Handling methods for biological cell cultures

Abstract

The invention relates to a method for handling carriers (1-9) carrying biological cell cultures or any reagents for the treatment of biological cell cultures, using one or more modules (12-14), at least one of which is a handling device (22). Each of the carriers (1-9) rests by its edges on a support element (21) and, depending on the type of carrier or the type of any instrument carried by it, the carriers (1-9) occupy different storage heights (H1-H7), some of which are one or more times greater than the standard vertical distance (A) of the support element (21). The carriers (1-9) carry information carriers (11), the information of which is readable by a reading device (24) and determinable by a computing device (16). For optimal use of the compartments of the storage device, the information comprises data on the storage heights (H1-H7) of the carriers (1-9) in question, and the handling of the carriers (1-9) is carried out using these data. Furthermore, the invention relates to an apparatus for carrying out the method and to a carrier for carrying out the method or for use in the apparatus.

Description

Technical Field

[0001] The present invention relates to a method of handling carriers carrying biological cell cultures or aids for treating biological cell cultures using a handling device having an end effector, such as a gripper. Each of the plurality of carriers is placed on a support element by its edge, and those support elements are provided in pairs with a standard vertical distance from each other and protrude from the opposing side walls of the storage device. And those carriers require different storage heights depending on their type or the aids they carry, and some storage heights are greater than one or multiple times the standard vertical distance. Those carriers have an information carrier, and the information can be read by a reading device provided in the handling device and evaluated by an arithmetic unit.

Background Art

[0002] Patent Document 1 discloses a system for storing and treating biological cell cultures. The biological cell cultures are stored in microplates. The microplates are stored in a storage module. The treatment of the cell cultures is performed using aids such as liquids, pipette tips, and others stored in carriers. The microplate forms a carrier for the biological cell culture. The carrier for the aids has the same plan view (floor surface) as the carrier for the cell culture. For the identification of the carrier, an information carrier that may have a barcode, text, or RFID is provided. A reading device is provided and the information can be read using it.

[0003] Auxiliary devices can occupy a variety of storage heights. The storage height basically depends on the type of auxiliary device. Carriers supporting various auxiliary devices can be arranged in modules of a uniform shape, particularly equipped with storage devices such as shelves. Each storage device has two opposing vertical side walls, the distance between which is slightly greater than the width or length of the carrier. Support elements protrude from the side walls, on which the edges of the carrier can rest. Pairs of support elements are provided, positioned vertically at a standard distance from each other, on which the edges, frame, or bottom of the carrier can rest. Carriers can occupy different storage heights. Their storage height basically depends on the type of auxiliary device they support. For example, a bottle may occupy a greater storage height than a shallow dish. A holder for pipette tips may occupy a greater storage height than a microplate. Carriers with greater storage heights occupy multiple compartments, each compartment defined by the distance between two vertically positioned support elements. One microplate may occupy one compartment.

[0004] Patent document 2 describes a method for handling a pharmaceutical storage device. [Prior art documents] [Patent Documents]

[0005] [Patent Document 1] International Publication No. 2020 / 098958 [Patent Document 2] U.S. Patent No. 8,267,310 [Overview of the project] [Problems that the invention aims to solve]

[0006] The object of this invention is to identify means for optimally utilizing each compartment of a storage device.

[0007] The above-mentioned problems are solved by the invention described in the claims, and the dependent claims represent both an advantageous development of the invention described in the cited claim and an independent means of solving the problem. [Means for solving the problem]

[0008] First, it is proposed that the information carrier basically contains data about the storage height, and that this data can be directly determined by a reader. The data about the storage height can be plain text data readable by an OCR detector. However, this data can also be coded into a barcode. It can also be the information content of an RFID. It is important that this data can be determined on its own without the intervention of an external table. The storage height can be the height of the carrier. However, it can also be the total height of the carrier, including the auxiliary equipment supported by the carrier.

[0009] In particular, the handling device is provided to be controlled by a local control unit or a computing unit. Preferably, this local control unit or computing unit is capable of directly reading the storage height from the information carrier. The determination of the storage height is performed simply by reading the information contained in the information carrier, without using external or internal tables or other stored data.

[0010] The method according to the present invention first includes assigning an information carrier to each carrier. The information carrier may include a variety of information, such as the date, data about the type of carrier, data about the type of auxiliary device the carrier supports, or data about the type of biological cell culture the carrier supports. Furthermore, the information may be assigned a unique identification value or orientation. In addition, a checksum that can be checked for the information may be stored on the information carrier.

