Safe location pattern

Abstract

In a method of operating a distribution system (110), the distribution system (110) comprises: - several carriers (112) configured to transport one or more objects (114); - a transfer surface (122) configured to support the carriers (112), the transfer surface (122) comprising a plurality of transfer modules (124), and a grid (126) of logical positions (128) being defined on the transfer surface (122); - a drive system (130) configured to move the carriers (112) on the transfer surface (122) between the logical positions (128); - a control system (136) configured to control the drive system (130), the control system (136) comprising a routing system (138) configured to calculate a route for the carriers (112). The method comprises: a) defining a global pattern of safe locations (148) and applying the global pattern on the transfer surface (122) using the routing system (138), wherein the safe locations (148) are the logical positions (128) selected taking into account the range of movement of the carriers (112) that occupy the logical positions (128) such that a carrier (112) can be placed on the safe location (148) and moved away again, and the global pattern is applied to the transfer surface (122) regardless of module boundaries; b) calculating a partial route for the carriers (112) such that either the end position of each partial route is one of the safe locations (148) or has a free path to one of the safe locations (148) such that it can be reached in a next partial route using the routing system (138). Further disclosed is a distribution system (110) for performing the method according to the invention, as well as a computer program and a computer-readable storage medium.

Description

Technical Field

[0001] The present invention relates to a method of operating a dispensing system and a dispensing system. As an example, the method and system of the present invention can be used, in particular in the field of diagnostic laboratories, to control the movement of carriers for transporting sample containers filled with biological fluids or reagents to be analyzed, in particular sample tubes, and / or reagents, specimen slides, tissue materials, waste, cassettes filled with disposable items such as pipette tips or tube caps, and / or empty tubes for aliquots. The method and system can be used to transport these articles inside a diagnostic instrument or for other applications that require controlling the movement of a carrier on a transport surface, such as a carrier for transporting a payload such as an article, a warehouse item, a product to be manufactured at a manufacturing site, or other objects.

Background Art

[0002] In the field of diagnostic laboratories, generally, a plurality of samples, for example liquid samples, have to be automatically processed. The automatic processing of samples may include automatically transporting sample containers, in particular sample containers containing the samples to be processed, via carriers in a diagnostic laboratory by one or more dispensing systems.

[0003] For example, European Patent Application Publication No. 3095739 describes a method of operating a laboratory sample distribution system. The laboratory sample distribution system includes several sample container carriers, each configured to carry one or more sample containers, where the sample containers contain samples to be analyzed by several laboratory stations, a transfer surface configured to support the sample container carriers, the transfer surface including several transfer positions, each transfer position being assigned to a corresponding laboratory station, and drive means configured to move the sample container carriers on the transfer surface. The method includes pre-calculating a route according to the transfer positions during initialization of the laboratory sample distribution system, and controlling the drive means to move the sample container carriers along the pre-calculated route after initialization of the laboratory sample distribution system.

[0004] European Patent Application Publication No. 3537159 discloses a method of operating a laboratory sample distribution system. The laboratory sample distribution system includes a plurality of sample container carriers adapted to transport laboratory sample containers, a transfer surface adapted to support the sample container carriers, and a plurality of drive elements adapted to move the sample container carriers on the transfer surface. The method includes: a) planning a movement path from a start to a goal on the transfer surface for one of the sample container carriers, wherein the transfer surface is logically modeled by a plurality of nodes, the nodes being free with respect to at least one time window or reserved with respect to at least one time window, and planning includes analyzing the reachability from a free time window of one of the nodes to free time windows of at least one next node and at least one further next node such that the planned movement of one sample container carrier does not stop from one node beyond the next node to at least one further next node, and reserving a planned movement path including a series of time windows of the nodes; and b) executing by controlling at least one of the drive elements such that one sample container carrier moves along the reserved movement path on the transfer surface.

[0005] U.S. Patent No. 10,006,927 discloses a method of operating a laboratory automation system. The laboratory automation system includes a plurality of laboratory stations and a plurality of sample container carriers. The sample container carriers transport one or more sample containers. The sample containers contain samples to be analyzed by the laboratory stations. The system also includes a transfer surface that supports the sample container carriers. The system further includes a drive unit that moves the sample container carriers on the transfer surface. The method includes logically reserving at least one buffer area on the transfer surface during initialization of the laboratory automation system, and buffering at least one sample container carrier carrying a sample container containing a sample waiting for analysis results in the at least one buffer area after initialization of the laboratory automation system. Depending on the analysis results, the sample is further processed.

[0006] U.S. Patent Application Publication No. 2018 / 0348244 describes a method of operating a presented laboratory sample distribution system. The system includes a magnetically active device, a sample container carrier configured to transport sample containers, an interconnected transfer surface module configured to support the carrier, and electromagnetic actuators arranged in rows and columns below each transfer surface module and configured to move the carrier on the transfer surface module by applying a magnetic force to the carrier. The method includes assigning a transfer surface module to a route category. At least two lanes are formed on the route-classified transfer surface module. The carrier moves in the transfer direction within each lane. The transfer directions are opposite to each other. The method also includes assigning another transfer surface module to a waypoint category. At the waypoint-classified transfer surface module, a change from one transfer direction to the opposite transfer direction is possible.

[0007] International Publication No. WO 2022 / 063760 discloses a method of operating a distribution system. The distribution system comprises a plurality of carriers, which are adapted to carry one or more articles. The transfer surface of the distribution system supports the carriers. A control device controls the drive means. During initialization of the distribution system, the control device predefines a pattern of safe locations on the transfer surface, in which case carriers can be placed on the safe locations. After initialization of the distribution system, the control device calculates partial routes for the carriers such that the end position of each partial route is either one of the safe locations or has a free path to one of the safe locations reachable in the next partial route.

[0008] U.S. Patent No. 11,092,613 describes a method of operating a laboratory sample distribution system. The laboratory sample distribution system comprises a number of sample container carriers. The sample container carriers are adapted to carry one or more sample containers. The sample containers contain samples to be analyzed by a number of laboratory stations. The laboratory sample distribution system also comprises a transfer surface. The transfer surface is adapted to support the sample container carriers. The method includes allocating an area of the transfer surface as a buffer area. The buffer area is adapted to store a variable number of sample container carriers. The method also includes controlling the buffer area using a puzzle-based control method or a lane-based control method depending on the storage density of the buffer area.

[0009] U.S. Patent Application Publication No. 2016 / 0341750 discloses a method for operating a laboratory automation system. The laboratory automation system includes a plurality of laboratory stations and a plurality of sample container carriers. The sample container carriers transport one or more sample containers. The sample containers contain samples to be analyzed by the laboratory stations. The system also includes a transfer surface that supports the sample container carriers. The system further includes a drive unit that moves the sample container carriers on the transfer surface. The method includes logically reserving at least one buffer area on the transfer surface during initialization of the laboratory automation system, and buffering at least one sample container carrier carrying a sample container containing a sample waiting for analysis results in at least one buffer area after initialization of the laboratory automation system. Depending on the analysis results, the sample is further processed.

[0010] Despite the advantages achieved by known methods and devices, some technical problems remain. In known methods and devices, the problem of deadlock still occurs, and the system performance may still not be optimal. Specifically, the deadlock problem may occur when carriers block each other on the transfer surface, especially when the blocked carriers cannot move. SUMMARY OF THE INVENTION

[0011] Therefore, it is desirable to provide a method and device that at least partially address the above-described technical problems. Specifically, a method and a distribution system for operating a distribution system that enable prevention of deadlock and improvement of system performance should be proposed.

[0012] This problem is addressed by a method for operating a distribution system and a distribution system having the features of the independent claims. Advantageous embodiments, which may be implemented alone or in any combination, are set forth in the dependent claims and throughout the specification.

[0013] When used hereinafter, the terms "having", "comprising", or "including", or any grammatical variations thereof, are used in a non-exclusive manner. Thus, these terms can refer to both situations where there are no additional features in the entity being described in this context in addition to the features introduced by these terms, and situations where there are one or more additional features. By way of example, the expressions "A has B", "A comprises B", and "A includes B" can refer to both situations where there are no other elements in A besides B (i.e., situations where A is exclusively composed of only B), and situations where there are one or more additional elements in entity A, such as element C, elements C and D, or still further elements besides B.

[0014] Furthermore, note that the terms "at least one" or "one or more", or similar expressions, indicating that a feature or element may be present one or more times, are typically used only once when introducing each respective feature or element. Hereinafter, in most cases, when referring to each feature or element, the expressions "at least one" or "one or more" are not repeated, despite the fact that each feature or element may be present one or more times.

[0015] Furthermore, the terms "preferably", "more preferably", "in detail", "more in detail", "specifically", "more specifically", or similar terms used hereinafter are used with any feature without limiting the possibility of alternatives. Thus, the features introduced by these terms are optional features and are not intended to limit the technical scope of the claims in any way. The present invention may be practiced, as will be understood by those skilled in the art, by using alternative features. Similarly, features introduced by expressions such as "in an embodiment of the present invention" or similar expressions are optional features that are not accompanied by any limitations regarding alternative embodiments of the present invention, are not accompanied by any limitations regarding the technical scope of the present invention, and are not accompanied by any limitations regarding the possibility of combining such introduced features with other optional or non-optional features of the present invention.

