system according to the invention, is that the transport cart can have a push-button switch on a side facing forward in the direction of travel during operation, the actuation of which interrupts a main electrical supply line between the electrical energy storage device and electrical consumers arranged in the transport cart.Such a design allows, in particular when the transport vehicle collides with an obstacle, for example one of the aforementioned transport vehicles or a buffer stop or the like, by separating the electrical storage from all electrical consumers arranged in the transport vehicle, i.e. a complete shutdown of the transport vehicle's systems, to reduce energy consumption in the transport vehicle to a minimum, ideally to zero.

[0021] Especially when the electrical energy storage device is one that can only absorb a limited amount of electrical energy, for example a capacitor or an arrangement of capacitors, this prevents the electrical energy storage device from being depleted in the event of the transport vehicle coming to a standstill by maintaining the electrical functions and continuing electrical energy consumption, so that in the worst case, when the stop is lifted, there is no energy left to move the transport vehicle further, i.e., to transport it.Because a push-button switch is used here, it is biased into an on position, so that when the obstacle is removed, the push-button switch returns to the on position, thus restoring the connection between the electrical energy storage device and the consumers on the transport cart, so that the transport cart can then be fully operated again and, in particular, move autonomously.

[0022] If the transport track, as proposed in the first aspect of the invention, is provided with longitudinal grooves running along the travel path, the push-button switch can, in particular, have a downward-pointing projection designed to engage with the longitudinal groove. With such a projection, it can then, for example, strike a corresponding structure in the longitudinal groove and trigger the switch if this is intended to stop the transport carriage. For this purpose, for example, the transport carriage's speed can be reduced beforehand via a communication link, more precisely, its control system, so that approaching such a stop does not occur at an excessive speed that could endanger the sample on the transport carriage.

[0023] In a further independent aspect of the invention, it can be provided that stoppers are arranged at designated stopping positions in the transport path of the transport system. The stoppers are either extendable upwards from the plane of the transport path to project into the travel path and abut the transport carriage, or, if a longitudinal groove is provided, are designed to be inserted into this longitudinal groove. This allows transport carriages to be stopped at designated stopping positions, for example, in a waiting position before entering the area of ​​an analysis device, provided that more than one transport carriage arrives there with a sample and an earlier sample has not yet been fully analyzed, a corresponding transport carriage is still blocking the stopping position at the analysis device.

[0024] If the transport carriage has a guide projection for engaging a longitudinal groove defining the travel path, a contact ring can be formed on the guide projection. This ring is supported by a rolling bearing and can contact the lateral boundaries of the longitudinal groove. The rolling bearing can be, for example, a ball bearing, a needle bearing, or another type of rolling bearing. Such an arrangement with a rolling bearing further reduces the friction that occurs when the guide projection is guided along a wall of the longitudinal groove, especially at higher speeds. This also helps to save electrical energy, which is particularly relevant if the energy storage device is capable of storing relatively small amounts of electrical energy.

[0025] For similar reasons, a laterally projecting rolling ring, mounted on a rolling bearing, can be provided on the transport carriage in the area of ​​the rearmost side corners when viewed in the direction of travel. This allows for a guiding contact between the transport carriage and the guide structure, particularly where, for safety reasons, lateral wall-like guide structures are arranged along the travel path due to curves with small radii, without incurring excessive friction losses, especially for absorbing lateral or centrifugal forces, particularly at higher speeds.

[0026] A magnet can also be arranged, for example, in the guide projection, provided the transport carriage has one for engaging a longitudinal groove defining the travel path. Such a magnet can, for instance, serve to activate control elements and / or any stoppers located at designated stopping positions when the carriage passes over a sensor sensitive to magnetic fields, particularly a Hall sensor, in the track, especially below the longitudinal groove. The presence of the transport carriage in the vicinity of a sensor can also be indicated and / or detected by means of such a magnet; in this respect, the magnet can be used to locate the transport carriage.In particular, such a magnet can be arranged within the mounting of a possibly provided rolling bearing, in particular a ball bearing, in particular in a guide pin of the rolling bearing, in particular a ball bearing, be integrated into it and / or form it, and the magnet can furthermore be flush with the underside of the rolling bearing, in particular a ball bearing.

