Mobile robot, laboratory system, and method

Abstract

To provide a mobile robot for an inspection chamber system.SOLUTION: A mobile robot 1 for an inspection chamber system 50 is configured so as to convey a sample container carrier C and dock it to at least one interface module 51 of the inspection chamber system 50, the mobile robot 1 includes a drive base 2 configured so as to move the mobile robot 1 on a floor F of an inspection chamber in which at least one interface module 51 is disposed, and a conveyance module 3 mounted to the drive base 2, and the conveyance module 3 includes a conveyance surface 4 for conveying the sample container carrier C placed on it, a sensor unit 5 for detecting position deviation of the conveyance surface 4 relative to the interface module 51 at the time of docking, and an alignment drive unit for adjusting the conveyance surface 4 relative to the drive base 2 so as to correct the detected position deviation.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a mobile robot for a laboratory system, a laboratory system, and a method for operating such a laboratory system. [Background technology]

[0002] Generally, a mobile robot may have a certain degree of inaccuracy and / or imprecision in driving (traveling) to a target position. A "stopping position accuracy" and / or "stopping position repeatability" can be specified for the mobile robot. Specifically, the stopping position repeatability is typically about ±8 mm and ±0.5°. When a typical mobile robot docks with an interface module of a laboratory system to transfer sample container carriers between the mobile robot and the interface module, the stopping position accuracy and repeatability, as well as the unevenness of the laboratory floor, can cause a gap between the mobile robot and the interface module, complicating the transfer of sample container carriers between the mobile robot and the interface module. Summary of the Invention

[0003] The object of the present invention is to provide a mobile robot for a laboratory system, to provide a laboratory system having such a mobile robot, and to provide a method for operating such a laboratory system, which in each case allows a particularly reliable transfer of sample container carriers between the mobile robot and an interface module of the laboratory system.

[0004] The mobile robot according to the present invention is adapted for use in a laboratory system. Accordingly, the mobile robot may be a mobile laboratory robot. The mobile robot may be a self-guided vehicle, an autonomously guided vehicle, or an autonomous mobile robot. Preferably, the mobile robot is an autonomous mobile robot configured to autonomously select a travel path and / or autonomously avoid obstacles. If the autonomous mobile robot detects an obstacle, the autonomous mobile robot may be configured to wait for the obstacle to be removed or to bypass the obstacle. The mobile robot is configured to transport a sample container carrier. The sample container carrier may be configured to carry a sample container. The sample stored in such a sample container may be a portion of a sample liquid, such as a blood sample. The sample container may be tubular. Thus, the sample container may be a sample tube. The sample container carrier may be a five-position rack, e.g., a rack for up to five sample tubes. Needless to say, other forms of sample container carriers, such as other types of racks or a single holder for holding a single sample tube, may be transported by the mobile robot. The mobile robot is configured to dock with at least one interface module of the laboratory system. The mobile robot includes a drive base configured to move the mobile robot over a laboratory floor on which at least one interface module is disposed. The mobile robot further includes a transport module attached to the drive base. The transport module includes a transport surface for carrying a sample container carrier disposed thereon. The transport surface may be synonymously referred to as a transfer surface. The transport module includes a sensor unit for detecting a deviation in the positioning of the transport surface relative to the interface module upon docking. The transport module includes an alignment drive unit for adjusting the transport surface relative to the drive base to correct the detected deviation. Correcting the detected deviation may include correcting the height and / or tilt of the transport surface relative to the surface of the interface module and / or the laboratory floor.Furthermore, the correction of the detected misalignment can include an angular correction of the detected angular misalignment so that the edge of the transport surface of the transport module and the surface of the interface module are approximately parallel, in particular so that the gap has a substantially constant width along the edge, which alignment allows the sample container carriers to be transferred particularly reliably between the interface module and the mobile robot.

[0005] According to one embodiment of the present invention, the transport module has a pair of spring-loaded fingers projecting in a coplanar extension of the transport surface such that, upon docking, a gap between the transport surface and the interface module is bridged, allowing the sample container carrier to cross said gap by sliding on the spring-loaded fingers. The spring-loaded fingers can be displaced evenly or unevenly upon docking to help compensate for misalignment. Upon docking, the spring-loaded fingers may contact the interface module. Angular misalignment can be corrected by angular rotation of the transport surface of the transport module, which then allows the spring-loaded fingers to be displaced evenly.

[0006] According to another embodiment of the present invention, the sensor unit includes sensors for detecting the displacement of each spring-loaded finger of the transport module and / or for detecting the displacement of the interface module at two points relative to the transport surface of the transport module. One such sensor can be located behind (particularly immediately behind) each spring-loaded finger to detect the displacement of the respective spring-loaded finger. Additionally or alternatively, the sensor unit includes a sensor for detecting the angular deviation of the transport surface during docking. Additionally or alternatively, the sensor unit includes a sensor for detecting the height of the transport surface from the floor of the testing chamber and / or from the transport surface of the interface module during docking. Additionally or alternatively, the sensor unit may include a sensor for detecting the height position of the transport surface relative to the surface of the interface module. The height position can be defined by a specified vertical distance between the transport surface and the surface of the interface module. This allows for height alignment of the transport surface relative to the surface of the interface module, regardless of the absolute height of the interface module's transport surface from the floor of the testing chamber. Additionally or alternatively, the sensor unit comprises a sensor for detecting the inclination of the transport surface relative to the surface of the interface module upon docking.