[0016] In a first aspect of the present invention, a method of operating a distribution system is disclosed. The distribution system includes - one or more carriers configured to transport one or more objects, - a transfer surface configured to support the carriers, the transfer surface including a plurality of transfer modules, and a grid of logical positions defined on the transfer surface, - a drive system configured to move the carriers on the transfer surface between the logical positions, - a control system configured to control the drive system, the control system including a routing system configured to calculate a route for the carriers. The distribution system comprises:

[0017] As used herein, the term "system" is a broad term and should be given its ordinary and customary meaning to those skilled in the art and should not be limited to a special or particular meaning. Specifically, the term can refer, but is not limited, to any set of interactive or interdependent components that form a whole. Specifically, the components can interact with each other to perform at least one common function. At least two components may be handled independently, or may be combined or connectable.

[0018] As used herein, the term "dispensing system" is a broad term and should be given its ordinary and customary meaning to those of ordinary skill in the art and should not be limited to a special or customized meaning. Specifically, but not limited to, this term can refer to a system configured to dispense carriers from an initial position to a target destination. The dispensing system may be an element of a laboratory automation system that enables the dispensing of carriers to target destinations within the laboratory automation system. The dispensing system can be used in a laboratory automation system that includes a number of laboratory stations, such as pre-analytical, analytical, and / or post-analytical stations. The dispensing system is generally known to those of ordinary skill in the art, for example, from European Patent No. 3095739 or International Publication No. WO 2012 / 158541.

[0019] As used herein, the term "operate" is a broad term and should be given its ordinary and customary meaning to those of ordinary skill in the art and should not be limited to a special or customized meaning. In particular, but not limited to, this term can refer to the process of controlling, in particular automatically controlling, and / or controlling by manual interaction, the dispensing system and / or components of the dispensing system. As an example, operating the dispensing system may include controlling the dispensing system, such as the drive system of the dispensing system, via a control system to dispense a carrier from an initial position to a target destination. For example, operating the dispensing system may include controlling the dispensing system to perform the dispensing of the carrier and further monitoring the dispensing of the carrier and, if necessary, adapting or changing the dispensing of the carrier.

[0020] As used herein, the term "carrier" is a broad term and should be given its ordinary and customary meaning to one of ordinary skill in the art and should not be limited to a special or customized meaning. Specifically, but not limited to, this term may refer to a support structure configured to support and transport a payload. The carrier may be provided with suitable holding means for supporting the payload in the required manner and orientation and, if necessary, securing the payload. The carrier may be self-propelled. Additionally or alternatively, the carrier may be propelled by using an actuator such as an electromagnetic coil disposed under the surface of the transport surface. Exemplary embodiments of the carrier are described, for example, in WO 2011 / 138448, WO 2013 / 064665 or WO 2017 / 144219.

[0021] As used herein, the term "object" is a broad term and should be given its ordinary and customary meaning to one of ordinary skill in the art and should not be limited to a special or customized meaning. Specifically, but not limited to, this term may refer to any payload. The object may be at least one sample container such as a laboratory diagnostic container or a utensil.

[0022] As outlined above, the dispensing system comprises a transfer surface. As used herein, the term "transfer surface" is a broad term and should be given its ordinary and customary meaning to one of ordinary skill in the art and should not be limited to a special or customized meaning. Specifically, this term can refer to, but is not limited to, any type of two-dimensional plane, bed, layer, platform, or flat base configured to transfer carriers. The transfer surface may be configured such that a carrier can be positioned onto the transfer surface, particularly on the surface of the transfer surface, such that the carrier can move at least two-dimensionally across the transfer surface. For example, the transfer surface may be a sliding surface mounted on the floor of a diagnostic examination room or a manufacturing site, or inside an examination room, hospital, storage, or manufacturing hall. The transfer surface may be installed vertically or horizontally, including an inclined surface. A curved transfer surface is also conceivable. The transfer surface can also mean not only the plane itself, but also actuator elements and electronic devices therein or below it. The transfer surface may include an actuator, sensor, and / or electronic device for moving the carrier.

[0023] The transfer surface may be configured to provide movement of the carrier by contact. The transfer surface may constitute a coordinate system, in which case the movement of the carrier can occur in the x and y directions on the transfer surface. The transfer surface may be configured such that the carrier can contact the surface of the transfer surface, whereby friction can be used to brake and control the movement of the carrier. The transfer surface may be configured for non-contact movement of the carrier. The transfer surface may be configured such that the carrier can move non-contact, for example, by air or magnetic levitation that provides a small gap between the carrier and the surface. For three dimensions, corresponding limitations of upward and downward inclinations may be correspondingly formed on the transfer surface, or some type of levitation mechanism such as magnetic levitation or air cushion technology with limitations corresponding to the height that can be reached without losing control may be installed. For vertical transfer in three dimensions, an elevator or a paternoster mechanism can also be installed.

[0024] As outlined above, the transfer surface comprises a plurality of transfer modules. The term "transfer module" as used herein is a broad term and should be given its ordinary customary meaning to those skilled in the art and should not be limited to a special or customized meaning. Specifically, this term may refer to, but is not limited to, a separate constituent unit and / or subunit of the transfer surface that includes at least one logical position. A transfer module may include a plurality of logical positions. Transfer modules may be identically configured or may differ from one another. The transfer surface may be a modular transfer surface formed by interconnected transfer modules. The transfer modules may be interconnected such that a carrier can move directly or indirectly from each of one transfer module to each of another. The interconnected transfer modules may form a continuous transfer surface, which may also be referred to as the transfer surface. Below each transfer module, a number of electromagnetic actuators can be arranged and fixed in rows and columns. The electromagnetic actuators may be configured to move a carrier on the upper surface of the transfer module along one row of a plurality of rows or one column of a plurality of columns by applying a magnetic moving force to the carrier. Each of the transfer modules may be limited by a module boundary. The transfer modules may have different shapes and / or sizes. For example, a transfer module may be a square module. At least one of the transfer modules may be a non-square transfer module. The present invention provides a method for adapting a safety point pattern to a mixture of transfer module dimensions, including rectangular and non-rectangular transfer modules.

[0025] As used herein, the term "logical position" is a broad term and should be given its ordinary customary meaning to those of ordinary skill in the art and should not be limited to a special or customized meaning. Specifically, but not limited to, this term may refer to any position on a transfer surface adapted to support a carrier. A logical position may be a position on the transfer surface where the carrier can stop but does not necessarily have to stop. The carrier may be stationary at a logical position, move across several logical positions, and / or stop at the final logical position of the movement. The presentation of the transfer surface may be a graph, also referred to as a "grid", with logical positions or logical positions and permitted connections between them. The transfer surface may be mathematically mapped to a graph of logical positions or a graph of logical positions and permitted connections between them. Routing of the carrier on the logical positions, such as route discovery, may be performed using the graph. The drive system is configured to move the carrier between logical positions on the transfer surface. Movement between logical positions may include following the logical positions.

[0026] Logical positions may be defined on the transfer surface by hardware design and / or by software. As an example, logical positions may be defined by hardware design and by software, and the software may determine that not all logical hardware positions can be used. For example, the software may reduce the number of logical positions defined by the hardware design. Logical positions may be virtual positions in a routing algorithm and / or positions on an actual transfer system. For example, logical positions may be defined on the transfer surface as positions where a carrier can stop, start, and / or change direction. In a system such as described in European Patent No. 2566787 or International Publication No. 2013 / 098202, the drive system may define these logical positions by its hardware limitations. Logical positions may be defined above an electromagnetic actuator. At these positions, it may be possible to stop the carrier and change its direction in a subsequent movement. Logical positions may be defined as desired or required to form a useful set of intersections, merges, starting positions, and stopping positions. Logical positions may be discrete positions where the carrier can be stopped. In particular, logical positions may be defined by at least one physical entity of the drive system, such as the intersection of possible means such as electromagnetic coils or rails.

[0027] Each of the logical positions may be configured to be occupied by only one carrier. Thus, two carriers cannot share one logical position simultaneously. The distribution system may be configured to move a plurality of carriers on the transfer surface via their respective calculated partial routes, and each route may lead from a first logical position to a second logical position, i.e., the end position of each partial route.

[0028] Logical positions can be any position reachable by a carrier, or a position where the carrier can change direction, be placed, or can be identified or registered by an identification or registration system.

[0029] The identification and registration system can be a camera system or an optical sensor such as a scanner like a laser scanner, a Hall sensor, a capacitance sensor, etc., which identifies the size, type, or any optical signature on the carrier or object such as a barcode or a QR code. Alternatively or additionally, an RFID reader system that reads the unique RFID of the carrier or an object on the carrier, or sensors inside the transfer surface can be used to identify the logical position and locate the carrier. Locating may include using sensors to identify whether the carrier is moving or stationary at which position. For example, the sensors in the transfer surface may be configured to identify the presence of a carrier at a position or between positions. This may be used to control the drive system, for example, to know whether it is necessary to pull the carrier by magnetic force for a longer time and / or to stop it. Further options can be, in particular, high-precision GPS enhanced by one or more of local beacons, Bluetooth, Wi-Fi, GSM signals, and acceleration sensors.

