Sample changer, crucible and tray for thermo-analytical instrument

Abstract

To provide a sample changer for a thermo-analytical instrument that enables improved control over the handling of a sample object, a thermo-analytical instrument incorporating such sample changer, and a tray and a crucible for use therewith.SOLUTION: A sample changer (5) for a thermo-analytical instrument includes a camera (12) and image processing capabilities which provide improved positional control when depositing a sample object (16) on a sample support (3) or picking up the sample object (16) from the sample support (3).SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a sample changer for a thermal analytical instrument comprising a moveable member driven to move at least between a receiving position for picking up a sample object on a discharge sample support and a release position for depositing said sample object on a receiving sample support, in particular to a thermal analytical instrument incorporating such a sample changer, and to crucibles and trays for use therewith. [Background technology]

[0002] A conventional sample exchanger for a thermal analysis instrument may comprise a robot arm having a free end with a gripper adapted to pick up a sample object, for example an empty crucible or a crucible containing a specimen of the substance to be analyzed, and to move said sample object between various positions, for example in the working space of the thermal analysis instrument. Typically, the robot arm moves to a receiving position to pick up the sample object on an unloading sample support. The unloading sample support may be one of a number of sample holding positions formed in a tray. The robot arm then moves to a releasing position to place the gripped sample object on a receiving sample support, which may be a thermal analysis sensor of the thermal analysis instrument, thereby allowing the sample object to be analyzed by thermal analysis. During the measurement, the robot arm is retracted from the releasing position so as not to interfere with the measurement process. After the measurement is completed, the robot arm is again moved to the previous releasing position to pick up the measured sample object, which now becomes the current picking position. From there, the robot arm with the gripped sample object can be moved to a current release position (which may be, for example, a previous receiving position) and the measured sample object is placed on the current receiving sample support (which may be an empty sample holding position on a tray).

[0003] Although the above-described operation of the robot arm is sufficient to automatically transport sample objects between storage and measurement locations, position control and identification of the sample objects during handling by the robot arm still leaves room for improvement. Summary of the Invention [Problem to be solved by the invention]

[0004] It is therefore an object of the present invention to provide a sample changer of the above referenced type which allows improved control of the handling of sample objects. Further objects relate to a thermoanalytical instrument incorporating such a sample changer, and to crucibles and trays for use therewith. [Means for solving the problem]

[0005] As a solution to this object, a sample exchanger for a thermal analytical instrument is characterized in that it comprises a camera mounted on a movable member for movement therewith, the camera having a field of view and depth of focus adapted to capture at least a partial image of at least one of the sample object, the take-up or the receiving sample support.

[0006] The camera of the sample exchanger according to the invention is most preferably a digital camera with an image sensor that converts the image captured by the camera into a two-dimensional pixel representation suitable for further processing and / or evaluation. The camera tracks the movement of the mobile member, so that an image or at least a partial image of the unloading or receiving sample support (which may be empty or may have a sample object placed on it) can be captured when said mobile member is moved towards said receiving or releasing position, respectively. From the captured image it is thereby possible to determine the positional relationship between said sample object and one of said unloading or receiving sample supports. Furthermore, the captured image makes it possible to ascertain whether the corresponding support is empty or has a sample object placed on it, and also to image the sample object, for example before and after the measurement, in particular for documentation purposes, which may be an empty crucible or a crucible containing a specimen of the substance to be thermally analyzed. Furthermore, images can be captured that allow the identification of the sample object, for example by evaluating the color, the geometric dimensions or a mark provided on the crucible.

[0007] The movement of the movable member is driven along three mutually orthogonal translational axes, for example having horizontally extending X-axis and Y-axis and vertically extending Z-axis. It is further preferred that the optical axis of the camera, the camera optical axis, extends parallel to the vertical Z-axis of movement of the movable member.