[0007] In the present context, the angular offset can refer to a vertical spatial axis. The tilt of the conveying surface can be related to at least one horizontal spatial axis, in particular two orthogonal horizontal spatial axes. The vertical spatial axis can be the Z axis. One of the horizontal spatial axes can be the Y axis, and the other of the horizontal spatial axes can be the X axis. The vertical axis and both horizontal axes can form a three-dimensional coordinate system for the navigation, in particular self-navigation, of the mobile robot.

[0008] To detect the displacement of the fingers, linear transducers can be used as sensors in the sensor system. Such linear transducers can be attached behind each finger. For height and / or tilt detection, photoelectric proximity sensors can be used in the sensor system. In particular, two such photoelectric proximity sensors can be used to detect the tilt of the conveying surface, the two photoelectric proximity sensors being spaced apart from each other along one of the horizontal spatial axes (specifically, a spatial axis perpendicular to the conveying direction of the mobile robot). The batch lane direction can extend along the conveying direction. The tilt of the conveying surface can be compensated for with reference to a first horizontal spatial axis extending along the batch lane direction and a second horizontal spatial axis extending perpendicular to the batch lane direction.

[0009] In particular, the sensor unit may comprise a sensor arranged below the conveying surface, said sensor below the conveying surface being configured to define a home position of the conveying surface, in particular for initialization of the mobile robot.

[0010] According to another embodiment of the present invention, the alignment drive unit is configured to level the conveying surface and / or move it vertically. To level the conveying surface, the alignment drive unit may be configured to actively tilt the conveying surface with respect to at least one (particularly two orthogonal) horizontal spatial axis. To move the conveying surface vertically, the alignment drive unit may be configured to linearly move the conveying surface along the vertical spatial axis and / or to rotate the conveying surface about at least one horizontal spatial axis. In particular, the alignment drive unit has at least two independently drivable vertical spindles. The alignment drive unit may have a drivable turntable for rotating the conveying surface about the vertical spatial axis, in particular the turntables are independently drivable. The alignment drive unit may also have a drivable horizontal spindle for actively compensating for lateral misalignment of the conveying surface relative to the interface module.

[0011] According to another embodiment of the invention, the transport module has a driveable sledge for pushing the sample vessel carrier on the transport surface in the transport direction of the transport module and / or for holding the sample vessel carrier in the direction opposite to the transport direction, the driveable sledge can have a clamping portion and / or a claw portion.

[0012] According to another embodiment of the invention, the transport module has a drivable slider for pushing the sample vessel carriers off the transport surface in the transport direction and / or for pushing the sample vessel carriers onto the transport surface in a direction opposite to the transport direction and / or for holding the sample vessel carriers in the transport direction. In particular, the slider has a barrier part that is pivotably drivable relative to the transport surface about the transport direction, in particular about an axis extending parallel to the transport direction. The barrier part is pivotable between a horizontal orientation for engaging the sample vessel carriers and an upright orientation for passing the sample vessel carriers.

[0013] According to another embodiment of the present invention, the drivable sledge and the drivable slider are configured to move the sample container carriers bidirectionally along the transport direction on and off the transport surface. In particular, the sample container carriers arranged and / or clamped between the sledge and the slider can be moved along the transport direction by simultaneously driving both the sledge and the slider. Both the slider and the sledge can have barrier portions with similar functions, and thus the sample container carriers can be transported bidirectionally along the transport direction non-steadily and / or discretely and / or batchwise.

[0014] According to another embodiment of the invention, the transport direction is oriented substantially parallel or substantially perpendicular to the driving (traveling) direction of the mobile robot, which can move, in particular be driven, on the floor of the examination room in the driving direction.

[0015] According to another embodiment of the present invention, the mobile robot has a control unit configured to control the alignment drive unit in a closed-loop manner based on feedback from the sensor unit. In particular, the control unit is configured to control the alignment drive unit so that when loading a sample container carrier from the mobile robot into the interface module, the transport surface is above the surface of the interface module by a predetermined vertical distance, and / or when unloading a sample container carrier from the interface module into the mobile robot, the transport surface is below the surface of the interface module by a predetermined vertical distance. The predetermined vertical distance can be 0.05 to 5.0 mm, in particular 0.1 to 1.0 mm, in particular 0.2 mm.

[0016] According to another embodiment of the present invention, the control unit is configured to control the positioning drive unit so that the transport surface is held in the closest position relative to the drive base and / or, if the mobile robot moves on the floor of the laboratory, so that the transport surface is held in the closest position relative to the floor of the laboratory. The closest position may be the lowest position of the transport surface with respect to the direction of gravity, particularly along the vertical spatial axis. In particular, the closest position is a position 200 to 1,000 mm above the floor of the laboratory, particularly 300 to 790 mm above, particularly 400 to 600 mm above, and particularly 530 mm above. This allows the center of gravity of the mobile robot to be particularly low when moving on the floor of the laboratory, and reduces sloshing of liquid in the sample containers when the mobile robot moves on the floor of the laboratory.

[0017] According to another embodiment of the present invention, the alignment drive unit has an active and / or passive damping system for damping vibrations and / or shocks acting on the transport surface. Such a passive damping system can include shock absorbers, which can reduce sloshing of liquid in the sample containers when the mobile robot moves across the laboratory floor and / or over obstacles.