[0030] As further outlined above, the distribution system comprises a drive system. The term "drive system" as used herein is a broad term and should be given its ordinary customary meaning to those skilled in the art and should not be limited to a special or customized meaning. Specifically, this term may refer to a system configured to move a carrier on a transfer surface. The drive system may be mounted on the carrier itself, for example, wheels connected to an electric motor to which a battery and electronic devices are connected. Another possibility is a linear motor. Passive carriers are also possible. For example, a magnetic device may be fixed within the carrier, and the magnetic force provided by a magnetically active and drivable element such as an electromagnetic actuator moves the carrier by the generated electromagnetic field. The coil can be installed below, above, beside, or within the transfer surface. For example, the arrangement of the magnetic coil below the transfer surface is described, for example, in European Patent No. 2566787 or International Publication No. 2013 / 098202.

[0031] As used herein, the term "control system" is a broad term and should be given its ordinary customary meaning to those skilled in the art and should not be limited to a special or customized meaning. Specifically, without limitation, this term may refer to any system configured to perform a specified operation, preferably by using at least one data processing device, more preferably by using at least one processor and / or at least one application-specific integrated circuit. Thus, by way of example, at least one control system may comprise at least one data processing device in which software code including several computer commands is stored. The control system may provide one or more hardware elements for performing one or more of the specified operations, and / or may provide software to be executed by one or more processors for pre-forming one or more of the specified operations. The control system may comprise one or more programmable devices such as one or more computers, application-specific integrated circuits (ASICs), digital signal processors (DSPs), or field-programmable gate arrays (FPGAs) configured to perform steps b) and c). However, additionally or alternatively, the control system may also be embodied wholly or in part in hardware. The control system may comprise a routing system for calculating a route and at least one execution unit for performing the movement of the carrier according to the planned route. The control system may comprise a plurality of routing systems and a plurality of execution units. For example, the transfer surface may be divided into a plurality of subsystems that are separately routed and executed, with an interface between the subsystems for handing over the carrier.

[0032] As used herein, the term "route" is a broad term and should be given its ordinary and customary meaning to one of ordinary skill in the art and should not be limited to a special or customized meaning. Specifically, without limitation, this term can refer to a set of partial routes from a starting position that is calculated, planned, or assigned to a carrier to a final destination position. A route may be divided into one or more partial routes to an intermediate destination. The starting position may be the logical position where the carrier stands on the transfer surface when the algorithm starts calculating the route. The final destination position may be a logical position on the transfer surface where the carrier needs to go. The final destination position is a logical position on the transfer surface having a particular special function, for example, where a sample tube, a part of a sample, a complete carrier with a payload, or a consumable is transferred from the transfer surface to, for example, an analyzer or a pre- or post-analysis system or storage system or vice versa. For example, a complete carrier with a payload can be transferred even when sample transfer techniques are similarly used within an analyzer. In the case of a manufacturing site, the final destination position may in particular be a logical position corresponding to a machine station that performs some manufacturing process on a semi-finished product. The starting position of a certain carrier may in particular be the final destination position of another carrier, and even more particularly, may be the final destination position of the same carrier. In the case of a storage system, the final destination position can be a position where the article transferred by the carrier can be stored, or the carrier including or excluding its load can be positioned for storage. Inside the device, the final destination can be a processing unit such as a pipetting, mixing, incubation, or detection unit, for example.

[0033] As used herein, the term "routing system" is a broad term and should be given its ordinary and customary meaning to those of ordinary skill in the art and should not be limited to a special or customized meaning. Specifically, but not limited to, this term may refer to any system configured to calculate a route for moving a carrier on a transfer surface. The routing system may include at least one data processing device. The routing system may be configured to use at least one algorithm, particularly an algorithm shown as a routing algorithm. The routing algorithm may be an algorithm that calculates a route for each carrier on the transfer surface from a starting position to an intermediate destination position towards a final destination position. The routing algorithm may start from the current position of the carrier at a logical position as the starting position and calculate several straight-line movements for each route to the intermediate destination position. A planned route, also called a routing plan, may include all the movements to be executed until reaching a second final destination or only the next several movements. After reaching the final destination, a new destination with a new partial route may be assigned to the carrier, or the carrier may be parked while waiting for a new assignment.

[0034] Calculating the route may include determining the shortest path for a carrier crossing the transfer surface from a starting position to a final destination position. The routing algorithm may be used to determine the shortest path for a carrier crossing the transfer surface. The shortest path may include individual shortest paths such as the shortest path for each single carrier, and / or a cooperative shortest path such as a path that is not necessarily the shortest for each single carrier but the paths of all carriers tend to be as short as possible when combined. The algorithm may be selected from the group consisting of the A* algorithm, the windowed hierarchical cooperative A* algorithm (WHCA*), the D* algorithm, and Dijkstra's algorithm.

[0035] The term "path", also referred to as "free path", is a broad term and should be given its ordinary and customary meaning to those skilled in the art and should not be limited to a special or customized meaning. This term may in particular refer to, but is not limited to, a possible route for moving a carrier on a transfer surface. Thus, a path may include the possibility of moving a carrier on a transfer surface, but does not necessarily have to be executed. The term "path" as used herein may be used synonymously with the term "passageway" or "transfer passageway" as outlined below.

[0036] For example, a WHCA* search algorithm may be used to calculate a route. Regarding the WHCA* algorithm, see, for example, Silver, D., 2005, "Cooperative Path Discovery", edited by Young, R.M., and Laird, J.E., AIIDE, 117-122. AAAI Press and International Publication No. 2021 / 228733. The WHCA* search algorithm may be an informed search algorithm such as the A* or D* search algorithm. For each carrier with a final destination, the search algorithm calculates a route from a starting position on a node to an intermediate destination position within a cooperative search window of a time duration T towards the respective final destination position of the carrier. Since the route can only pass through the free time window of the logical position, the search is cooperative, which means that these logical positions may not be reserved by other carriers at that time. For logical positions with the required free time window, the required duration of the free time window changes from "free" to "reserved" for the required time slots of the respective logical positions. Thus, the free time window is divided into a reserved time window and one or two additional free time windows. Thus, the search is cooperative with respect to the cooperative time window T by respecting the reserved time window for other carriers of the logical position. The WHCA* algorithm may be designed to plan routes individually for each carrier, and cooperation may be obtained using a reservation table.

[0037] As described above, the routing system may be configured to calculate routes for all carriers on the transfer surface by modeling the transfer surface as a graph of nodes. To do so, the routing system may be configured to determine a reservation time window and an idle time window for each node. To calculate routes for carriers, the routing system may use a windowed hierarchical cooperative informed search algorithm with a cooperative time window T. In particular, the cooperative informed search algorithm may be Dijkstra's algorithm, Bellman-Ford algorithm, or more specifically, A* algorithm. T is typically in the range of 1 to 300 seconds, particularly in the range of 1 to 60 seconds, and more specifically 10 seconds. The routing system may be configured to assign an individual reservation length as the number of nodes for the next movement at a logical position having an idle time window for each carrier so that carriers start and stop individually. The execution unit may be configured to execute a planned route for transferring carriers from their respective starting positions to their respective final positions.

[0038] Route calculation may include planning the route. The routing system may be configured to determine an optimal route for carriers traversing the transfer surface. The optimal route may be determined with respect to at least one optimization goal such as one or more of time, resource consumption, cost, wear balance, and good overall transfer performance. Since the routing algorithm used can be cooperative, the routing system may take care that all carriers pass through in a net efficient way, sacrificing the shortest time to the final destination for some individual carriers if necessary. The optimal route for each carrier may be a route selected from a plurality of possible routes that minimizes an optimization goal such as, for example, the time required to reach its final destination position.

[0039] The control system may comprise at least one execution unit configured to execute the calculated route. The execution unit may be configured to execute the movement of the carrier taking into account the calculated route. The term "movement" may refer to "action" and may not include the waiting time until the next movement is made. The movement may be defined as one movement of the carrier within a straight line starting from one logical position and stopping at a second different logical position. The movement can include the displacement of the carrier over the distance of one or more logical positions. The movement length may be the number of logical positions of each movement. For example, the movement may be a linear displacement that does not stop the carrier midway. The movement from the first final destination to the second final destination may be performed in one or more movements with intermediate destinations. The intermediate destination may be a logical position. Each movement can have a start and a stop at a logical position. The stop of the last movement of the route is either an intermediate destination or a final destination.

[0040] The method may specifically include the following steps to be executed in a given order. However, it should be noted that different orders are also possible. Furthermore, it is also possible to execute one or more method steps once or repeatedly. Furthermore, it is possible to execute two or more method steps simultaneously or in a timely and overlapping manner. The method may include additional method steps not listed.

[0041] The method is a) defining a global pattern of safe locations and applying the global pattern to the transfer surface using a routing system, wherein the safe locations are logical positions selected taking into account the range of movement of the carrier occupying the logical positions such that the carrier can be placed on the safe location and moved away again, and the global pattern is applied to the transfer surface regardless of the module boundaries; b) calculating a partial route for a carrier such that either the end position of each partial route is one of the safe locations or has a free path to one of the safe locations that is reachable in a next partial route using a routing system; including.