[0008] The movable member may comprise a gripping means arranged at a free end portion and centred on the vertical longitudinal axis of the movable member, said gripping means adapted to grip said sample object in frictional or positive locking engagement when lowered along its vertical direction of movement towards said sample object. A camera may also be mounted on the movable member with a camera optical axis horizontally offset from said vertical longitudinal axis of said movable member. It may therefore be necessary to move the movable member from its receiving or releasing position to a correspondingly offset position when an image or at least a partial image of said sample object and its sample support is captured.

[0009] A preferred embodiment of the sample changer according to the invention comprises a light source mounted on the movable member for movement therewith to illuminate the field of view of the camera. Illumination by a light source has the advantage of reducing the effect of variations in light intensity in the external laboratory environment.

[0010] The light source is preferably a ring light that surrounds the camera, thereby avoiding asymmetry in the illumination.

[0011] It is also preferred that the light source emits polarized light and that the camera includes a polarizing filter, thereby reducing adverse effects caused in particular by reflections from the surface of the sample object.

[0012] According to another advantageous embodiment, the light source emits white light in the visible spectrum and said camera is a color camera sensitive in at least a first and a second spectral channel in the visible spectrum, preferably in the red, green and blue channels, so that a variety of colors can be detected and used to observe the sample object.

[0013] The sample changer according to the invention comprises in particular image processing means for analysing at least one of the images captured by said camera, said image processing means in particular enabling image segmentation, whereby at least one feature of one of said sample object and / or said sample support can be extracted.

[0014] In particular, the image processing means is operable to analyse the at least one image for a positional relationship between the sample object and at least one of the source or destination sample support.

[0015] As a further refinement, the signal indicative of said positional relationship is used to control said movement of said movable member, whereby a feedback control can be established to accurately position the movable member in one of said receiving or releasing positions in order to pick up or place a sample object in a correct positional relationship with respect to the respective support, the feedback control being preferably realised by a controller which receives the signal indicative of said positional relationship and issues commands to control the movable member.

[0016] In particular, the image processing means is operative to analyse the at least one image for at least one visually distinguishable feature of the sample object.

[0017] Alternatively or additionally, the image processing means is operable to analyze the at least one image for at least one dimensional characteristic of the sample object. An example of a visually distinguishable characteristic of the sample object is its color, or a mark applied thereto. An example of a dimensional characteristic is part of the shape of the sample object, for example in the case of a crucible as sample object the vertical height of the crucible can be detected.

[0018] According to a further aspect of the sample changer according to the invention, the position of the movable member at which both at least a portion of the sample object and at least a portion of one of the delivery or receiving sample supports are focused in the field of view of the camera is offset from the receiving or releasing position, respectively, such that in the offset position of the movable member the field of view of the camera can be centred on one of the delivery or receiving sample supports, and in the receiving or releasing position the movable member can be optimally positioned for gripping or releasing the sample object.

[0019] In another preferred embodiment of the sample changer according to the invention, said movement of said movable member comprises two horizontally offset but vertically identical positions, and the vertical dimension of said sample object is calculated from images captured at said two positions. Calculation of the vertical dimension from two images can be easily performed according to the laws of geometrical optics.

[0020] According to another aspect of the invention, the sample changer further comprises a line or cross-hair laser, preferably mounted to move with said movable member, the optical axis of which is oriented to produce an observable shadow of said sample object on one of said take-side or take-side sample supports. The shadow produced by the sample object on the support appears as a gap in the laser line on the captured image, the length of which can be used to calculate the height of the sample object, in particular the crucible, from the laws of geometrical optics. More importantly, the appearance of the gap on the image indicates the presence of the sample object on the sample support, making it possible to safely detect the presence of the sample object even in cases where the color contrast between the sample object and its support is insufficient.

[0021] In another embodiment, the camera comprises a focusing objective lens with a focal length controlled according to the distance to the respective source or destination sample support, This self-focusing feature of the alternative embodiment eliminates the need to move the camera vertically to properly adjust the focal depth.

[0022] The present invention also includes a thermal analytical instrument comprising a thermal analytical sensor for receiving a sample object in thermal contact therewith, a tray having at least one storage location for holding a sample object, and a sample exchanger, wherein the outgoing sample support is one of the storage locations of the tray, and the receiving sample support is the thermal analytical sensor.