[0018] According to another embodiment, the conveying surface cannot rotate about a vertical spatial axis relative to the drive base. According to another embodiment, the conveying surface can only rotate about a vertical spatial axis relative to the drive base within a compensation angle range of +5° to -5°.

[0019] According to another embodiment, the alignment drive unit is configured to rotate the conveying surface around a vertical spatial axis relative to the drive base by at least 90°, in particular by at least 180°, in particular by at least 270°, in particular by 360° and / or indefinitely.

[0020] According to another embodiment of the invention, the alignment drive unit is configured to rotate or turn the conveying surface relative to the drive base around a vertical spatial axis, in particular in angular steps of 90° and / or 180°.

[0021] According to another embodiment of the invention, the drive base comprises at least three, in particular four, omni-wheels, which may also be synonymously referred to as "Swedish wheels" and / or "Stanford wheels" and / or "Mecanum wheels", which allow sideways docking to the interface module and loading and unloading of sample container carriers in a direction perpendicular to the main drive direction of the mobile robot.

[0022] According to another embodiment of the invention, the transport module has a funnel that narrows towards the transport surface, the funnel being configured to compensate for lateral deviations of the transport surface relative to the interface module during docking and / or transfer of sample container carriers. The funnel of the mobile robot can compensate for the lateral deviation so that the sample container carriers can be pushed towards the center by the funnel during unloading from the interface module. The interface module can have a funnel similar to, and in particular corresponding to, the funnel of the transport module. This may allow for sideways docking to the interface module and loading and unloading of sample container carriers in a direction perpendicular to the main drive direction of the mobile robot.

[0023] According to another embodiment of the invention, the mobile robot has two or more transport modules. Each transport module can form a lane for transporting sample container carriers, in particular in batches. In particular, at least two transport modules share an alignment drive unit and / or a sensor unit. The lanes formed by the transport modules can be oriented parallel to each other or at an angle. The transport modules can be arranged side by side and / or stacked vertically.

[0024] A laboratory system according to the present invention includes at least one interface module. The interface module of the laboratory system is placed on the floor of the laboratory. The laboratory system further includes at least one mobile robot according to the present invention. Therefore, the advantages of the mobile robot according to the present invention described above also apply to the laboratory system according to the present invention. The laboratory system may include a controller for controlling the at least one interface module and / or the at least one mobile robot. The lane of the interface module may have a funnel that narrows toward a surface of the interface module, the funnel being configured to compensate for lateral displacement of the transport surface relative to the interface module during docking.

[0025] A method according to the invention for operating a laboratory system according to the invention comprises several steps. One step comprises moving, in particular autonomously driving (navigating), a mobile robot on the floor of the laboratory. Another step of the method comprises docking the mobile robot to an interface module, wherein a sensor unit detects a deviation in the positioning of the transport surface relative to the interface module, and an alignment drive unit adjusts the transport surface to compensate for the detected deviation. Another step comprises loading at least one sample container carrier from the transport surface to the interface module and / or unloading at least one sample container carrier from the interface module to the transport surface. The loading and / or unloading steps may be included in the step of transferring the sample container carrier between the transport surface and the interface module.

[0026] According to one embodiment of the present invention, particularly of the method, the transport module of the mobile robot has a drivable sledge for pushing the sample container carrier on the transport surface in the transport direction of the transport module and / or for holding the sample container carrier in a direction opposite to the transport direction. Furthermore, the transport module has a drivable slider for pushing the sample container carrier off the transport surface in the transport direction and / or for holding the sample container carrier in the transport direction. The drivable slider may further be configured to push the sample container carrier onto the transport surface in a direction opposite to the transport direction. The slider has a barrier part that can be pivoted relative to the transport surface about the transport direction, the barrier part being pivotable between a horizontal orientation for engaging the sample container carrier and an upright orientation for passing the sample container carrier. Here, the step of loading the interface module includes pivoting the barrier part to the upright orientation and then driving the sledge to push the sample container carrier in the transport direction so that the pushed sample container carrier passes by the barrier part. Further, the step of loading the interface module includes pivoting the barrier section to a horizontal orientation and then driving the slider to push the sample container carrier that previously passed by the barrier section off the transport surface in the transport direction and into the interface module. Additionally or alternatively, the step of unloading from the interface module includes pivoting the barrier section to an upright orientation and then driving an interface sledge of the interface module to push the sample container carrier in a direction opposite to the transport direction so that the sample container carrier passes by the barrier section. Next, the barrier section is pivoted to a horizontal orientation and driving the slider to push the sample container carrier that previously passed by the barrier section onto the transport surface in the direction opposite to the transport direction so that it is positioned on the transport surface. The step of unloading from the interface module further includes holding the sample container carrier positioned on the transport surface in the transport direction by the horizontally oriented barrier section.

[0027] The mobile robot and / or laboratory system according to the invention allows the transport of sample container carriers without the use of superordinate boxes or trays.

[0028] A reference device of the laboratory system may be attached to the interface module, said reference device being configured to interact with the sensor unit and / or to provide a reference for height and / or tilt compensation. The reference device may comprise a (particularly vertically extending) metal sheet.

[0029] The number of lanes of the mobile robot may be equal to or different from the number of lanes of the interface module. Each lane of the mobile robot may be formed by a respective transport surface. Each lane of the interface module may be formed by a respective surface of the interface module.

[0030] If the mobile robot is configured to load and / or unload sample container carriers from the interface module transversely to the drive direction of the mobile robot, the drive path of the mobile robot when docking can have a flat S-shape, which can allow particularly reliable docking, especially when the transfer surface is not rotatable relative to the drive base about a vertical spatial axis.