[0042] The method may be computer-implemented. As used herein, the term "computer-implemented method" is a broad term and should be given its ordinary and common meaning to those skilled in the art and should not be limited to a special or particular meaning. Specifically, but not limited to, this term may refer to a method involving at least one computer and / or at least one computer network. The computer and / or computer network may comprise at least one processor configured to perform at least one of the method steps of the method according to the present invention. For example, each of the method steps may be performed by a computer and / or a computer network. The method may be performed completely automatically, such as without interaction with a user.

[0043] The term "safe location" is a broad term and should be given its ordinary and customary meaning to those skilled in the art and should not be limited to a special or customized meaning. Specifically, but not limited to, this term may refer to a logical location selected in consideration of the range of movement of a carrier occupying the logical location. The range of movement may be such that the carrier can be placed at the safe location and can, in particular, be kept away again in the following sub-routes. The safe location and the route to the safe location may be reserved for the carrier, but other carriers may be able to travel to the safe location. However, these carriers may not be able to stop at the safe location in some cases. The safe location may be a different logical location from the transfer location. Specifically, the grid of logical locations defined on the transfer surface may include the safe location and the transfer location, and the logical location of the grid may be either the safe location or the transfer location. The safe locations may be linked to each other by one or more connected transfer locations, specifically, thereby providing at least one route from one safe location to another safe location via one or more connected transfer locations. Specifically, the safe location may also provide a stationary or stopping position for the carrier such that a carrier stationary or stopped on the safe location does not interfere with the movement of other carriers moving on the transfer surface.

[0044] By using a safe location, it may be possible to provide at least one free logical position for a stop and / or standby carrier such that there is always at least one logical position for performing, for example, the next movement. This provides a situation where carriers cannot completely block each other, and thus a deadlock situation can be avoided. A deadlock situation may refer to a situation where carriers block each other such that some or all of the carriers cannot move forward again to reach their destination positions. Regarding safe locations, reference is made to International Publication No. WO 2021 / 228733. The term "deadlock" is a broad term and should be given its ordinary and customary meaning to those skilled in the art and should not be limited to a special or customized meaning. This term may specifically, but not limited to, refer to any situation where carriers in an area of a transfer surface do not advance because each is waiting for another carrier to move, and / or a situation where all reachable logical positions are occupied.

[0045] The term "pattern" is a broad term and should be given its ordinary and customary meaning to those skilled in the art and should not be limited to a special or customized meaning. This term may specifically, but not limited to, refer to a template that includes any selection of logical positions. The term "global pattern" is a broad term and should be given its ordinary and customary meaning to those skilled in the art and should not be limited to a special or customized meaning. This term may specifically, but not limited to, refer to a pattern that is independent of transfer module boundaries. A global pattern may extend across the entire transfer surface or across a predetermined area of the transfer surface and / or may include logical positions of at least two different transfer modules. A global pattern may not be defined for each transfer module. A global pattern may be a pattern template that can be applied separately to the entire transfer surface or to a predetermined area of the transfer surface, independent of transfer module boundaries. A global pattern may include a repeating pattern of safe locations that can be projected and / or draped across the entire transfer surface or a predetermined area of the transfer surface.

[0046] The global pattern of safe locations may be selected such that it is possible even if all of the safe locations of the pattern are occupied by the transfer of carriers from the safe locations. The global pattern of safe locations may be selected such that each of the safe locations has at least one adjacent location on a transfer surface that is not a safe location. For example, the global pattern of safe locations may be selected such that each of the safe locations has at least two adjacent locations on a transfer surface that is not a safe location. Other embodiments are possible.

[0047] For example, a safe location can have one or more safe locations as adjacent locations. For example, at least one location surrounding the safe location may not be a safe location. The safe location may not be completely surrounded by other safe locations on each side.

[0048] For example, the global pattern of safe locations may be selected such that the safe locations are not adjacent logical locations on the transfer surface. For example, the global pattern of safe locations may be selected such that the safe locations are separated by at least one logical location that is not a safe location.

[0049] For example, one pattern of the safe location pattern where some safe locations are completely surrounded by other safe locations may be used. For example, when 'O' is a non-safe location and 'X' is a safe location, an exemplary embodiment is OOOOOO OXXXOO OXXXOO OXXXOO OOOOOO as follows.

[0050] The safe location at the center of a 3×3 square of safe locations may be surrounded by non-safe locations. Even if the safe locations are occupied, they should ultimately become empty, and in that case, the one in the center should be able to get out.

[0051] The global pattern of safe locations may be selected such that each of the safe locations has at least one route to one or more of the carrier's final or intermediate destination locations, or another safe location has at least one route to the carrier's final destination. Thus, even if all the safe locations in the vicinity of the carrier on a safe location are occupied, the movement of the carrier to its final destination or to one safe location closer to the final destination may still be possible. Thus, even if all the safe locations in the vicinity of this safe location are occupied by other carriers, the carrier on the safe location can be removed from the safe location. The control system may be configured to calculate a partial route with boundary conditions that all carriers can only stop at safe locations and cannot stop in passages and / or free spaces, or have at least a free route to a safe location within the next partial route. The control system may be configured to calculate a partial route with boundary conditions that all carriers are at safe locations for all movements before the carrier can start moving. The control system may be configured to calculate a partial route with boundary conditions that safe locations must be defined and reachable for all partial routes, whereby only safe locations can be occupied in high-traffic situations.

[0052] Various overall patterns of safe locations may be possible. For example, the global pattern of safe locations may be direction-dependent, for example, with respect to a particular direction of travel. The advantage of having direction-dependent safe locations may be that two carriers located at two adjacent safe locations do not have opposite directions. One of the carriers has to move around the other in order to continue moving. The pattern may include multiple clusters of safe locations. Transfer passages following the preferred direction of movement may be arranged around each cluster of safe locations.

[0053] For example, the global pattern may be a repeating pattern. For example, the pattern may repeat with a period of three positions in the x and y directions, for example. However, other non-repeating patterns are also possible, for example, additional safety points can be added or removed. A fixed or different number of safety points may be used for each transfer module.

[0054] Defining the global pattern may include selecting a predetermined global pattern from one or more global patterns. For example, the routing system may include at least one database, folder, or hard-coded information including a plurality of predetermined global patterns for different transfer modules and / or applications, for example.

[0055] Defining the global pattern may include optimizing for each logical location, regardless of whether it should be a safety point or a transfer location. The term "optimize" is a broad term and should be given its ordinary and customary meaning to one of ordinary skill in the art and should not be limited to determining the "best" solution for a particular criterion or metric. The term "transfer location" is a broad term and should be given its ordinary and customary meaning to one of ordinary skill in the art and should not be limited to a special or customized meaning. This term may specifically, but not limited to, refer to a logical location other than a safety point that can be used for routing and / or movement, for example, without safety point constraints. Since the type of location is optimized individually for each location, the optimization for each logical location can be complex.

[0056] The optimization may be performed by simulating the performance for each iteration of the optimization. The optimization may be performed by optimizing a cost function incorporating one or more of the following rules, for example. - Prevention of patterns that cause zigzagging of carriers between carriers at safety points. - More alternative transfer paths for reaching at least both sides of the transfer surface without crossing the safe locations are preferred over fewer paths. - Perpendicular to these paths, ideally, as many connecting paths as possible should be arranged such that, for example, connecting transfer paths are arranged after each of at least two, three or more safe locations in order to enable switching between all transfer paths. - Basic rules for an effective global pattern are, for example, one or more of the following: - At least one transfer position adjacent to each safe location, for example directly adjacent; - At least one adjacent transfer position for each pattern of safe locations; and - For each safe location, one or more of the final or intermediate destination positions of the carrier, or at least one path to another safe location having at least one path to the final destination of the carrier. - There are no safe locations at special functional positions, for example special functional positions such as the starting position of a route, the ending position of a route, or a position to connected equipment. - Match the global pattern with the existing pattern at the interface with another transfer surface with a predefined pattern and / or at manually defined points or areas.

[0057] The term "path", also referred to as "transfer path", is a broad term and should be given its ordinary and customary meaning to a person skilled in the art and should not be limited to a special or customized meaning. This term can specifically refer to, but is not limited to, a plurality of connected transfer positions on the transfer surface. A path can provide at least one route for moving a carrier from a starting position to a final destination position. A path can include transfer positions that provide at least one route for moving a carrier from each input position to each output position. A path can include at least one route of logical positions that do not include any safe locations from each input position to each output position.

[0058] Optimization may be performed by using at least one optimization algorithm, specifically a genetic algorithm, simulated annealing or Monte Carlo search. As an example, Monte Carlo search may use a random shift of the global pattern and determine whether the shifted global pattern results in a higher score and / or a lower score than the previous best fit. Simulated annealing may include small shifts close to the nearly optimal best fit and perform a large random shift if no further improvement is found.

[0059] The transfer surface may be divided into a plurality of domains. The plurality of domains may be defined independently of the transfer module. The plurality of domains may be optimized separately. The plurality of domains may be optimized in parallel, shown as simultaneous processing, or sequentially under the condition of a valid pattern that conforms to the interface between the global patterns, or the logical position of the interface point is fixedly defined under the condition that it is either a safe point or a transfer position. Separate global patterns may be applied to each of the plurality of domains.