[0027] The receptacle, which according to the invention is arranged on the transport cart, can in particular be a receiving tube having a base. A cylindrical sample vessel can in particular be placed into such a tube. Advantageously, this receiving tube can have a longitudinal cutout in its circumferential side wall, which then in particular allows a code arranged on the sample vessel, for example a barcode, to be read through this longitudinal cutout by a laterally arranged reading device.

[0028] Another aspect of the transport system according to the invention, which also possesses an independent inventive character, is the proposal to equip the transport trolley with a holder for a cap belonging to the sample, which is integrated into the trolley's receptacle for the sample being transported. Typically, the samples, or more precisely the sample containers, are transported open so that sample contents can be easily removed at the respective analysis stations. Since the samples, or sample containers, are generally transferred to an archive at the end of their passage through the medical analysis laboratory, where they must be stored sealed, they must be resealed with a cap.Ideally, the original cap can be used for this purpose, especially since, as explained above in the description instructions, there are different caps which can not only differ in color, but also in size and function, for example because different suppliers of sample containers use different standards.

[0029] The proposal described above allows sample containers and their corresponding caps to remain paired during transport through the medical analysis laboratory along the inventive transport system, ensuring that the sample can be securely and tightly resealed with its cap at the end of its journey. This also eliminates the need for replacement stoppers, which are frequently used in current sample management systems in medical analysis laboratories, with the associated negative consequences regarding resource consumption and environmental impact during disposal. For example, if the receptacle for the sample being transported is designed as a receiving tube as described above, the cap holder can be molded as a kind of projecting shelf at the edge of the receiving tube.

[0030] Another aspect of the transport system described here, constituting an invention in itself, is that a downward-facing optical scanning sensor can be arranged on the transport carriage. This sensor can detect the direction and speed of movement of the carriage relative to the transport path. Such an optical scanning sensor can, for example, be designed similarly to the optical sensors known from optical computer mice, which also detect the direction and speed of movement of the mouse housing. Arranging such a scanning sensor on the transport carriage makes it possible to detect its speed and direction of movement, particularly along curved paths, i.e., when traveling around curves, and to transmit corresponding motion data to the control system, which can then be taken into account when adjusting the carriage's speed.In this way, for example, excessive speed can be prevented, and excessive speeds in curves can be avoided, which could otherwise lead to a possible tipping, falling over or overflowing of the sample due to centrifugal force.

[0031] A transport system according to the invention can further comprise a transport track formed in at least two horizontally arranged planes, wherein ramp sections are provided that connect the arranged planes, so that the transport carriage can be moved along the ramp sections between the planes, i.e., from a lower to an upper plane or vice versa. Such an arrangement allows for a space-saving design of the transport system, in particular the transport track, with regard to the required footprint.To create ramp sections with a certain gradient while still maintaining sufficient contact pressure of the transport vehicle on the track surface, a magnetic coupling between the transport vehicle and the track can be achieved by arranging at least one magnet along the track and on the transport vehicle, and otherwise using magnetizable material. If a design includes loading sections and sliding or rolling contacts that can be moved into a raised position against a spring preload by means of magnetic force, these magnetic connections can be used in the ramp sections to secure the transport vehicle to the surface. For this purpose, loading sections can be specifically designed in the ramp sections.

[0032] All the described advantages of a transport system according to the invention for the transport of samples in a medical analysis laboratory are equally valid for a corresponding transport system for the transport of samples in a chemical analysis laboratory and are therefore transferable.

[0033] Further features and advantages of the invention and the technical solutions and special features included in the transport system disclosed herein will become apparent from the following explanations of possible embodiments with reference to the accompanying figures. These show: Fig. 1 schematically shows, as components of a possible embodiment of a transport system according to the invention, a transport carriage according to the invention arranged on a transport track according to the invention; Fig. 2 shows a transport carriage according to the invention of a transport system according to the invention made of Fig. 1 in an oblique view; Fig. 3 the transport trolley made of Fig. 2without a cover and in a rear view; and Fig. 4 a view of the underside of the transport trolley. Fig. 1 .