[0031] Parts of the laboratory floor may be uneven, and stations of the laboratory system, such as interface modules, may have different heights, particularly due to the unevenness of the floor or their installation or mechanical tolerances.

[0032] The sample vessel carriers can have a relatively small footprint, and therefore, transfer of said sample vessel carriers between the mobile robot and the interface module through the gap between the interface module and the mobile robot can be particularly difficult, especially if the use of an additional larger upper tray to hold one or more sample vessel carriers is avoided, which requires additional effort for the logistics of emptying the tray.

[0033] Typically, the space in a clinical laboratory can be very narrow. For example, the width of the corridors can be quite narrow, which can limit the free movement space of a mobile robot. Furthermore, laboratory personnel may use the same space on the laboratory floor, which can further limit the movement space of the mobile robot and the free movement space of the laboratory personnel. Depending on the size of the laboratory, a fleet of mobile robots may be used, which can further limit the available space.

[0034] The laboratory system may also include a fleet of mobile robots, which may be configured to interact in a swarm-like manner.

[0035] In contrast to a typical conveyor belt, the mobile robot according to the present invention can transport samples in sample container carriers in batches (e.g., batchwise). However, since several interface modules may be located in different rooms or the same system is not connected to all interface modules, it may not be necessary to transport the entire batch to the same interface module. Therefore, the resource manager software can be used to define from where to where, e.g., from which system to which system, samples should be transported.

[0036] As indicated above, the present invention can enable rotational alignment of the transport surface relative to the interface module. Specifically, angular adjustment of the transport surface about a vertical spatial axis relative to the interface module can be performed so that the front side of the transport surface and the front side of the interface module are substantially parallel. Distance and / or proximity sensors behind each spring-loaded finger can be used to adjust the parallelism. The spring-loaded fingers can have two functions: first, bridging, and second, angle correction and / or compensation.

[0037] Furthermore, the present invention may allow for height and / or tilt alignment of the transport surface relative to the interface module, where the height and / or angle adjustment about at least one horizontal spatial axis of the transport surface relative to the interface module may be performed so that the front side of the transport surface and the front side of the interface module are substantially parallel to each other, particularly taking into account uneven floors or mechanical tolerances of the station.

[0038] In particular, the transport surface can be adjusted by the alignment drive unit so that the transport surface is substantially flush with the surface of the interface module.

[0039] In particular, the conveying surface can be moved laterally relative to the driving direction of the mobile robot by the positioning drive unit, especially to compensate for lateral deviations (especially greater than 8 mm). This has the advantage that precise and accurate positioning is less required, facilitating the positioning process by the mobile robot itself, and as a result, shortening the time it takes to position the mobile robot in front of the interface module. Furthermore, the positioning ability of the conveying module is less dependent on the accuracy and precision of the stopping position of the mobile robot.

[0040] In particular, when transferring the sample vessel carriers, said sample vessel carriers can slide directly on the transport surface and / or on the surface of the interface module. Direct sliding of the sample vessel carriers on the transport surface and / or on the surface of the interface module can have the advantage that an additional upper tray can be avoided and therefore handling and / or other logistics for such a tray are not required.

[0041] For transfer, the sample container carriers can be pushed in batches, e.g., 1 to 30 five-position racks, by a drivable sledge and a drivable slider. The drivable sledge can be used to push the batches from the mobile robot toward the interface module. The drivable sledge may not be able to move beyond the edge of the mobile robot's footprint. However, the drivable slider can move beyond the edge so that (specifically, the remaining) sample container carriers can be pushed all the way to the interface module.

[0042] The drivable slider can further be used to push the sample container carrier from the interface module to the mobile robot after the movable claws of the interface module, in particular the movable claws of the drivable sledge of the interface module, have pushed most of the sample container carrier onto the mobile robot.

[0043] Both the sledge and slider of the mobile robot may function as clamps to hold a batch of sample container carriers in place during transport on the transport surface of the mobile robot and / or to prevent the sample containers carried by the sample container carriers from tilting during transport and / or driving.

[0044] The step between the top surface of the finger and the interface surface can be controlled during docking, particularly in a closed-loop manner. The step can be controlled to avoid mechanical influences and / or shocks and / or momentum on the sample tubes, so as to prevent sample spillage. The step can be controlled to avoid the sample container carrier getting stuck on the step. The step can be controlled to avoid mechanical influences and / or shocks and / or momentum on the sample tubes as they are transferred and / or pushed through the fingers, resulting in sample spillage from the open tubes. The pushing speed should not be too fast to reduce the possibility of spillage from the open tubes as they are transferred over the step. The step can be lowered or raised depending on the direction of transfer to avoid the sample container carrier getting stuck or tipping over. The step can also be a vertical distance.

[0045] The shock absorbers of the damping system can have hydraulic or pneumatic elements. Passive vibration damping systems can have mechanical devices, fluids, and / or elastomeric materials. Active vibration damping systems can have sensors and actuators in a closed-loop system. A damping system can be integrated into the transport module, for example, during the operation of the mobile robot, to reduce the impact of shocks and / or vibrations acting on sample tubes being transported by the mobile robot. Such a damping system reduces shocks and / or vibrations during operation and thus reduces the amount of shock and / or vibration energy transmitted to the transport surface and / or sample container carriers arranged thereon. This can be particularly advantageous in special cases, such as entering an elevator or climbing over a cable duct, where greater impacts and / or momentum may affect the sample liquid. The damping capacity of the damping system can be designed depending on the occurring or expected vibrations and / or shocks, especially including a safety factor.