[0060] The method includes applying a global pattern on a transfer surface by using a routing system. The term "applying a global pattern" is a broad term and should be given its ordinary and customary meaning to those skilled in the art and should not be limited to a special or customized meaning. This term can refer, without limitation, to conforming and / or protruding and / or transferring and / or printing and / or aligning a global pattern defined on the transfer surface. The global pattern may constitute a coordinate system of logical positions. Applying the global pattern may include converting the coordinate system of the global pattern to the coordinate system of the transfer surface. The global pattern may be applied to the entire transfer surface or a defined area of the transfer surface. The global pattern is applied to the transfer surface regardless of module boundaries. The term "regardless of module boundaries" is a broad term and should be given its ordinary and customary meaning to those skilled in the art and should not be limited to a special meaning or a customized meaning. Specifically, this term can refer to, but is not limited to, between modules and / or cross-module.

[0061] Applying a global pattern on a transfer surface may include placing the global pattern on the transfer surface. Placing the global pattern may include defining the origin of the global pattern at a logical position of the transfer surface. The top left most position of the transfer surface may automatically be equal to the (0,0) coordinates of the global pattern. Alternatively, a user, such as a designer or a configuration specialist, may manually apply the global pattern and use a software tool, such as a CAD program, to define where the (0,0) coordinates should be and find an optimal alignment of the global pattern to the logical position of the transfer surface.

[0062] Applying a global pattern to the transfer surface may include determining the best fit of the global pattern to a grid of logical positions. Determining the best fit may include optimizing alignment using at least one algorithm. For example, applying a global pattern to the transfer surface may include defining an offset in one or more directions from the origin of the global pattern and / or defining a rotation of the global pattern relative to the origin and / or the orientation of the transfer surface. The best fit may be an alignment of the global pattern with a particular offset and / or a particular rotation that results in best performance and / or minimal problems, for example, under intensive traffic conditions. Determining the best fit may include simulation-based pattern fitting. For example, if the pattern is repetitive, for example, having a period of three positions in the x and y directions, there are only a limited number, for example, nine, unique pattern fits. The best fit may be determined by trying all the unique fits and performing a simulation of the transfer surface to check which fit gives the best transfer performance and / or minimal problems, for example, under intensive traffic conditions. After the best fit, different predetermined patterns may also be used. Additionally or alternatively, rule-based optimization for fitting the global pattern to the logical positions may be used. Global pattern matching on the transfer surface can be done in different ways, resulting in different symmetries and / or asymmetries and different numbers of safe points. Determining the best fit of the global pattern to the grid of logical positions may be performed taking into account hardware conditions, such as the position of connected devices, and / or the performance of the distribution system. Determining the best fit of the global pattern to the grid of logical positions may be performed using a simulation of the distribution system performance. For example, if the pattern is repetitive, there are a limited number of different fits, thereby enabling all possible "footfall" simulations to be performed in a feasible manner.

[0063] Applying the global pattern to the transfer surface may include locally adapting the global pattern to the transfer surface, such as by changing one or more safe locations to the transfer position or vice versa. Applying the global pattern may include excluding and / or manually changing the global pattern in areas that do not benefit from this method, or where either the safe location or the transfer position is in an undesirable position. The control system may consider that defining many safe locations also increases the "storage" capacity during congestion. The adaptation may include changing one or more safe locations to the transfer position. The input position or output position of the transfer surface, and / or the intersection position, and / or the safe location in the case of a narrow transfer surface may be changed to the transfer position. The input position may include one or more logical positions on the transfer surface where the carrier is transferred from the connected device to the transfer surface. The output position may include one or more logical positions on the transfer surface where the carrier is transferred from the transfer surface to the connected device. The input position and the output position may include the transfer position where the carrier is transferred inside and outside the transfer surface. The input position and the output position may include, for example, the logical position where the pipette station aspirates a part of the sample in the sample container. For example, the safe location of the input position or output position of the transfer surface may be changed to the transfer position to avoid the block of the connected device. For example, the safe location of the intersection position may be changed to the transfer position to prevent the concentrated traffic congestion caused by one-way traffic from obstructing the cross traffic. Therefore, the control system may determine to reduce the number of safe locations at the intersection. For example, the safe location in the case of a narrow transfer surface may be changed to the transfer position, such as a surface having one or a small number of position widths. Such a safe location may cause an overly strong traffic block. A narrow transfer surface may refer to a transfer area with one or a small number of logical position widths, such as a transfer area with 5 or fewer logical position widths, such as 3 or fewer logical positions, specifically 1 - 5 logical position widths, more specifically 2 or 3 logical position widths.

[0064] Applying a global pattern on the transfer surface may include automatically adapting the global pattern, such as via software or semi-automatically via software that optimizes the global pattern of the transfer surface. Automatically adapting the global pattern may include using a computer algorithm to find the optimal positioning of the pattern on the transfer surface.

[0065] Step a) of defining the global pattern of the method may be executed during the initialization of the distribution system, and step b) of calculating the partial routes may be executed after the initialization of the distribution system.

[0066] The method may include analyzing the traffic load in at least one area of the transfer surface using a computer algorithm. The method may include determining at least one optimized pattern. The term "optimized pattern" is a broad term and should be given its ordinary and customary meaning to those skilled in the art and should not be limited to the pattern of safe locations that best meet at least one predetermined criterion. The method may include, for example, proposing the optimized pattern to the operator, such as using a user interface. The method may include automatically changing the global pattern in an optimized manner for that area.

[0067] The method may include reapplying at least one of the global patterns, for example, when the control system detects that the initially applied global pattern causes inefficiencies and should be replaced. Additionally or alternatively, the method may include making local changes to some of the pattern positions.

[0068] In a further aspect, a distribution system is disclosed. The distribution system is - several carriers configured to transport one or more objects, and - A transfer surface configured to support carriers, the transfer surface comprising a plurality of transfer modules, and a grid of logical positions being defined on the transfer surface, the transfer surface; - A drive system configured to move carriers on the transfer surface between logical positions; - A control system configured to control the drive system, the control system comprising a routing system configured to calculate a route for the carriers, the control system being configured to execute the method according to the present invention, the control system; Comprising.

[0069] For details, options, and definitions, reference may be made to the method as described above or as described in more detail below.

[0070] The method and distribution system according to the present invention can provide a number of advantages. Specifically, the method and distribution system according to the present invention can avoid the problem of deadlocks and improve system performance. For example, by using any one of the methods according to the present invention, it may be possible to modify the global pattern of safe locations when a failure of a device invalidates a particular safe location, for example, to maintain a passage for movement between safe locations. Furthermore, it may be possible to adapt the global pattern of safe locations to geometric shapes other than square geometries, such as a mix of dimensions, shapes, or sizes of different transfer modules including rectangular transfer modules.

[0071] A computer program including computer-executable instructions for executing the method according to the present invention in one or more of the embodiments included herein when the program is executed on a computer or computer network is further disclosed and proposed herein. Specifically, the computer program may be stored on a computer-readable data carrier and / or a computer-readable storage medium.

[0072] As used herein, the terms "computer-readable data carrier" and "computer-readable storage medium" may specifically refer to non-transitory data storage means such as a hardware storage medium storing computer-executable instructions. The computer-readable data carrier or storage medium may specifically be a storage medium such as a random access memory (RAM) and / or a read-only memory (ROM), or may include such a storage medium.

[0073] Accordingly, specifically, one, two or more, or all of the method steps as described above may be executed using a computer or a computer network, preferably using a computer program.

[0074] A computer program product having program code means is further disclosed and proposed herein for executing the method according to the present invention in one or more of the embodiments included herein when the program is executed on a computer or a computer network. Specifically, the program code means may be stored in a computer-readable data carrier and / or a computer-readable storage medium.

[0075] A data carrier storing a data structure capable of executing the method according to one or more of the embodiments disclosed herein after being loaded into a computer or a computer network, such as a working memory or a main memory of the computer or the computer network, is further disclosed and proposed herein.

[0076] A computer program product storing program code means on a machine-readable carrier is further disclosed and proposed herein for executing, when the program is run on a computer or computer network, a method according to one or more of the embodiments disclosed herein. As used herein, a computer program product refers to a program as a tradable product. The product can generally exist in any format such as a paper format, or can exist on a computer-readable data carrier and / or a computer-readable storage medium. Specifically, the computer program product may be distributed over a data network.

[0077] Finally, a modulated data signal containing instructions readable by a computer system or computer network for executing a method according to one or more of the embodiments disclosed herein is disclosed and proposed herein.

[0078] Regarding the computer-implemented aspects of the present invention, one or more or all of the method steps of the method according to one or more of the embodiments disclosed herein may be performed by using a computer or computer network. Thus, generally, any method step may be included, typically excluding method steps that require manual work such as a particular manner of providing a sample and / or performing an actual measurement.

[0079] Specifically, herein, - a computer or computer network comprising at least one processor, the processor being configured to execute a method according to one of the embodiments described herein, - a computer loadable data structure configured to execute a method according to one of the embodiments described herein when run on a computer, - A computer program configured to execute the method according to one of the embodiments described herein when running on a computer, - A computer program comprising program means for executing the method according to one of the embodiments described herein when running on a computer or a computer network, - A computer program comprising program means according to the preceding embodiments, wherein the program means is a computer program stored in a computer-readable storage medium, - A storage medium storing a data structure, the data structure being configured to execute the method according to one of the embodiments described herein after being loaded into the main memory and / or working memory of a computer or a computer network, and - A computer program product having program code means, wherein when the program code means is executed on a computer or a computer network, the program code means is storable or stored on a storage medium to execute the method according to one of the embodiments described herein, is further disclosed.