[0034] The figures illustrate a possible embodiment of a transport system according to the invention, in which various inventive aspects, which can also be implemented independently of one another, are incorporated. The following description of this embodiment should therefore be understood to mean that the various features and aspects can also be implemented independently of one another, i.e., that within the scope of the invention, individual features or combinations of features can also make an inventive contribution and can be implemented within the framework of a new and inventive embodiment of a transport system or individual components thereof, such as the transport track or the transport carriage.

[0035] A transport system according to the invention, which can also be described as a conveyor system, is in the Fig. 1 illustrated and generally marked there with the reference symbol 1.

[0036] Transport or conveying system 1 is designed for use in a medical analysis laboratory and is intended for transporting samples. It represents the part of the laboratory equipment that receives samples from a pre-sorting point, such as an automatic sorting machine, and conveys them to any destination within the laboratory that can be specified to the system. These destinations could include preparation equipment such as centrifuges, analyzers, or even an archive. It is also possible to convey samples to a sorting station for further sorting.

[0037] The transport system 1 comprises at least one, and in practice multiple, individual, self-propelled transport carts 2, which can also be referred to as sample carriers. Each cart is designed to hold exactly one sample and serves to transport the sample to a predetermined destination. The samples are in the form of tubular sample containers, such as blood, urine, or the like, containing the medical sample to be analyzed. These containers are well-known and have long been used in medical laboratory technology. At the respective destination, the samples can be removed using a pick-and-place mechanism and, for example, placed into suitable racks or containers for further processing.

[0038] In addition to at least one transport vehicle 2, a further component of the transport system 1 is a transport track 3. This transport track 3 forms a flat surface on which the transport vehicle(s) 2 move. The transport track 3 thus serves as a roadway for the transport vehicle(s) 2. Longitudinal grooves 4 are provided in the transport track to guide the transport vehicle 2(s) along predetermined paths. These grooves act as guide grooves into which the transport vehicle 2 engages with a guide projection 5. The longitudinal grooves 4 divide at junctions 6, so that separate paths branch off, which the respective transport vehicle 2 can follow selectively. The longitudinal grooves 4 that divide at a junction 6 converge again at another point and merge once more (not shown here).In the transport track 3 of the transport system 1 according to the invention, the respective travel paths marked and defined by the longitudinal grooves 4 are always formed as closed loops, either as circular paths or – not in a strictly geometric sense – in a circular shape. This allows a transport vehicle 2, which, for example, cannot yet be transferred to the destination track at a junction 6 due to a backup there, to continue in a circular path until the junction is clear for entry upon the next arrival. The transport track 2 can also be designed on different, superimposed levels, in which ramp sections are provided that connect the levels and in which, in the embodiment shown here, travel paths are defined by longitudinal grooves 4.

[0039] In contrast to sample carriers in other, similar systems, which are partially pushed along the track, the transport carriage 2 in the transport system 1 according to the invention, in the illustrated embodiment, has four wheels 7, 8. The wheels 7, 8 are arranged in two axles: one axle with wheels 7 and one axle with wheels 8. However, the wheels 7, 8 are each individually and uncoupled suspended in the axles. Furthermore, the wheels 7, 8 each have a support or a tire, i.e., structures that contribute to improving traction on the transport track 3 and also enable quiet operation. The wheels 7 are the rear wheels in the direction of travel of the transport carriage 2, i.e., the rear wheels. The wheels 8 are correspondingly the front wheels.