[0023] A thermal analysis instrument generally serves to provide a thermal excitation to a sample object to be analyzed and to measure the thermal response of the sample object. Typical examples of thermal analysis instruments are differential scanning calorimeters or thermogravimetry devices. In these instruments, the sample exchanger according to the invention serves to pick up a sample object from a tray, transport the sample object to a thermal analysis sensor of the instrument and place the sample object on said thermal analysis sensor, which can be exposed to the sample exchanger through a loading / unloading opening of the measurement chamber of the instrument. The sample exchanger is then pulled back from the sample object and the opening is closed for the measurement process. After completion of the measurement, the measured sample object is again exposed to the sample exchanger, re-gripped and transported to a suitable receiving sample support. The thermal analysis instrument according to the invention thereby allows a fully automatic operation of the instrument.

[0024] In a preferred embodiment, the thermal analysis sensor comprises a positioning pattern, preferably including an arcuate section centered on a target position on the sensor adapted for imaging by the camera, in order to image the positional relationship between the sample object and the sensor on an image captured by the camera. In particular, the positioning pattern comprises two arcuate sections, which are symmetrically arranged around the target position on the sensor and are dimensioned to closely surround the sample object, preferably the circular bottom of a crucible. The positioning pattern may also include a single cross, or a set of three or four crosses, brackets, or similar marks. Preferably, the positioning pattern remains at least partially visible when the sample object is placed at the target position, which allows visual confirmation of the correct positioning of the sample object.

[0025] Most preferably, said thermal analysis sensor comprises a color calibration area, preferably located at a peripheral portion of said sensor, for performing white balancing of images captured by said camera, which is a color camera. The target positions at the sensor are preferably part of a support area. The support area is a sub-area of ​​the sample support formed by the thermal analysis sensor. There is one support area per target position, and in the case of multiple support areas on a single sensor, they do not overlap. The positioning pattern, if present, is preferably found in the support area associated with each target position indicated by the positioning pattern. The support area has a size larger than the sample object to be supported, such that a part of the support area is visible when the sample object occupies the target position. Preferably, said support area has a color that is dominant in one of the spectral channels of said camera. Preferably, all support areas of a sensor have the same color. Performing white balancing improves the color accuracy of the image. Preferably, the color calibration area is white or gray and has a neutral color or a known reflectance spectrum. The color calibration area can further comprise or be formed by a color chart with a known reflectance spectrum.

[0026] Preferably, the thermal analytical instrument further comprises a cover configured to shield said sample exchanger from the surrounding atmosphere along its entire path of movement, thereby minimizing environmentally induced disturbances of the measurement.

[0027] Another preferred embodiment of the thermal analysis instrument further comprises an evaluation means for evaluating an identity of said sample object based on at least one feature of said sample object on an image captured by said camera. In particular, said evaluation means may be sensitive to features such as a color, a shape, a symbol or an alphanumeric indicia associated with a sample object as they appear on the captured image of said sample object.

[0028] In a tray for use with a sample exchanger or a thermal analysis instrument according to the invention, the tray and the sample object have colors predominantly within the spectral range of different channels of the camera or have colors distributed across the spectral range of at least two channels of the camera in such a way that they can be clearly distinguished by the ratio of two of the channels. Preferably, the tray is blue and the sample object is preferably gold, metallic gray and / or white. Metallic gray is preferably a color such as aluminum, platinum or stainless steel. By recognizing the colors of the photograph taken by the camera, the sample object, the tray and their mutual positional relationship can be determined. The blue tray dominates the blue channel and the gold sample object dominates the red channel. The gray and white colors usually occupy all channels approximately equally. For the ratio of the blue channel to the red channel, the tray is characterized by a high value, the gray, platinum and white sample objects are characterized by values ​​close to 1 and the gold has a low value.

[0029] In a preferred embodiment, all sample supports of a thermal analysis instrument according to the invention have a common support color, the support color and the sample object color being dominant in the spectral ranges of different channels of said camera, or the support color and the sample object color being distributed over the spectral ranges of at least two channels of said camera in such a way that they can be clearly distinguished by the ratio of two of said channels.