[0046] Vibrations, sudden movements, and / or shocks during transport or actuation can adversely affect sample integrity, for example, lysis of red blood cells, resuspension of platelets in coagulation assays, cross-contamination due to spillage from open or uncapped tubes, for example as a result of excessive sample liquid sloshing. Therefore, excessive tilting of sample tubes within the sample container carrier can be avoided to prevent spillage from open sample tubes. Thus, tubes are kept as straight as possible and transported as smoothly as possible.

[0047] Lowering the mobile robot's conveying surface to the nearest position while the mobile robot is moving can help reduce sloshing of the liquid in the sample tube. Sloshing can be the result of the traveling motion and the mobile robot's contact with the laboratory floor. In particular, climbing over cable ducts or entering elevators can cause large liquid movements and / or sloshing, which in the worst case scenario could result in spillage. Because the relative movement of the sample tube opening with respect to the wheel axis can increase with increasing distance from the wheel axis, a lower conveying surface reduces liquid sloshing. For example, the conveying surface can be lowered by approximately 250 mm. In addition to lowering the conveying surface, reducing the driving (traveling) speed of the mobile robot can also help avoid sloshing.

[0048] In addition to slowing down the drive speed, a combination of damping and surface reduction can be beneficial.

[0049] The transfer of sample tubes can be performed through the front, rear, left, or right side of the mobile robot, or a combination thereof, particularly in the aforementioned orientations with reference to the drive direction of the mobile robot. In particular, in narrow environments, such as narrow corridors, the mobile robot may not be able to travel forward to the interface module due to lack of space to travel straight to the target location, and lateral transfer can be advantageous. Lateral sample transfer can allow the mobile robot to position itself laterally relative to the interface module along the corridor and load and / or unload sample container carriers through each side of the mobile robot. This can reduce the required space in front of the interface module. Different mobile robots can easily pass by each other or by people. When a fleet of mobile robots is used and these mobile robots wish to load or unload at the same interface module, a queue of taxis can be formed next to the interface module.

[0050] The ability to unload from either the left or right side can reduce the required drive motion in narrow aisles. Such capability can be achieved by drivable sledges and drivable sliders configured to move sample container carriers bidirectionally on the transport surface. For example, a mobile robot does not need to change direction if it needs to transport a batch of samples to an interface module located on the right side of the aisle and another interface module located on the left side of the aisle.

[0051] The surface alignment principle described above can be used not only for lateral unloading and / or loading, but also for unloading and / or loading from the front and / or rear of a mobile robot.

[0052] The mobile robot may be an omnidirectional mobile robot that can move forward and / or backward, rotate without changing its footprint, and drive sideways without substantially rotating to a target position in front of the interface module. For sideways unloading and / or loading, the mobile robot may require some space on the left and / or right side relative to the interface module so that the mobile robot can drive to a target position in front of the interface module when docking.

[0053] A mobile robot with omni-wheels can drive laterally to the target location, so no additional space is required to the left or right of the interface module for lateral unloading and / or loading.

[0054] To provide greater flexibility and / or granularity for transferring samples to and from the various interface modules, the transport module can have more than one lane, e.g., up to four lanes with batches of five-position racks in the case of side unloading and / or loading. Alternatively, the transport module can have a single lane for a single batch, e.g., with up to 150 sample tubes.

[0055] For example, a mobile robot can unload or load a first batch of sample container carriers at an interface module and a second batch at another interface module. Furthermore, the mobile robot can also load and unload another batch at the same interface module without moving away. For example, the mobile robot can unload a first batch at an interface module and load a third batch at the interface module at the same time and / or in the same location, thereby improving throughput and reducing turnaround time. Loading and unloading batches at the same interface module can be performed without changing its position or by slightly changing the position of the mobile robot; for example, when positioned sideways relative to the interface module, the mobile robot only needs to move forward slightly. If the mobile robot does not change its position, the interface module may need to have corresponding load and unload lanes in corresponding locations to simultaneously unload and load the same interface module.

[0056] The same surface alignment principle described above can work with more than one lane. Each lane requires spring-loaded fingers, but only at least two fingers need have integrated sensors due to rotational alignment. In particular, the laterally outermost fingers may have integrated sensors, especially for more precise control and misalignment compensation.

[0057] Further advantages and features of the present invention will become apparent from the claims and from the following description of preferred embodiments of the invention as illustrated in the drawings, in which equal reference signs relate to equal, similar or functionally equal components.