[0040] The transport carriage 2 is driven by two DC motors 9, 10, each directly driving one of the wheels 7. The wheels 8, on the other hand, are freely suspended. The DC motors 9, 10 are independently controllable, so that the drive speeds, or rotational speeds, of the two wheels 7 can be set independently of each other. For this purpose, the DC motors 9, 10 are connected to a control unit (not shown in the figures) located on the transport carriage, which controls and dictates the operation of each respective motor 9, 10. Both DC motors 9, 10 exhibit high dynamics and high torque, which is a great advantage for overcoming inclines, for example when traveling on the ramps connecting the different levels of the transport track 2, and for driving at high speed. A further advantage is the independent controllability of the motors 9, 10.This allows, for example, the adjustment of speeds between the inner and outer wheels 7 when cornering, thus replacing a differential that would otherwise be necessary and saving a mechanical part that is prone to wear. Another important function of the drive system chosen here, with two separate motors 9, 10, is the replacement of mechanical switch controls at junctions 6 in the track with a simple software control system in the transport vehicle 2. This control system determines the direction of travel at the junction 6 by specifying different speeds for the driven wheels 7, instead of by switching a track switch.If the transport carriage 2 is to turn right at the junction 6, the DC motors 9, 10 are controlled so that the left rear wheel 7 develops a higher torque in order to push the guide projection 6 to the right and force it into the longitudinal groove 4 branching off to the right at the junction 6. Alternatively, braking the right wheel can achieve the same result. In this way, a significant reduction in the complexity of mechanical switches in the transport track 3 can be achieved, while simultaneously improving the reliability of the system considerably. In particular, this reduces the failure rate of the transport track 3.

[0041] Providing four wheels 7, 8 on the transport carriage 2 has the advantage over known solutions that friction during propulsion along the transport track 3 is minimal, ideally close to zero. This significantly reduces the energy required for propulsion.

[0042] The energy storage for the operation of the DC motors 9, 10, the electronic control system, and other consumers, such as the sensors explained in more detail below, is implemented in the illustrated configuration by electrical capacitors (not shown in the figures). These capacitors can be, in particular, so-called supercapacitors, which have a high storage capacity.

[0043] Although capacitors have a lower storage capacity compared to batteries, they are lighter and their number of charging cycles is almost unlimited, significantly higher than that of batteries. This results in a considerably longer lifespan for these components and, consequently, for the transport trolleys equipped with them.

[0044] While batteries offer a high charging capacity, enabling a comparatively long operating time for a battery-powered transport cart, they also require long charging times. This can only be done at a charging station, where a battery-equipped transport cart must be parked and the battery charged. During the necessary setup time, the transport cart is unavailable for sample transport. Therefore, a transport system with battery-powered carts requires a corresponding increase in the number of carts being charged. Furthermore, the charging stations themselves require space that can then no longer be used for other purposes.

[0045] The transport wagon 2 is powered by conductor rails 11, which are embedded in the transport track 3 in section-by-section loading sections, and which therefore do not have to extend along the entire route.

[0046] To establish contact with the busbars 11, contacts 12 in the form of sliding or roller contacts are arranged on the underside of the transport carriage 2. These contacts supply current to the capacitors via the busbars 11. The contacts 12 are arranged at the free ends of spring tongues 13, which hold the contacts 12 in a rest position raised and retracted from the transport track 3. However, the springs allow the contacts 12 to be deflected downwards. This deflection is caused by magnets 14 arranged on the spring tongues 13, which are attracted by an iron layer located beneath a copper layer in the busbar 11. This causes the contact rollers of the contacts 12 to be pressed onto the busbar 11, thus charging the capacitors. The iron layer ends at the end of the busbar 11, allowing the spring tongues 13 to lift again from the busbar 11 and the transport track 3.This contact and charging process, which normally only lasts fractions of a second when crossing the power rail 11, is sufficient to charge the capacitors with enough electrical energy to bridge distances on the order of several meters, so that only a relatively small proportion of the routes need to be equipped with power rails 11.

[0047] The solution described above, using capacitors as electrical energy storage devices in the transport carriages 2 and charging them when passing over busbars 11 via the contacts 12, offers the following advantages in particular: The high-capacitance capacitors used, particularly in the form of so-called supercapacitors, can store large amounts of energy in a small space, sufficient to power the transport car 2 along a track a few meters long. The capacitors can be charged very quickly, within fractions of a second, allowing the sections of conductor rail 11 to be designed with short lengths. This enables a point-source energy supply, eliminating the need for a continuous power supply or stationary charging operation. In this way, the transport cars 2 charge themselves during operation, thus reducing the number of transport cars required and, in particular, enabling continuous 24 / 7 operation.