[0030] In a preferred embodiment, all of the thermal analytical sensors and support areas of the tray have the same color.

[0031] In a preferred embodiment, the tray is provided with at least one tray marker, preferably comprising a bar code and / or an abstract symbol, number or alphanumeric symbol, for imaging by the camera, allowing identification of at least one section of the tray associated with the tray marker on an image captured by the camera.

[0032] A crucible for use with a sample exchanger or thermal analysis instrument according to the invention comprises at least one crucible marker, preferably comprising an abstract symbol, a numerical or alphanumeric symbol, a pattern or an ornament for imaging by said camera, allowing identification of said crucible on an image captured by said camera. Preferably, the crucible marker is located on the upper annular edge of the crucible facing the camera, in order to enhance the visibility of the crucible marker in said image as it is being captured. Exemplary embodiments will now be described with reference to the drawings. [Brief description of the drawings]

[0033] [Figure 1] FIG. 1 is a schematic diagram of a sample exchanger placed within the enclosed workspace of a thermal analytical instrument. [Diagram 2] FIG. 2 is a schematic diagram of the sample changer of FIG. 1 moved into position facing the sample support of a thermal analytical instrument. [Diagram 3] Figure 3(a) shows an image of the sample support captured by the camera of the sample changer according to Figure 1 or 2. Figure 3(b) shows an image of the sample support captured by the camera of the sample changer according to Figure 1 or 2. [Figure 4] Figure 4(a) is a schematic diagram showing the optical relationships for imaging with a centrally located camera, and Figure 4(b) is a schematic diagram showing the optical relationships for imaging with a laterally offset camera. [Diagram 5] FIG. 13 shows a schematic diagram of an embodiment further comprising a line or cross-hair laser. [Figure 6] FIG. 6 shows a schematic diagram of the optical effect caused by the laser of the embodiment of FIG. 5. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0034] FIG. 1 shows a thermal analysis instrument 33. As shown in FIG. 1, an essentially horizontally extending working area 1 has a funnel-shaped access channel 2 formed therein, which allows access to a receiving sample support 3 of the thermal analysis instrument 33, which may for example be a differential scanning calorimeter or a thermogravimetric device. The receiving sample support 3 is a thermal analysis sensor 32. Those skilled in the art familiar with such thermal analysis instruments will well appreciate the schematic nature of the illustration in FIG. 1, but actual embodiments of such instruments often include a removable lid and / or a slidable suspension of the sensor 32, so that the sensor 32 can be exposed only for the purpose of loading or unloading the sample object 16 to be analyzed.

[0035] At some horizontal distance from the access channel 2, a tray 4 is arranged in the working area 1 and comprises a storage location 28 formed for holding a plurality of sample objects 16, which may in particular be crucibles for receiving specimens of a substance to be analysed. The storage location 28 forms an output sample support 3. Such a tray 4 may for example be formed such that the sample objects 16 or crucibles are arranged in an array, for example consisting of rows and columns. A crucible is an example of a sample object 16.

[0036] The sample exchanger 5 comprises a movable member 6 having a vertically extending longitudinal axis 7, the movable member 6 comprising, for example, a cylindrical upper portion 8, a middle portion 9 adjacent the upper portion 8, and a cylindrical lower portion 10 adjacent the middle portion 9, all three portions being centered on the longitudinal axis 7, the diameter of the movable member 6 increasing along the middle portion 9 between a larger diameter of the upper portion 8 and a smaller diameter of the lower portion 10. A gripper 11 arranged at the downwardly facing free end of the lower portion 10 is configured to grip and hold a sample object 16, in particular a crucible.

[0037] A camera 12, in this example a digital camera, is mounted on the periphery of the top part 8 of the movable member 6 with the camera optical axis 17 arranged vertically, i.e. parallel to the longitudinal axis 7. A light source 12a is attached to the camera 12 for illuminating the field of view of the camera. Preferably, the light source 12a is in the form of a ring light surrounding the camera 12. The light source 12a preferably emits polarised light and the camera 12 includes a polarising filter to attenuate undesirable reflections on the camera 12. The light source 12a emits, for example, white light in the visible spectrum.