[0058] It is to be understood that the features mentioned above and those to be described below can be used not only in the respective combinations described, but also in other combinations or alone without departing from the scope of the invention. [Brief explanation of the drawings]

[0059] [Figure 1] 1 is a perspective view schematically illustrating an embodiment of a mobile robot according to the present invention. [Figure 2] 2 shows a detail of the mobile robot according to FIG. 1 in a perspective view. [Figure 3] 2 shows a mobile robot according to FIG. 1 in a front view. [Figure 4] 2 shows a mobile robot according to FIG. 1 in a side view. [Figure 5] 2 shows a mobile robot according to FIG. 1 in a top view. [Figure 6] 2 shows a separate perspective view of the transport module of the mobile robot according to FIG. 1; [Figure 7] 7 shows a transfer module according to FIG. 6 in a top view. [Figure 8] 2 shows an embodiment of a laboratory system according to the invention in a side view, with a mobile robot according to FIG. 1; [Figure 9] 9 shows a detail of the laboratory system according to FIG. 8 in a side view. [Figure 10] 9 shows a laboratory system according to FIG. 8 in a top view. DETAILED DESCRIPTION OF THE INVENTION

[0060] The laboratory system 50 comprises at least one interface module 51 and at least one mobile robot 1. The laboratory system 50 may be a laboratory sample distribution system. The laboratory system 50 may have a controller 54 for controlling the at least one interface module 51. Additionally or alternatively, the controller 54 may be configured to control the at least one mobile robot 1. The mobile robot 1 is configured to transport a sample container carrier C. Furthermore, the mobile robot 1 is configured to dock with the at least one interface module 51.

[0061] The mobile robot 1 comprises a drive base 2 configured to move the mobile robot 1 on the floor F of the examination room. At least one interface module 51 is located on the floor F of the examination room.

[0062] The mobile robot 1 comprises a transport module 3 mounted on a drive base 2. The transport module 3 can be mounted on the drive base 2. The transport module 3 comprises a transport surface 4 for carrying a sample container carrier C arranged thereon. The transport surface 4 can be a transfer surface. The transport module 3 has a sensor unit 5 configured to detect a deviation in the positioning of the transport surface 4 relative to the interface module 51 upon docking. Furthermore, the transport module 3 comprises an alignment drive unit 6 for adjusting the transport surface 4 relative to the drive base 2 to compensate for the detected deviation.

[0063] For example, the transport module 3 comprises a pair of spring-loaded fingers 7. Each finger 7 projects in a coplanar extension of the transport surface 4 such that, upon docking, a gap 52 between the transport surface 4 and the interface module 51 is bridged and the sample container carrier C can cross the gap 52 by sliding on the spring-loaded fingers 7. The sensor fingers 7 may be independently displaceable along the transport direction T of the mobile robot 1, in particular upon docking contact with the interface module 51.

[0064] For example, the sensor unit 5 includes sensors 16, 8. The sensors 16, 8 can be position sensors and / or distance sensors and / or proximity sensors. The sensors 16, 8 can be configured to detect the displacement of the respective spring-loaded fingers 7. Alternatively or additionally, the sensors 16, 8 can be configured to detect the angular misalignment of the transport surface 4 upon docking. Additionally or alternatively, the sensors 16, 8 can be configured to detect the height H of the transport surface 4 from the floor F of the examination room and / or from the surface 53 of the interface module 51. Additionally or alternatively, the sensors 16, 8 can be configured to detect the tilt of the transport surface 4 relative to the surface 53 of the interface module 51 upon docking.

[0065] For example, the alignment drive unit 6 is configured to level the conveying surface 4. Additionally or alternatively, the alignment drive unit 6 is configured to move the conveying surface 4 in the vertical direction. The alignment drive unit 6 may have at least two independently drivable vertical spindles 9, which are particularly capable of leveling the conveying surface 4. Furthermore, the alignment drive unit 6 may have a turntable, which is capable of rotating the conveying surface 4 around the vertical spatial axis Z of the mobile robot 1.

[0066] For example, the transport module 3 comprises a drivable sledge 10 configured to push the sample container carrier C on the transport surface 4 in a transport direction T of the transport module 3. Additionally or alternatively, the drivable sledge 10 is configured to hold the sample container carrier C in a direction opposite to the transport direction T, in particular when the mobile robot 1 is traveling on the floor F of the examination room.

[0067] As can be seen in the figure, the transport module 3 has a drivable slider 11 configured to push the sample container carrier C away from the transport surface 4 in a transport direction T. Additionally or alternatively, the drivable slider 11 is configured to hold the sample container carrier C in the transport direction T, in particular when the mobile robot 1 is traveling on the floor F of the laboratory. For example, the slider 11 has a barrier part 12 that can be pivoted relative to the transport surface 4 about the transport direction T. The barrier part 12 can be pivotable between a horizontal orientation for engaging the sample container carrier C and an upright orientation for allowing the sample container carrier C to pass.

[0068] In an embodiment not shown, the sledge 10 may have a barrier portion similar to the slider 11, and in particular the interaction of the drivable sledge 10 with the drivable slider 11 allows the sample container carrier C to be moved bidirectionally on the transport surface 4 along the transport direction T. The transport direction T may be oriented substantially parallel or substantially perpendicular to the drive direction of the mobile robot 1.

[0069] In the illustrated example, the transport direction T is the same as the driving direction of the mobile robot 1.

[0070] For example, the mobile robot 1 includes a control unit 13. The control unit 13 is configured to control the positioning drive unit 6 in a closed-loop manner based on feedback from the sensor unit 5. The control unit 13 may be configured to control the positioning drive unit 6 so that the transport surface 4 is above the surface 53 of the interface module 51 when loading the sample container carrier C from the mobile robot 1 into the interface module 51. Additionally or alternatively, the control unit 13 is configured to control the positioning drive unit 6 so that the transport surface 4 is below the surface 53 of the interface module 51 when unloading the sample container carrier C from the interface module 51 into the mobile robot 1. In either case, there may be a predetermined vertical distance or step between the transport surface 4 and the surface 53 during loading into or unloading from the interface module 51. The predetermined vertical distance may be 0.05 to 5.0 mm, particularly 0.1 to 1.0 mm, and particularly 0.2 mm.