[0080] In summary, without excluding the possibility of further embodiments, the following embodiments may be envisioned.

[0081] Embodiment 1. A method of operating a distribution system, the distribution system comprising - Several carriers configured to transport one or more objects, - A transfer surface configured to support the carriers, the transfer surface comprising a plurality of transfer modules, and a grid of logical positions being defined on the transfer surface, - A drive system configured to move the carriers on the transfer surface between logical positions, - A control system configured to control the drive system, the control system comprising a routing system configured to calculate a route for the carriers, comprising, the method being a) defining a global pattern of safe locations and applying the global pattern on a transfer surface using a routing system, wherein the safe locations are logical locations selected taking into account a range of movement of a carrier related to occupying the logical location such that a carrier can be placed on the safe location and moved away again, and the global pattern is applied to the transfer surface regardless of module boundaries; b) calculating a partial route for the carrier such that either the end position of each partial route is one of the safe locations or has a free path to one of the safe locations such that it can be reached in a next partial route using the routing system; and comprising.

[0082] Embodiment 2. The method according to the preceding embodiment, wherein the global pattern is a repeating pattern.

[0083] Embodiment 3. The method according to any one of the preceding embodiments, wherein step a) is performed during initialization of the distribution system and step b) is performed after initialization of the distribution system.

[0084] Embodiment 4. The method according to any one of the preceding embodiments, wherein the control system comprises at least one execution unit configured to execute the calculated route.

[0085] Embodiment 5. The method according to any one of the preceding embodiments, wherein at least one of the transfer modules is a non-square transfer module and / or the transfer modules have different sizes.

[0086] Embodiment 6. The step of applying the global pattern on the transfer surface comprises positioning the global pattern on the transfer surface, and positioning the global pattern comprises defining an origin of the global pattern on the logical location of the transfer surface.

[0087] Embodiment 7. The method according to any one of the preceding embodiments, wherein the step of applying the global pattern on the transfer surface includes determining the best fit of the global pattern to a grid of logical positions.

[0088] Embodiment 8. The method according to the preceding embodiment, wherein the determination of the best fit of the global pattern to the grid of logical positions is performed in consideration of the hardware conditions and / or performance of the distribution system.

[0089] Embodiment 9. The method according to any one of the preceding embodiments, wherein the step of applying the global pattern on the transfer surface includes locally adapting the global pattern to the transfer surface, for example, by changing one or more safe locations to transfer positions or vice versa.

[0090] Embodiment 10. The adaptation includes changing to a transfer position at one or more safe locations, and at the input position and / or output position of the transfer surface, and / or at the intersection position, and / or in the case of a narrow transfer surface, the safe location is changed to a transfer position, according to the method of the preceding embodiment.

[0091] Embodiment 11. The method according to any one of the preceding embodiments, wherein the step of applying the global pattern on the transfer surface includes automatically adapting the global pattern.

[0092] Embodiment 12. The method according to any one of the preceding embodiments, wherein the step of defining the global pattern includes selecting a predetermined global pattern from one or more global patterns.

[0093] Embodiment 13. The method according to any one of the preceding embodiments, wherein the step of defining the global pattern includes optimizing, for each logical position, whether it should be a safe location or a transfer position.

[0094] Embodiment 14. The optimization is the method according to the preceding embodiments, which is performed by simulating the performance for each optimization iteration and / or using one or more of the following rules. - Prevention of patterns that cause zigzagging of carriers between carriers at safe locations. - More alternative transfer paths for reaching at least both sides of the transfer surface without crossing the safe location are preferred over fewer paths. - Perpendicular to these paths, ideally, as many connection paths as possible should be arranged so that connection transfer paths are arranged after each of at least two, three or more safe locations, for example, to enable switching between all transfer paths. - The basic rules for an effective global pattern are, for example, one or more of the following: - At least one transfer position adjacent to each safe location, for example directly adjacent; - At least one adjacent transfer position for each pattern of safe locations; and - One or more of the final or intermediate destination positions of the carrier, or at least one path for each safe location to another safe location having at least one path to the final destination of the carrier. - There are no safe locations at special functional positions, for example special functional positions such as the starting position of a route, the ending position of a route, or the position to a connected device. - Match the global pattern with the existing pattern at the interface with another transfer surface with a predefined pattern and / or at a manually defined point or area.

[0095] Embodiment 15. The optimization is performed by using at least one optimization algorithm, specifically a genetic algorithm, simulated annealing or Monte Carlo search, according to any one of the preceding two embodiments.

[0096] Method according to any one of the preceding embodiments, wherein the transfer surface is divided into a plurality of domains to which separate global patterns are applied respectively.

[0097] Method according to any one of the preceding claims, wherein the method is computer-implemented.

[0098] Method according to any one of the preceding embodiments, the method comprising analyzing a traffic load in at least one area of the transfer surface using a computer algorithm, the method comprising determining at least one optimized pattern, the method comprising proposing the optimized pattern to an operator, for example, by using a user interface and / or automatically changing the global pattern to the optimized pattern for that area.

[0099] Method according to any one of the preceding embodiments, the method comprising reapplying at least one of the global patterns and / or making local changes to some of the pattern positions.

[0100] Embodiment 20. A distribution system, - several carriers configured to carry one or more objects, - a transfer surface configured to support the carriers, the transfer surface comprising a plurality of transfer modules, a grid of logical positions being defined on the transfer surface, the transfer surface, - a drive system configured to move the carriers on the transfer surface between logical positions, - a control system configured to control the drive system, the control system comprising a routing system configured to calculate a route for the carriers, the control system being configured to execute a method of operating the distribution system according to any one of Embodiments 1 to 19, the control system, comprising.

[0101] Embodiment 21. A computer program including instructions for causing the distribution system described in the preceding embodiment to execute the method described in any one of Embodiments 1 to 19 when a program is executed by the distribution system.

[0102] Embodiment 22. A computer-readable storage medium including instructions for causing the distribution system described in Embodiment 20 to execute the method described in any one of Embodiments 1 to 19 when a program is executed by the distribution system.

[0103] Further optional features and embodiments are preferably disclosed in more detail in the subsequent description of the embodiments, in conjunction with the dependent claims. Among them, each optional feature may be implemented in an independent manner and in any executable combination, as can be understood by those skilled in the art. The scope of the present invention is not limited by the preferred embodiments. The embodiments are schematically shown in the figures. Here, the same reference numerals in these figures refer to the same or functionally equivalent elements.

Brief Description of the Drawings

[0104]

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Best Mode for Carrying Out the Invention

[0105] FIG. 1 schematically shows an exemplary embodiment of a distribution system 110. The distribution system 110 includes a plurality of carriers 112 configured to transport one or more objects 114. In the example of FIG. 1, the distribution system 110 may be an element of a laboratory automation system 116 that enables the distribution of the carriers 112 to target destinations within the laboratory automation system 116. The distribution system 110 may be used in a laboratory automation system 116 having a number of laboratory stations 118, such as pre-analysis, analysis, and / or post-analysis stations. Thus, as an example, the object 114 may be at least one sample container 120, such as a laboratory diagnostic container or a utensil.

[0106] The dispensing system 110 further includes a transfer surface 122 configured to support a carrier 112. The transfer surface 122 includes a plurality of transfer modules 124. A grid 126 of logical positions 128 is defined on the transfer surface 122. As can be seen in FIG. 1, the transfer modules 124 are shown in dotted lines and the grid 126 of logical positions 128 is shown in dashed lines. The transfer surface 122 may be a modular transfer surface 122 formed by interconnected transfer modules 124. The transfer modules 124 may be interconnected such that the carrier 112 can move directly or indirectly from each of the transfer modules 124 to each of the other modules 124. The interconnected transfer modules 124 may form a continuous transfer surface 122, which may also be referred to as a transfer surface. Below each transfer module 124, a number of electromagnetic actuators (not shown in FIG. 1) can be arranged and fixed in rows and columns. The electromagnetic actuators can be configured to move the carrier 112 on the upper surface of the transfer module 124 along one row of a plurality of rows or along one column of a plurality of columns by applying a magnetic moving force to the carrier 112. Each of the transfer modules 124 may be limited by a module boundary. The transfer modules 124 may have different shapes and / or sizes. In the image section shown in FIG. 1, the transfer modules 124 may include only square modules. However, at least one of the transfer modules 124 may be a non-square transfer module.