[0011] A single carrier can carry multiple information carriers; for example, it can carry information carriers on two different sides, particularly on sides located opposite each other. Such information carriers can carry further information about each side, for example, the "front" or the "rear." However, it is essential that the information carriers include data about the storage height. The storage height can be understood as height data indicating, for example, the total height of the carrier, including the auxiliary equipment it carries, in centimeters. However, the storage height can also be data about the number of compartments in the storage device used to store the carrier together with the auxiliary equipment it carries. The information carrier may be printed with its information. It may also be a sticker affixed to the carrier.

[0012] Each carrier may have an individual information carrier. The information carrier may also be a materially integrated part of the carrier; for example, the information carrier may be located on the surface area of ​​the carrier on which the information is carried. For example, the information may be imprinted or engraved on the surface area of ​​the carrier itself. The information carrier may contain information about the type of object carried by the carrier, in addition to information about the storage height.

[0013] The carrier may have a base or a frame. The frame or base may form support shoulders through which the carrier is placed on support elements. The support elements may be support rails that slightly protrude from two opposing side walls. However, the support rails may protrude to a sufficient width into the space between the side walls so that the carrier is securely placed on the support rails. Between the two support rails, each running at the same height and assigned to one of the two opposing side walls of the storage device, there is a horizontal open area whose cross-section is large enough to allow objects carried by the support rails to pass through. There is a distance of, for example, 30 mm between support rails that are directly above and directly below each other in the vertical direction; these are standardized distance dimensions that define the height dimensions of the compartments. The horizontal distance between support rails located on a single plane is determined so that the auxiliary equipment can extend across multiple compartment heights. The information carrier can be positioned in a predetermined location; for example, the bottom of the carrier or a specific surface portion of the frame can support the information carrier.

[0014] Preferably, the device is provided with one or more modules, each module capable of housing at least two carriers. A handling device or gripper, or a handling device equipped with a gripper, can be assigned to at least one module. Each module may have one or more storage devices. A storage device preferably has one retrieval side. At this retrieval side, the carrier of the storage device can be retrieved. This is preferably done using an end effector of the handling device. The end effector can be formed by a shovel-shaped plate or paddle that can be driven, for example, from below the carrier to engage with and lift it. However, the end effector can also be a gripper with fingers that are movable toward each other to grip. The fingers can be used to grasp the carrier. The storage device may have a retrieval side facing the end effector. Multiple storage devices can be arranged around the free space of a single storage module. The storage device can be like a shelf formed by multiple compartments located above and below each other. Multiple identical storage devices can be arranged around the free space. Each retrieval side faces the free space. A handling device that is displaceable in the vertical direction can be placed within the free space. The handling device may have a gripper that is displaceable in the horizontal direction for removing the carrier from or placing the carrier into the storage device.

[0015] According to a preferred embodiment of the present invention, the gripper has a reader that can read information from an information carrier. For example, the reader may be a barcode scanner. However, the reader may also be an image acquisition system for reading plain text, such as a camera. However, the reader may also be an antenna for reading RFID. In another embodiment, the gripper may be configured to transport the carrier to a reader located elsewhere that can read the information carrier. The reader may be provided separately from the gripper, and the gripper can be understood to mean any device that can move the carrier.

[0016] Further developments of the present invention provide the provision of a proximity sensor. The proximity sensor can be assigned to the gripper. It may be positioned adjacent to the reader. The proximity sensor can be used to detect whether a compartment is occupied by a carrier, for example, by the carrier frame or the carrier bottom. However, the proximity sensor can also be used to detect whether a compartment positioned above the bottom is occupied by an auxiliary device or the like. The proximity sensor can be an optical sensor, an ultrasonic sensor, or a capacitive or inductive proximity sensor. The proximity sensor can be a laser proximity sensor, a camera, and in particular another camera. However, it is also provided that the reader is configured to enable the functions of the proximity sensor. The proximity sensor and the reader can be positioned on the gripper.

[0017] The method of the present invention can be used to optimize the use of compartments in a storage device. A local control unit or computing unit of a module having multiple storage devices of the above type and a gripper can control the gripper to remove individual carriers from a storage device and re-place them in a different location in the same storage device or another storage device. The gripper can detect available compartments at that time using its reader and proximity sensor. By continuously removing individual carriers and re-placing them in different locations within the module, carriers of different storage heights can be arranged so that the total number of available compartments stacked vertically on top of each other increases.