[0071] For example, the control unit 13 is configured to control the alignment drive unit 6 so that the conveying surface 4 is held at the closest position relative to the drive base 2. Additionally or alternatively, the control unit 13 is configured to control the alignment drive unit 6 so that the conveying surface 4 is held at the closest position relative to the floor F of the examination room. When the mobile robot 1 moves over the floor F of the examination room, the conveying surface 4 can be held at the closest position. The closest position can be a position above the floor F of the examination room, specifically, 200 to 1000 mm above, particularly 300 to 790 mm above, particularly 400 to 600 mm above, particularly 530 mm above in the vertical direction.

[0072] For example, the alignment drive unit 6 has an active damping system for damping vibrations and / or shocks acting on the transport surface 4 and / or the sample container carriers C arranged thereon. Additionally or alternatively, the alignment drive unit 6 has a passive damping system for damping vibrations and / or shocks acting on the transport surface 4.

[0073] The alignment drive unit 6 may be configured to rotate the conveying surface 4 about the vertical spatial axis Z, in particular in angular steps of 90° or 180°, or substantially steplessly.

[0074] The drive base 2 can be equipped with at least three, in particular four, omni-wheels 14 .

[0075] As can be seen, the transport module 3 has a funnel 15. The funnel 15 may narrow towards the transport surface 4. The interface module 51 may have a funnel 55 that narrows towards a surface 53 of the interface module 51. The funnel 15 and / or the funnel 55 may be configured to compensate for lateral displacement of the transport surface 4 relative to the interface module 51 upon docking.

[0076] The mobile robot 1 can have two or more transport modules 3, where at least two transport modules 3 can share the alignment drive unit 6 and / or the sensor unit 5. Each transport module 3 can form a lane of the mobile robot 1 for a respective batch of samples.

[0077] According to the present invention, the laboratory system 50 is operated as follows: When operating the laboratory system 50, the mobile robot 1 moves on the floor F of the laboratory. In particular, the mobile robot 1 can autonomously navigate on the floor F of the laboratory. The mobile robot 1 then docks with the interface module 51, and the sensor unit 5 detects a deviation in the positioning of the transport surface 4 relative to the interface module 51. Upon docking, the positioning drive unit 6 adjusts the transport surface 4 to compensate for the detected deviation. When operating the laboratory system 50, at least one sample container carrier C can be transferred from the transport surface 4 to the interface module 51. Additionally or alternatively, at least one sample container carrier C can be transferred from the interface module 51 to the transport surface 4.

[0078] For example, the step of loading a sample container carrier C into the interface module 51 includes pivoting the barrier portion 12 to an upright orientation and driving the sledge 10 to push the sample container carrier C in the transport direction T so that the pushed sample container carrier C passes by the barrier portion 12. Next, the barrier portion 12 is pivoted to a horizontal orientation and the slider 11 is driven to push the sample container carrier C, which previously passed by the barrier portion 12, out of the transport surface 4 in the transport direction T and into the interface module 51.

[0079] For example, the step of unloading from the interface module 51 includes pivoting the barrier section 12 to an upright orientation and driving the interface sledge 54 of the interface module 51 to push the sample container carrier C in the direction opposite to the transport direction T so that the sample container carrier C passes by the barrier section 12. Next, the barrier section 12 is pivoted to a horizontal orientation and the slider 11 is driven to push the sample container carrier C, which previously passed by the barrier section 12, onto the transport surface 4 in the direction opposite to the transport direction T so that the sample container carrier C is placed on the transport surface 4. The step of unloading from the interface module 51 further includes pivoting the barrier section 12 to a horizontal orientation so that the sample container carrier C placed on the transport surface 4 is held in the transport direction T by the horizontally oriented barrier section 12.

Claims

1. A mobile robot (1) for a laboratory system (50), said mobile robot (1) being configured to transport sample container carriers (C) and to dock with at least one interface module (51) of said laboratory system (50), said mobile robot (1) comprising: a drive base (2) configured to move the mobile robot (1) over a floor (F) of an examination room on which the at least one interface module (51) is located; a transport module (3) attached to the drive base (2); The transport module (3) comprises: a transport surface (4) for carrying sample vessel carriers (C) arranged thereon; a sensor unit (5) for detecting deviations in the positioning of the conveying surface (4) relative to the interface module (51) during docking; an alignment drive unit (6) for adjusting the conveying surface (4) relative to the drive base (2) to compensate for the detected deviation; A mobile robot (1) comprising:

2. 2. The mobile robot (1) of claim 1, wherein the transport module (3) has a pair of spring-loaded fingers (7) that protrude in the same plane as the transport surface (4) so ​​that, when docked, a gap (52) between the transport surface (4) and the interface module (51) is bridged and a sample container carrier (C) can cross the gap (52) by sliding on the spring-loaded fingers (7).

3. The sensor unit (5) for detecting the displacement of each spring-loaded finger (7) of said transport module (3), and / or for detecting angular deviation of the conveying surface (4) during docking, and / or for detecting the height position of the conveying surface (4) relative to the surface (53) of the interface module (51), and / or for detecting the height (H) of the conveying surface (4) from the floor (F) of the examination room, and / or for detecting the inclination of the conveying surface (4) when docked with respect to the surface (53) of the interface module (51); Mobile robot (1) according to claim 1, characterized in that it comprises sensors (16, 8).