[0107] The dispensing system 110 includes a drive system 130 configured to move a carrier 112 on a transfer surface 122 between logical positions 128. The drive system 130 may be at least partially implemented on the carrier 112 itself. In the example shown in FIG. 1, the carrier 112 may be a passive carrier. For example, a magnetic device may be fixed within the carrier 112, and a magnetic force provided by a magnetically active and drivable element such as an electromagnetic actuator under the transfer module 124 applies an electromagnetic force to the carrier 112 so that the carrier moves by the electromagnetic field generated by the carrier. A coil can be installed below, above, laterally of, or within the transfer surface 122. For example, the arrangement of the magnetic coils below the transfer surface 122 is described, for example, in European Patent No. 2566787 or International Publication No. 2013 / 098202. In these systems, the drive system 130 may define the logical positions 128 due to its hardware limitations. The logical positions 128 may be defined above the electromagnetic actuator. At these positions, it may be possible to stop the carrier 112 and change its direction in the next movement.

[0108] Each of the logical positions 128 may be configured to be occupied by only one carrier 112. Thus, two carriers 112 cannot share one logical position 128 simultaneously. The dispensing system 110 may be configured to move a plurality of carriers 112 on the transfer surface 122 via respective calculated partial routes, and each route may lead from a first logical position 128 to a second logical position 128, i.e., the end position of each partial route.

[0109] The logical position 128 can be any position reachable by the carrier 112, or any position where the carrier 112 can change direction, be placed, or be identified or registered by the identification and registration system 132. The identification and registration system 132 can be a camera system 134 or an optical sensor and a scanner such as a laser scanner, a Hall sensor, a capacitance sensor, etc., which identify its size, its type, or any optical signature on the carrier 112 or the object 114 such as a barcode or a QR code. Alternatively or additionally, an RFID reader system that reads the unique RFID of the carrier 112 or the object 114 on the carrier 112, or sensors within the transfer surface 122 can be used to identify the position and locate the carrier 112. Locating the position may include using sensors to identify whether the carrier 112 is moving or stationary at which position. A further option can be a high-precision GPS enhanced by one or more of, in particular, local beacons, Bluetooth, Wi-Fi, GSM signals, and acceleration sensors.

[0110] The dispensing system 110 further comprises a control system 136 configured to control the drive system 130. The control system 136 comprises a routing system 138 configured to calculate the route of the carrier 112. The control system 136 is configured to execute the method according to the present invention, as described with reference to FIGS. 2 and 5 for example. The control system 136 may comprise at least one execution unit 140 configured to execute the calculated route. The execution unit 140 may be configured to execute the movement of the carrier 112 taking into account the calculated route.

[0111] FIG. 2 shows a flowchart of an exemplary embodiment of a method for operating a dispensing system 110. The dispensing system 110 may be embodied as shown in FIG. 1 as an example. Specifically, the dispensing system 110 includes a plurality of carriers 112 configured to transport one or more objects 114. A transfer surface 122 is configured to support the carriers 112. The transfer surface 122 includes a plurality of transfer modules 124. A grid 126 of logical positions 128 is defined on the transfer surface 122. A drive system 130 is configured to move the carriers 112 on the transfer surface 122 between the logical positions 128. A control system 136 is configured to control the drive system 130. The control system 136 includes a routing system 138 configured to calculate a route for the carriers 112.

[0112] The method includes the following steps, which may be performed, specifically, in a given order. However, it should be noted that different orders are possible. Furthermore, one or more of the method steps may be performed once or repeatedly. Furthermore, two or more method steps may be performed simultaneously or overlapping in time. The method may include additional method steps not listed.

[0113] The method a) defining a global pattern of safe locations (indicated by reference numeral 142) and applying the global pattern onto the transfer surface 122 using the routing system 138, wherein the safe locations are logical positions 128 selected considering the range of movement of the carriers 112 occupying the logical positions 128 such that a carrier 112 can be placed on a safe location and moved away again, and the global pattern is applied to the transfer surface 122 regardless of module boundaries; b) calculating a partial route for the carrier 112 such that either the end position of each partial route is one of the safe locations or has a free path to one of the safe locations that can be reached in a next partial route using the routing system 138; includes.

[0114] The method can be particularly advantageous for a distribution system 110 comprising non-square transfer modules 124 of different sizes and / or transfer modules 124. FIG. 3 shows an example of a module-based pattern 146 of a safe location 148. In the example of FIG. 3, the transfer surface 122 comprises a first non-square transfer module 150 and a second non-square transfer module 152 each consisting of a grid 126 of 6×7 logical positions 128. The module-based patterns 146 of the safe location 148 and the transfer positions 154 may be defined for each of the transfer modules 150, 152. Specifically, these module-based local patterns 146 may be the same for each of the transfer modules 150, 152. As highlighted by the inaccurate safety pattern resulting from interfacing the two local module definition patterns 156 in FIG. 3, the module-based pattern 146 of the safe location 148 can result in an invalid and / or inefficient pattern. As can be seen in FIG. 3, too many logical positions 128 can be assigned to the area 156 as the safe location 148, specifically at the boundary between the first non-square transfer module 150 and the second non-square transfer module 152.

[0115] This problem can be avoided by using a global pattern of the safe location 148, which may not specifically be defined for each transfer module 124, but rather a global pattern applied on the transfer surface 122 regardless of the transfer module boundaries, for example a global pattern applied to the entire transfer surface 122 or a defined area of the transfer surface 122. Looking again at FIG. 2, various global patterns of the safe location 148 can be possible in this method. For example, the global pattern may be a repeating pattern. For example, the pattern may repeat with a period of three positions in the x and y directions, for example. However, other non-repeating patterns are also possible, for example additional safe locations can be added or excluded. A fixed or different number of safe locations 148 may be used for each transfer module 124.

[0116] As shown in FIG. 2, defining a global pattern may include selecting a predetermined global pattern from one or more global patterns (indicated by reference numeral 158). For example, the routing system 138 may include at least one database having a plurality of predetermined global patterns for different transfer modules 124 and / or applications.

[0117] Defining the global pattern may include optimizing for each logical location 128 (indicated by reference numeral 160), regardless of whether it should be a safe location 148 or a transfer location 154. The optimization may be performed by simulating the performance for each iteration of the optimization. The optimization may be performed, for example, by optimizing a cost function incorporating one or more of the following rules. - Prevent a pattern that causes zigzagging of the carriers 112 between the carriers 112 on the safe location 148. - More alternative transfer paths for reaching at least both sides of the transfer surface without crossing the safe location are preferred over fewer paths. - Perpendicular to these paths, ideally, as many connection paths as possible should be arranged such that, for example, connection transfer paths are arranged after each of at least two, three or more safe locations 148 to enable switching between all transfer paths. - Basic rules for a valid global pattern, for example, for one or more of at least one transfer position adjacent to each safe location, for example directly adjacent: - At least one adjacent transfer position for each pattern of safe locations; and - One or more of the final destination or intermediate destination positions of the carrier, or at least one path for each safe location to another safe location having at least one path to the final destination of the carrier. - For special functional locations such as, for example, the starting position of the route, the ending position of the route, or the location to a connected instrument, there is no safe location 148. Match the global pattern with the existing pattern at the interface with another transfer surface 122 with a pre - defined pattern and / or at a manually defined point or area.

[0118] The optimization may be performed by using at least one optimization algorithm, specifically a genetic algorithm, simulated annealing or Monte Carlo search. As an example, Monte Carlo search may use a random shift of the global pattern and determine whether the shifted global pattern results in a higher score and / or a lower score than the previous best fit. Simulated annealing may include small shifts close to the nearly optimal best fit and, if no improvement is found, perform a large random shift.

[0119] The transfer surface 122 may be divided into a plurality of domains. The plurality of domains may be defined independently of the transfer module 124. The plurality of domains may be optimized separately. The plurality of domains may be optimized in parallel as shown in simultaneous processing or sequentially under the condition of a valid pattern that fits the interface between the global patterns, or the logical position 128 of the interface point is fixedly defined under the condition that it is either a safe point or a transfer position. Separate global patterns may be applied to each of the plurality of domains.

[0120] Furthermore, applying a global pattern on the transfer surface 122 may include placing the global pattern on the transfer surface 122. Placing the global pattern may include defining an origin of the global pattern (indicated by reference numeral 162) at a logical position 128 of the transfer surface 122. The top left most position of the transfer surface 122 may automatically equal the (0, 0) coordinates of the global pattern. Alternatively, a user, such as a designer or configuration specialist, may manually apply the global pattern and use a software tool, such as a system configuration or CAD program, to define where the (0, 0) coordinates should be and find an optimal alignment of the global pattern to the logical position 128 of the transfer surface 122.

[0121] Applying the global pattern to the transfer surface 122 may include determining the best fit of the global pattern to the grid 126 at the logical position 128 (indicated by reference numeral 164). Defining the origin of the global pattern and determining the best fit may be performed in a common step, for example, by shifting and / or rotating the global pattern to obtain the best fit. For example, the result may include information regarding the origin to which the global pattern needs to be moved, rotated by a +X position and a -Y position, for example +Z degrees, relative to the origin of the transfer surface 122. Determining the best fit may include optimizing the alignment using at least one algorithm. The effects of fitting the global pattern to the grid 126 at the logical position 128 are shown in FIGS. 4A and 4B. Here, examples of different fits of the global pattern of the safe location 148 onto the grid 126 at the logical position 128 are shown. In FIGS. 4A and 4B, by way of example, the fitting of a global pattern template 166 having 7×8 logical positions 128 on the transfer surface 122 including 4×7 logical positions 128 is shown. As can be seen from the comparison between FIG. 4A and FIG. 4B, some safe locations 148 may differ with respect to different fits of the global pattern to the grid 126 at the logical position 128, resulting in different "packing" densities of the carrier 112 in the case of convergence. Further, the fit shown in FIG. 4B includes two transfer passages 168, while the fit in FIG. 4A shows only one transfer passage 168. Thus, the fit in FIG. 4B may exhibit better performance and may be more robust in the case of extreme traffic density. Further, the positions of the safe locations 148 are different for the fits shown in FIGS. 4A and 4B. The results of different patterns are visualized in FIGS. 5, 6, and 7.