[0038] 1 further shows diagrammatically a drive unit 13 which operates to move the movable member 6 together with the camera 12 and the light source 12a both horizontally (X, Y axis) and vertically (Z axis) to various positions above the working area 1. These positions include in particular suitable positions for the movable member 6 to receive or release the sample object 16 at any one of the sample supports 3, the sensor 32 or the storage location 28 of the tray 4, and an image or at least a partial image of any one of the sample supports 3 and / or the sample object 16 is captured and / or the lens distance of the camera 12 in the vertical direction is appropriately adjusted. The entire workspace 14 through which the movable member 6 moves to reach its various positions is shielded from the environment by a cover 15 which extends upward from the periphery of the working area 1.

[0039] The thermal analysis instrument 33 comprises further evaluation means 34. The evaluation means 34 identify the sample object 16 using the image or images captured by the camera 12.

[0040] 2 shows diagrammatically the movable member 6 when it has been moved to a position in which a sample object 16 (not shown) can be placed on or picked up from the sample support 3. In this case, the movable member 6 is lowered vertically towards the sample support 3 and is laterally centred on the sample support 3. In this position, the camera 12 is laterally offset from the centre of the sample support 3 and its field of view is aligned to cover mainly the access channel 2 of the sample support 3.

[0041] A more preferred alignment for image capture, especially of the sample support 3 with the crucible, is shown in Figures 4(a) and 4(b). In Figure 4(a), the movable member 6 is moved laterally to a position where the camera optical axis 17 of the camera 12 is centered on the sample object 16 placed on the sample support 3, and the vertical distance between the sample support 3 and the objective lens 12c of the camera 12 is adjusted by the vertical movement of the movable member 6 to position the sample support 3 and the sample object 16 within the focal depth of the objective lens 12c of the camera 12. In this position, the camera 12 captures a first image of the sample object 16 and the sample support 3. A first apparent position 29 of the sample object 16 can be obtained, where the apparent position 29 is the position on the sample support 3 where the center of the sample object 16 appears to be. The camera 12 is then shifted laterally by a distance d as shown in Figure 4(b), while still keeping the sample object 16 on the sample support 3 within the field of view of the camera 12. On the image captured at the shifted position, a second apparent position 29 can be derived which is shifted relative to the first apparent position by a lateral shift s shown in Fig. 4(b). Based on the geometrical optical relationship shown in Fig. 4(b), the height h of the sample object 16 can be easily calculated from the known values ​​d, s and the distance g between the sample support 3 and the camera 12.

[0042] Figures 3(a) and 3(b) show examples of images captured by camera 12 when the sample support 3 is a differential scanning calorimeter sensor 32 (Figure 3(a)) or part of a tray 4 (Figure 3(b)), respectively.

[0043] Specifically, as shown in FIG. 3(a), the sensor 32 of the differential scanning calorimeter includes a first target position 26 and a second target position 27, as is commonly known in the art of differential scanning calorimetry (DSC). During a typical differential scanning calorimetry measurement, a crucible containing the material of interest is placed at the first target position 26, and an empty crucible is placed at the second target position 27. Both crucibles are examples of the sample object 16. Going beyond this conventional structure used in DSC, the sensor 32 of FIG. 3(a) is provided with two lug portions of white color at diametrically opposed positions on its periphery, which are designed for use as color calibration areas 20 in the white balancing process of the camera 12, and at the same time, are designed to engage cooperating recesses in a sensor support frame designed to interchangeably accommodate the sensor 32. The areas of the sensor 32 of FIG. 3(a) that do not belong to either of the lug portions belong to either the first support area 18 or the second support area 19. The first support region 18 is the region that includes the first target location 26, and the second support region 19 is the region that includes the second target location 27. The first support region 18 is highlighted with a dashed white line in FIG. 3(a) for illustrative purposes.