4. 2. The mobile robot (1) according to claim 1, wherein the alignment drive unit (6) is configured to level and / or move the conveying surface (4) vertically.

5. 2. The mobile robot (1) according to claim 1, characterized in that the transport module (3) has a drivable sledge (10) for pushing the sample container carrier (C) on the transport surface (4) in the transport direction (T) of the transport module (3) and / or for holding the sample container carrier (C) in the direction opposite to the transport direction (T).

6. 2. The mobile robot (1) of claim 1, wherein the transport module (3) has a drivable slider (11) for pushing the sample container carrier (C) out of the transport surface (4) in the transport direction (T) and / or for pushing the sample container carrier (C) onto the transport surface (4) in a direction opposite to the transport direction (T) and / or for holding the sample container carrier (C) in the transport direction (T).

7. The transport module (3) has a drivable slider (11) for pushing the sample container carrier (C) from the transport surface (4) in a transport direction (T) and / or for pushing the sample container carrier (C) onto the transport surface (4) in a direction opposite to the transport direction (T) and / or for holding the sample container carrier (C) in the transport direction (T), the drivable sledge (10) and the drivable slider (11) are configured to move sample vessel carriers (C) along the transport direction (T) bidirectionally on and off the transport surface (4); and / or 6. The mobile robot (1) according to claim 5, characterized in that the transport direction (T) is oriented substantially parallel or substantially perpendicular to the driving direction of the mobile robot (1).

8. The mobile robot (1) has a control unit (13), 2. The mobile robot (1) according to claim 1, wherein the control unit (13) is configured to control the alignment drive unit (6) in a closed-loop manner based on feedback from the sensor unit (5).

9. 9. The mobile robot (1) of claim 8, wherein the control unit (13) is configured to control the alignment drive unit (6) so that the conveying surface (4) is held in its closest position relative to the drive base (2) and / or, if the mobile robot (1) moves on the floor (F) of the examination room, the conveying surface (4) is held in its closest position relative to the floor (F) of the examination room.

10. 2. The mobile robot (1) according to claim 1, characterized in that the alignment drive unit (6) has an active and / or passive damping system for damping vibrations and shocks acting on the conveying surface (4).

11. the alignment drive unit (6) is configured to rotate the conveying surface (4) about a vertical spatial axis (Z), and / or said drive base (2) comprising at least three omni-wheels (14); and / or 2. The mobile robot (1) of claim 1, wherein the transport module (3) has a funnel (15) that narrows toward the transport surface (4), the funnel (15) being configured to compensate for lateral shifting of the transport surface (4) relative to the interface module (51) during docking.

12. 2. The mobile robot (1) according to claim 1, wherein the mobile robot (1) comprises two or more transport modules (3).

13. at least one interface module (51); At least one mobile robot (1) according to any one of claims 1 to 12, A laboratory system (50) comprising:

14. moving the mobile robot (1) on the floor (F) of the examination room; docking the mobile robot (1) to the interface module (51), wherein the sensor unit (5) detects a deviation in the positioning of the conveying surface (4) relative to the interface module (51), and the alignment drive unit (6) adjusts the conveying surface (4) to compensate for the detected deviation; - loading at least one sample vessel carrier (C) from said transport surface (4) to said interface module (51) and / or unloading at least one sample vessel carrier (C) from said interface module (51) to said transport surface (4); 14. A method for operating a laboratory system (50) according to claim 13, comprising:

15. the transport module (3) of the mobile robot (1) has a drivable sledge (10) for pushing a sample vessel carrier (C) on the transport surface (4) in the transport direction (T) of the transport module (3) and / or for holding the sample vessel carrier (C) in the direction opposite to the transport direction (T), the transport module (3) has a drivable slider (11) for pushing the sample vessel carrier (C) away from the transport surface (4) in the transport direction (T) and / or for pushing the sample vessel carrier (C) onto the transport surface (4) in a direction opposite to the transport direction (T) and / or for holding the sample vessel carrier (C) in the transport direction (T), the slider (11) has a barrier part (12) pivotable about the conveying direction (T) relative to the conveying surface (4), the barrier part (12) being pivotable between a horizontal orientation for engaging a sample vessel carrier (C) and an upright orientation for passing the sample vessel carrier (C), The step of loading the interface module (51) comprises: pivoting the barrier portion (12) to an upright orientation and driving the sledge (10) to push the sample vessel carrier (C) in the transport direction (T) so that the pushed sample vessel carrier (C) passes by the barrier portion (12); - pivoting the barrier portion (12) to a horizontal orientation and driving the slider (11) to push the sample vessel carrier (C) that has previously passed by the barrier portion (12) out of the conveying surface (4) in the conveying direction (T) and into the interface module (51); and / or The step of unloading from the interface module (51) comprises: pivoting the barrier section (12) to an upright orientation and actuating the interface sledges (55) of the interface module (51) to push the sample vessel carrier (C) in a direction opposite to the transport direction (T) so that the sample vessel carrier (C) passes by the barrier section (12) and is positioned on the transport surface (4); pivoting the barrier portion (12) to a horizontal orientation and driving the slider (11) to push the sample container carrier (C) that has previously passed by the barrier portion (12) onto the conveying surface (4) in a direction opposite to the conveying direction (T) and to place it on the conveying surface (4); - holding the sample vessel carrier (C) arranged on the transport surface (4) in the transport direction (T) by the horizontally oriented barrier part (12); 15. The method of claim 14, comprising:

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