[0122] Determination of the best fit may include simulation-based pattern fitting. For example, if the pattern is repetitive, e.g., having a period of three positions in the x and y directions, there are only a limited number, e.g., nine, of unique pattern fits. The best fit may be determined by trying all the unique fits and performing a simulation of the transfer surface 122 to check which fit gives the best transfer performance and / or the least problems, e.g., under intensive traffic situations. After the best fit, different predetermined patterns may also be used. Additionally or alternatively, rule-based optimization for fitting a global pattern onto the logical positions 128 may be used. Global pattern matching on the transfer surface 122 can be done in different ways, resulting in different symmetries and / or asymmetries and different numbers of safety points 148. Determining the best fit of the global pattern to the grid 126 of the logical positions 128 may be performed taking into account hardware conditions, e.g., the positions of the connected devices, and / or the performance of the distribution system 110. Determining the best fit of the global pattern to the grid 126 of the logical positions 128 may be performed using a simulation of the performance of the distribution system 110. Specifically, if the pattern is repetitive, there are a limited number of different fits, such that all possible "footfall" simulations can be performed in a feasible way.

[0123] Referring to FIG. 2, applying the global pattern to the transfer surface 122 may include locally adapting the global pattern to the transfer surface 122 (indicated by reference numeral 170), such as by changing one or more safe locations to the transfer position or vice versa. Applying the global pattern may include excluding and / or manually modifying the global pattern in areas that do not benefit from this method, or where either the safe location 148 or the transfer position 154 is in an undesirable position. The control system 136 may consider that defining a large number of safe locations 148 also increases the "storage" capacity during congestion. The adaptation may include changing to the transfer position 154 at one or more safe locations 148. The input position or output position of the transfer surface 122, and / or the intersection position, and / or the safe location 148 in the case of a narrow transfer surface 122 may be changed to the transfer position 154. For example, the safe location 148 at the input position or output position of the transfer surface 122 may be changed to the transfer position 154 to avoid a blockage of connected devices. For example, the safe location 148 at the intersection position may be changed to the transfer position 154 to prevent the concentrated traffic congestion caused by one-way traffic from obstructing cross traffic. Thus, the control system 136 may determine to reduce the number of safe locations 148 at the intersection. For example, the safe location 148 in the case of a narrow transfer surface 122 may be changed to the transfer position 154, for example, a surface having one or a small number of position widths. Such safe locations 148 may cause an overly strong traffic blockage.

[0124] Applying the global pattern on the transfer surface 122 may include automatically adapting the global pattern, such as fully automatically or semi-automatically, via software that optimizes the global pattern of the transfer surface 122.

[0125] Figure 5 shows an example of a global pattern. This figure shows two allowed final movements and one unallowed final movement or partial plan. The white carrier has (yet) no plan for a new movement. Black carriers 1 and 2 are placed at valid points because carrier 1 stops at a safe position and carrier 2 has direct access to a safe position. However, carrier 3 is not at a safe position and cannot access an adjacent safe position. Therefore, the routing plan for 3 is invalid.

[0126] Figures 6A, 6B, 7A, and 7B show further examples. These figures show two examples of different patterns. The example of Figure 6A shows that when the safe position is occupied by the white carrier, pattern A provides only one free passage. In Figure 6B, there are two passages, and as a result, the performance is improved, but the filling density of the carriers without a plan for the next movement is higher for pattern A. Figures 7A and 7B show that when the transfer position fails or the carrier becomes immovable under such circumstances, the system with pattern A is blocked (Figure 7A), while the system of Figure 7B provides a connection to a second passage and thus ensures redundancy for continuing the transfer.

Explanation of Signs

[0127] 110 Distribution system 112 Carrier 114 Object 116 Laboratory automation system 118 Laboratory station 120 Sample container 122 Transfer surface 124 Transfer module 126 Grid 128 Logical position 130 Drive system 132 Identification and registration system 134 Camera system 136 Control system 138 Routing system 140 Execution unit Define and apply 142 global patterns Calculate 144 partial routes 146 module-based pattern 148 safe location 150 first non-square transfer module 152 second non-square transfer module 154 transfer position 156 inaccurate safety pattern resulting from interfacing two local module-defined patterns Select a predetermined global pattern Optimize the logical position Define the origin of the global pattern Determine the best fit of the global pattern 166 global pattern template 168 transfer path Adapt the global pattern

Claims

1. In a method for operating the distribution system (110), the distribution system (110) is: Several carriers (112) configured to transport one or more objects (114), A transport surface (122) configured to support the carrier (112), wherein the transport surface (122) comprises a plurality of transport modules (124), a grid (126) of logical positions (128) is defined on the transport surface (122), and the transport modules (124) are separate structural units and / or subunits of the transport surface (122) including at least one logical position (128), A drive system (130) configured to move the carrier (112) on the transfer surface (122) between the logical positions (128), A control system (136) configured to control the drive system (130), wherein the control system (136) comprises a routing system (138) configured to calculate a route with respect to the carrier (112), the route including a set of subroutes from a starting position to a final destination position which is calculated, planned, or assigned to the carrier (112), and the route is divided into one or more subroutes to intermediate destinations, The method comprises, a) A step of defining a global pattern of safety points (148) and applying the global pattern on the transport surface (122) using the routing system (138), wherein the safety point (148) is the logical position (128) selected considering the range of movement of a carrier (112) that occupies the logical position (128) so that a carrier (112) can be positioned on the safety point (148) and then moved away again, and the global pattern is applied to the transport surface (122) independently of module boundaries, and a different number of safety points are used for each transport module (124), b) A step of calculating the subroutes with respect to the carrier (112) such that the end position of each subroute is either one of the safe points (148) or has a free path to one of the safe points (148) so that it can be reached by the next subroute using the routing system (138), A method that includes this.

2. The method according to claim 1, wherein the global pattern is a repeating pattern.

3. The method according to claim 1, wherein at least one of the transport modules (124) is a non-square transport module and / or the transport modules (124) are of different sizes.

4. The method according to claim 1, wherein the step of applying the global pattern on the transport surface (122) includes positioning the global pattern on the transport surface (122), and positioning the global pattern includes defining the origin of the global pattern on a logical position (128) on the transport surface (122).

5. The method according to claim 1, wherein the step of applying the global pattern on the transport surface (122) includes determining the best fit of the global pattern to the logical positions (128) on the grid (126), the determination of the best fit of the global pattern to the logical positions (128) on the grid (126) is performed taking into consideration the hardware conditions and / or performance of the distribution system (110).

6. The method according to claim 1, wherein the step of applying the global pattern to the transport surface (122) includes locally adapting the global pattern to the transport surface (122).

7. The method according to claim 6, wherein the conforming includes changing one or more safety points (148) to a transport position (154), and the safety point (148) is changed to a transport position (154) at an input or output position of the transport surface (122) and / or at an intersection and / or in the case of a narrow transport surface (122).

8. The method according to claim 1, wherein the step of applying the global pattern to the transfer surface (122) includes automatically fitting the global pattern.

9. The method according to claim 1, wherein the step of defining the global pattern includes selecting a predetermined global pattern from one or more global patterns.

10. The method according to claim 1, wherein the step of defining the global pattern includes optimizing whether each logical location (128) is a safe location (148) or a transport location (154).

11. The method according to claim 10, wherein the transport surface (122) is divided into a plurality of domains to which a separate global pattern is applied.

12. The method according to claim 1, which is computer-implemented.

13. The method according to claim 1, comprising: using a computer algorithm to analyze the traffic load in at least one area of ​​the transport surface (122); determining at least one optimized pattern; and proposing the optimized pattern and / or automatically changing the global pattern to the optimized pattern with respect to that area.

14. The method according to claim 1, wherein the method comprises reapplying at least one of the global patterns and / or making local modifications to some of the pattern locations.

15. Distribution system (110), Several carriers (112) configured to transport one or more objects (114), A transport surface (122) configured to support the carrier (112), wherein the transport surface (122) comprises a plurality of transport modules (124), a grid (126) of logical positions (128) is defined on the transport surface (122), and the transport modules (124) are separate structural units and / or subunits of the transport surface (122) including at least one logical position (128), A drive system (130) configured to move the carrier (112) on the transfer surface (122) between the logical positions (128), A control system (136) configured to control the drive system (130), wherein the control system (136) comprises a routing system (138) configured to calculate a route with respect to the carrier (112), the route including a set of subroutes from a starting position to a final destination position which is calculated, planned, or assigned to the carrier (112), the route being divided into one or more subroutes to intermediate destinations, and the control system (136) is configured to perform a method for operating the distribution system (110) according to any one of claims 1 to 14, A distribution system (110) equipped with the following:

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