[0048] In the transport track 3, areas transparent to infrared radiation are provided, and beneath these areas are arranged first optical communication interfaces 15, enabling bidirectional communication between control elements in the transport track 3 and the transport carriage 2. Correspondingly, on the underside of the transport carriage, matching the arrangement of the first optical communication interfaces 15, are second optical communication interfaces 28, each in the form of an LED and a photodiode, for bidirectional communication with the communication interfaces 15 in the transport track 3.

[0049] For example, the first optical communication interfaces 15 can be provided in a section before a branch 6 to issue a travel command to the transport carriage 2 to follow the branch 6 in one of the two possible directions, for example, to effect the control of the motors 9, 10 described above for transferring into the branching section of the longitudinal groove 4. The communication interfaces 15 are elongated to provide sufficient transmission time for communication even at higher speeds of the transport carriage 2. For example, a distance of 50 mm would allow a communication time of 50 ms at a transport carriage speed of 1 m / s.This type of information transmission is also sharply localized, so there is no risk of crosstalk, and it is very secure, especially insensitive to external influences such as radio waves and other electromagnetic interference.

[0050] Because the transport track 3 contains no mechanical components and has a completely closed surface, the electronics contained within it are also well protected against dust and moisture.

[0051] The transport trolley 2 carries a receptacle 16 for upright positioning of tubular sample tubes. The receptacle 16 has a deep cutout 17 on the side, which allows for the automatic reading of identification codes along the entire length of the sample tube. A holder 18 for a cap plug of the sample tube is provided on the side of the receptacle 16. With the aid of this holder 18, sample tubes can retain their original cap plug after the cap plug has been removed, which can then be replaced, for example, after taking an aliquot from the sample. This has numerous advantages over the previous method, in which the cap plug was disposed of and later replaced with a standard plug, or in which the tube was sealed by welding: Increased efficiency through the elimination of an additional stopper; reduction of environmental impact through the elimination of discarded plastic stoppers; restoration of the tube to its original condition; secure closure of the tube through the use of the original stopper; trouble-free decapping upon reopening of the sample tube; miniaturization, simplification, cost reduction and acceleration of the decapper mechanism, thereby facilitating easier cascading of decappers to increase throughput.

[0052] The transport vehicle 2 can be equipped with a multi-color LED 19, which can provide information about the operating status of the transport vehicle 2 during operation via a color-coded display. This LED 19 can, for example, indicate states such as "receiving charging current", "communicating with communication interface in the roadway", or similar.

[0053] Furthermore, in the illustrated embodiment, a proximity sensor 20 is provided on the transport cart 2, acting towards the front end. When approaching an obstacle, this sensor reduces the speed to a low, controlled collision speed. The proximity sensor 20 also ensures that, when the transport carts 2 are traveling in a convoy, a constant distance is maintained, depending on the speed of a preceding transport cart 2.

[0054] Furthermore, in the illustrated embodiment, a push-button switch in the form of a shutdown plate 21 is provided on the front of the transport carriage 2. This shutdown plate 21 ensures that the electronics of the transport carriage 2 are completely switched off when it encounters an obstacle, thereby preserving the electrical energy stored in the capacitors until the transport carriage 2 is restarted. For this shutdown mechanism to function, the previously described encounter with an obstacle must occur at a controlled speed until the shutdown occurs. The shutdown plate 21 has a small extension 22 that reaches into the longitudinal groove 4. At machining points, the transport carriage 2 moves with this extension against a stop slider, which can be inserted into the longitudinal groove 4 and allows for particularly precise positioning of the transport carriage 2.

[0055] In the illustrated embodiment, a ball bearing 23 is fixed to the guide projection 5 to reduce friction in the longitudinal groove 4. This is particularly important when cornering at high speed. Furthermore, the increased radius provided by the ball bearing 23 helps to smooth out irregularities in the longitudinal groove 4, thus stabilizing the running motion. In high-speed corners or curves with a tight radius, lateral support can be provided in the transport track 3. Here, ball bearings 24, located at the rear end of the transport carriage and bearing against the support with low friction, further stabilize the transport carriage 2, enabling it to negotiate curves with tight radii at relatively high speeds.