[0044] FIG. 3(b) shows the blue channel of a color image captured by the camera 12, showing a portion of a tray 4 having multiple storage locations 28. A crucible, which is an example of a sample object 16, occupies some of the storage locations 28, while other locations are empty. In the example shown, the tray 4 is blue and the crucible is gray. Thus, in the blue channel of the camera 12, the tray 4 appears light in color and the crucible appears darker, representing a smaller blue light reflectance. The tray shown in FIG. 3(b) is further provided with a tray marker 30, e.g., a star-shaped one, printed in white on the blue tray 4. FIG. 3(b) further shows a crucible marked with a crucible marker 31, which in this example is a pattern of two blue dots located on the top edge of the crucible.

[0045] The sample changer 5 may furthermore be provided with a line or crosshair laser 21, which may for example be attached to the camera 12 as shown in Fig. 5. The sample changer 5 shown in Fig. 5 comprises further image processing means 33, which in this example are located in a common housing with the camera 12. The light source 12a of the illustrated sample changer 5 emits polarized light and a polarizing filter 12b is arranged in front of the camera 12. Furthermore, the camera is provided with a focusing objective 12c.

[0046] FIG. 6 shows the illumination situation of a line or cross-hair laser 21 in the plane defined by the laser optical axis 22 and the line of light projected on the sample support 3. A crucible as an example of a sample object 16 on the sample support 3 is shown diagrammatically and is formed with an upper annular rim 23 extending in the horizontal direction. The length of the shadow cast by the periphery 24 is marked by the symbol x in FIG. 6 and is detectable on the image captured by the camera 12. As is evident from FIG. 6, the vertical height of the annular rim 23 above the sample support 3 can be easily calculated from the detected length x and the inclination of the marginal ray 25 impinging on the periphery 24 of the annular rim 23.

[0047] The above described arrangement allows the presence or absence and / or position coordinates of the sample object 16 to be detected using image processing to assess the colour and / or colour difference of the sample support 3 and / or sample object 16, using positioning patterns 18a, 19a such as diametrically opposed arcuate sections surrounding the target positions 26, 27 respectively (Figure 3(a)), and / or by identifying the sample object 16 according to their dimensions. While the lateral dimensions, especially the diameter, can be easily determined from the imaging scale of the camera 12, the height dimension requires additional consideration, as discussed above with respect to Figures 4(a) and 4(b), or alternatively with respect to Figures 5 and 6.

[0048] As a result of the above-mentioned combination of the mobile member 6 and the camera 12, images of the substance contained in the crucible to be analyzed can be captured for documentation purposes before and after the measurement process. Furthermore, by processing the images captured by the camera 12, it is possible to detect whether the respective sample support 3 is empty or occupied by a sample object 16, which makes it possible to control the movement of the mobile member 6 or the robot arm to safely avoid collisions between a sample object 16 located on the sample support 3 and another sample object 16 being transported towards the sample support 3 by the mobile member 6. Processing of the images captured by the camera 12 also makes it possible to accurately determine the position of the sample object 16 relative to the center of the sample support 3. Furthermore, it is possible to identify the individual crucibles of a set of crucibles which differ from one another, in particular by their color, size and / or by the marks provided thereon, e.g. crucible markers. [Explanation of symbols]

[0049] 1 working area 2 Access Channel 3. Sample Support 4 Tray 5 Sample exchanger 6 Movable parts 7 Longitudinal Axis 8. Top 9 Middle part 10 Lower 11 Gripper 12 Camera 12a light source 12b Polarizing Filter 12c Condenser Objective Lens 13 Drive unit 14 Workspace 15 Cover 16 Sample Object 17 Camera optical axis 18 First Support Area 18a First positioning pattern 19 Second Support Area 19a Second positioning pattern 20 Color Calibration Areas 21 Line or Crosshair Laser 22 Laser optical axis 23 Annular Rim 24 Outer circumference 25 Peripheral rays 26, 27 1st / 2nd target position 28 Storage location 29 Apparent Position 30 Tray Marker 31 Crucible Marker 32 Sensors 33 Thermal analysis equipment 34 Evaluation methods