[0056] Furthermore, in the illustrated embodiment, the transport carriage 2 has a recess 25 at its rear end. This allows a stop slide to be raised when two transport carriages 2 are closely following one another. In this respect, this recess enables controlled separation of two consecutive transport carriages 2.

[0057] In addition to its own weight, the transport trolley 2 can be pulled onto the track by magnets 26 located in the area of ​​the iron supports below the conductor rails 11. This is useful to increase the traction of the drive wheels 7 on inclines or, together with another pair of magnets 27 in the area of ​​the front wheels, to prevent tipping backwards or forwards on inclines or declines, especially at higher speeds. With appropriate design, it is also possible to drive upside down, for example, to empty the transport trolley 2.

[0058] In the illustrated embodiment, a special optical sensor 29, which can be described as a "mouse sensor," is arranged on the underside of the transport cart 2. This sensor is similar to those used in optical computer mice and can be used for distance measurement, direction detection, and speed determination. When entering a curve, this sensor not only detects the curvature of the path but also allows the calculation of the radius of curvature, thus enabling optimal control of the drive speeds of the driven wheels 7 of the transport cart 2.

[0059] A particular advantage of the inventive design described and implemented in the exemplary embodiment above should be emphasized again here: While, on the one hand, the transport track 3 is mechanically completely passive except at the processing points – that is, the points where the contents or samples are processed in the PTS – which benefits its operational reliability, critical functions are relocated to the transport carriages 2. This has the advantage that, in the event of any malfunctions, an affected transport carriage 2 can simply be removed from the system and, if necessary, replaced by another transport carriage 2 without impairing the function of the entire system, since no work is required on the transport track 3, which can continue to be used by the transport carriages 2. Reference symbol list

[0060] 1 Transport system 2 Transport trolley 3 Transport track 4 Longitudinal groove 5 Guide projection 6 Branch 7 Wheel 8 Wheel 9 DC motor 10 DC motor 11 Busbar 12 Contact 13 Spring tongue 14 Magnet 15 First optical communication interface 16 Receptacle 17 Cutout 18 Bracket 19 Multicolor LED 20 Proximity sensor 21 Shut-off plate 22 Extension 23 Ball bearing 24 Ball bearing 25 Recess 26 Magnet 27 Magnet 28 Second optical communication interfaces 29 Sensor

Claims

1. Transport system (1) for transporting samples in an analysis laboratory, in particular a medical and / or chemical analysis laboratory, comprising a transport track (3) defining travel paths and at least one self-propelled transport trolley (2) equipped for movement along the travel paths on the transport track (3) and comprising a receptacle (16) designed to hold and carry a sample vessel containing a sample to be transported, holding and carrying a sample vessel containing a sample to be transported, wherein the transport trolley (2) comprises electrically driven wheels (7), an electrical energy storage device for supplying electrical energy for the electric motor drive of the wheels (7), and a control system for the electric motor drive (9, 10), characterised in that the receptacle (16) provided on the transport trolley (2) for the sample to be transported is associated with a holder (18) formed on the transport trolley (2) for a cap belonging to the sample.

2. Transport system (1) according to claim 1, characterised in that the transport trolley (2) comprises four wheels (7, 8), each of which is arranged in a configuration of two axles aligned parallel to one another, and of which the wheels (7) of a first axle are driven, whilst the wheels (8) of a second axle are not driven, and in that the wheels (7) of the driven axle are each connected to their own electric motor drive (9, 10) and can be driven via this at a rotational speed individually preset by the control system, wherein longitudinal grooves (4) are formed along the travel paths in the transport track (3) and a guide projection (5) is formed on the underside of the transport trolley (2), which is designed to engage with the longitudinal grooves (4).

3. Transport system (1) according to claim 2, characterised by a contact ring mounted on the guide projection (5) via a rolling bearing (23) for contacting the lateral boundaries of the longitudinal grooves (4).

4. Transport system (1) according to one of the preceding claims, characterised in that the electrical energy storage device is formed by one or more capacitors.

5. Transport system (1) according to one of the preceding claims, characterised by charging sections (11) provided in sections in the transport track (3) and along the travel paths for transferring electrical charge to the transport trolley (2) to charge the electrical energy storage device during a passage over a charging section (11).

6. Transport system (1) according to claim 5, characterised by conductor tracks, in particular made of copper, extending in the charging sections (11) along the track, and by sliding or rolling contacts (12) on the transport trolley (2) which can be brought into contact with the conductor tracks (11) for contacting the conductor tracks (11).

7. Transport system (1) according to claim 6, characterised in that the sliding or rolling contacts (12) are spring-mounted and biased into a position in which the sliding or rolling contacts (12) are lifted off the transport track (3), and in that magnets or a magnetisable material are provided in the charging sections (11) and, furthermore, magnets or a magnetisable material are provided on the spring-mounted sliding or rolling contacts (12) are provided with magnets or a magnetisable material in such a way that, when the transport trolley (2) passes over the loading section (11), the sliding or rolling contacts (12) are magnetically drawn towards the conductor tracks (11) and make contact with them.

8. Transport system (1) according to one of the preceding claims, characterised in that, to establish bidirectional communication with the transport trolley (2), first optical, in particular infrared, communication interfaces (15) are integrated into the transport track (3) and arranged in the vicinity of the travel path, and that second optical, in particular infrared, communication interfaces (28) are arranged on the transport trolley (2).

9. Transport system (1) according to one of the preceding claims, characterised by a distance sensor (20) arranged in the transport trolley (2) and connected to the control unit, with a measuring range pointing forwards in the direction of travel of the transport trolley (2), wherein the control unit is configured to reduce the travel speed of the transport trolley (2) in the event of an obstacle detected by the distance sensor (20) and lying below a predetermined threshold value , and / or to adjust the travel speed of the transport trolley (2) in the event of a moving obstacle in order to maintain a consistently maintained minimum distance.

10. Transport system (1) according to one of the preceding claims, characterised in that the transport trolley (2) has, on a side facing forwards in the direction of travel during operation, a limit switch (21) whose actuation interrupts a main electrical supply line between the electrical energy storage device and electrical consumers arranged in the transport trolley (2).

11. Transport system (1) according to claim 10, insofar as this refers directly or indirectly to claim 2, characterised in that the push-button switch (21) comprises a downward-facing projection (22) designed to engage with the longitudinal groove (4).

12. Transport system (1) according to one of the preceding claims, characterised by stoppers arranged at predetermined holding positions in the transport track (3), wherein the stoppers are either extendable upwards from the plane of the transport track (3) to project into the travel path and to abut against a transport trolley (2), or, insofar as this claim is directly or indirectly related to claim 2, are formed so as to be insertable into the longitudinal groove (4).

13. Transport system (1) according to one of the preceding claims, characterised in that the transport trolley (2) has, in the region of the lateral corners situated at the rear when viewed in the direction of travel during operation, a laterally projecting roller ring mounted via a roller bearing (24) in each case.

14. Transport system (1) according to one of the preceding claims, characterised in that the receptacle (16) provided on the transport trolley (2) for the sample to be transported is a receptacle tube having a base.

15. Transport system (1) according to claim 14, characterised in that the receiving tube has a longitudinal cut-out (17) in its side wall.

16. A transport system (1) according to any of the preceding claims or according to the general concept of claim 1, characterised by a downward-facing optical scanning sensor (29) arranged on the transport trolley (2), by means of which a e direction of movement and a speed of movement of the transport trolley (2) relative to the transport track (3) can be detected.

17. Transport system (1) according to any one of the preceding claims, characterised by a transport track (3) formed in at least two planes arranged horizontally one above the other, wherein ramp sections are provided to connect the superimposed planes.

18. Transport system (1) according to claim 17, characterised in that magnets or a magnetisable material are provided in the region of the ramp sections along the travel path to interact with magnets (26, 27) or a magnetisable material formed on the transport trolley (2) to generate a magnetic holding force for holding the transport trolley (2) on the transport track (3).

19. A transport system (1) according to one of the preceding claims, characterised in that it comprises a plurality of identically constructed transport trolleys (2), wherein the transport trolleys (2) each have a unique, individual and electronically readable identifier.