Claims

1. A thermal analysis instrument (33) comprising a thermal analysis sensor (32) for receiving a sample object (16) by thermal contact, a tray (4) having at least one storage place (28) for holding the sample object (16), and a sample changer (5), wherein the removal-side sample support (3) is one of the storage places (28) of the tray (4), and the receiving-side sample support (3) is the thermal analysis sensor (32), The aforementioned sample object is an empty crucible or a crucible containing a sample of the substance to be analyzed. The sample exchanger (5) comprises at least a movable member (6) driven to move between a receiving position for picking up the sample object (16) with the removal-side sample support (3) and a release position for placing the sample object (16) on the receiving-side sample support (3), and a camera (12) attached to the movable member (6) so as to move together with the movable member (6), wherein the camera (12) has a field of view and depth of field adapted to capture at least a partial image of at least one of the sample object (16), the removal-side sample support (3), or the receiving-side sample support (3), Thermal analysis equipment (33).

2. The thermal analysis apparatus (33) according to claim 1, further comprising a light source (12a) attached to the movable member (6) so as to move together with the movable member (6) in order to illuminate the field of view of the camera (12).

3. The thermal analysis apparatus (33) according to claim 2, wherein the light source (12a) is a ring light surrounding the camera (12).

4. The thermal analysis apparatus (33) according to claim 1 further comprises image processing means for analyzing at least one of the images captured by the camera (12).

5. The thermal analysis instrument (33) according to claim 4, wherein the image processing means operates to analyze the at least one image with respect to the positional relationship between the sample object (16) and at least one of the extraction-side sample support (3) or the receiving-side sample support (3).

6. The thermal analysis instrument (33) according to claim 5, wherein the signal indicating the positional relationship is used to control the movement of the movable member (6).

7. The thermal analysis instrument (33) according to claim 4, wherein the image processing means operates to analyze the at least one image for at least one visually identifiable feature of the sample object (16).

8. The thermal analysis instrument (33) according to claim 4, wherein the image processing means operates to analyze the at least one image with respect to at least one-dimensional features of the sample object (16).

9. The thermal analysis instrument (33) according to claim 1, further comprising a line or crosshair laser (21), the line or crosshair laser (21) preferably mounted to move together with the movable member (6), and having a laser optical axis (22) directed to produce an observable shadow of the sample object (16) over one of the take-out or receiving sample support (3).

10. The thermal analysis instrument (33) according to claim 1, wherein the thermal analysis sensor (32) preferably has a color calibration region (20) located on the outer periphery of the sensor (32) for performing white balance processing on an image captured by the camera (12), which is a color camera.

11. The thermal analysis instrument (33) according to claim 1, further comprising a cover (15) configured to shield the sample exchanger (5) from the surrounding atmosphere along its entire movement path.

12. A tray (4) for use with a thermal analysis instrument (33) according to any one of claims 1 to 11, wherein the tray (4) and the sample object (16) have a dominant color within the spectral range of different channels of the camera (12), or have a color distributed across the spectral range of at least two channels of the camera (12) such that it can be clearly distinguished by the ratio of two of the channels, preferably the tray (4) is blue, and the sample object (16) is preferably gold, metallic gray, and / or white.

13. The tray (4) according to claim 12, which preferably includes at least one tray marker (30) having a barcode and / or abstract symbols, numbers or alphanumeric symbols for imaging by the camera (12), enabling identification of at least one section of the tray (4) associated with the tray marker (30) on the image captured by the camera (12).

14. A crucible for use with a thermal analysis instrument according to any one of claims 1 to 11, comprising at least one crucible marker (31) which preferably comprises an abstract symbol, numerical value, alphanumeric symbol, pattern, or ornament for imaging by the camera (12), enabling identification of the crucible on an image captured by the camera (12), The marker is positioned on the annular upper edge of the crucible facing the camera when an image is being captured.

15. Use of the thermal analysis apparatus according to any one of claims 1 to 11, wherein the camera captures an image of the sample object, which is an empty crucible or a crucible containing a sample of the substance to be thermally analyzed, before or after the measurement.

Images