[0018] For example, a single empty compartment can be filled by using a gripper to find a carrier with a storage height of one unit height. This carrier can fill one empty compartment. Alternatively, a carrier with a storage height of multiple height units, positioned directly above or below the empty compartment, can be raised or lowered to fill that single empty compartment. Similarly, multiple empty compartments located vertically or horizontally can be filled by first determining the height of the free space formed by the empty compartments using proximity sensors. To do this, the gripper moves to a position where it can always see the information carrier.

[0019] If no information carrier is found and the proximity sensor does not emit a signal, the compartment can be considered unoccupied. In this way, the number of empty compartments located above and below each other can be determined. Subsequently, a reader can be used to find a carrier in the storage device having a predetermined storage height corresponding to the heights of the empty compartments located above and below each other. This is done by reading the information carrier according to the present invention. This includes data about the storage height according to the present invention. The found carrier can then be inserted into the empty compartment using a gripper.

[0020] The present invention also provides that the module storage devices are of the same design as each other. The storage devices are arranged, for example, in a carousel configuration and can be rotated by a rotary drive. The side walls of the modules, which may form an integrated housing, may have entrances, through which the modules are adjacent to process modules or yet another storage module. Carriers can be moved from one module to an adjacent module through these entrances. The entrances can be closed in an appropriate manner. Each of two adjacent modules may have an entrance. By aligning the entrances of two adjacent modules with each other, carriers can be moved from one module to the other through the two open entrances.

[0021] In particular, the entrances to the modules can be closed to reduce gas exchange between the inside and outside of the modules. The modules may be, for example, incubators, freezers, or refrigerators. In a preferred embodiment, four, five, six, seven, eight, nine, ten, eleven, or twelve storage devices are arranged around the central free space of the module so that each storage device is directly adjacent to the neighboring storage device, thereby ensuring that the movement of carriers from one module to the next must be done through the storage devices. To transport the carriers from the inside of the module through the entrances to exit the module, an area located in front of the entrances in a storage device, such as a storage rack, must form a free space through which the carriers are transported using grippers. This free space must have a vertical height corresponding at least to the storage height of the carriers. By using a gripper configured according to the invention and by using a reading device and / or proximity sensors, it can be determined whether the free space is provided with a sufficient vertical height. If such a free space is not available, it is proposed that the gripper remove the carrier from the area located in front of the loading opening in the storage device until a free space of sufficient vertical height is available. In that case, it is proposed that the vertical height correspond at least to the height of the carrier being conveyed through the loading opening.

[0022] Basically, all storage devices of the module are suitable for providing free space, and the control device is configured such that the storage device with the minimum number of carriers that have to be moved in order to form a sufficiently large free space through which a selected carrier with the detected storage height can be conveyed is selected in order to form the free space.

Brief Description of the Drawings

[0023] Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings. <{ [Figure 1] [[ID=!4]]Figure 1 is a perspective view of eight exemplary carriers for use in biological cell culture. [Figure 2] Figure 2 is a schematic view of an apparatus for processing biological cell cultures. [Figure 3] Figure 3 is a cross-sectional view of the storage module of Figure 2, labeled 12, 13, 14. [Figure 4] Figure 4 is a schematic view of a handling device 22 having a storage rack 19 and a gripper (end effector) 23 comprising a reading device 24 and a proximity sensor 25. [Figure 5] Figure 5 is a schematic view of the areas of two modules 12, 14 in the area of a loading opening 26 connecting the two modules 12, 14 to each other. [Figure 6] Figure 6 is an enlarged cross-sectional view of two adjacent storage devices 19. [Modes for carrying out the invention]

[0024] Figure 2 is a schematic diagram from a single viewpoint showing three storage modules 12, 13, and 14 for storing standardized carriers capable of receiving cell cultures or auxiliary tools for processing them. Storage module 12 is used to house auxiliary tools for processing cell cultures. However, microplates containing cell cultures can also be housed within this storage module 12. Between storage module 12 and storage module 13, which is an incubator for holding cell cultures, is a process module 15. Within this process module 15, cell cultures can be processed using pipettes or similar devices. Storage module 14 is a refrigerator capable of housing processing liquids for processing cell cultures. Modules 12-14 and process module 15 each have a local control unit, which is configured by a control or computing unit 16. The local control unit 16 can be connected to a central control unit 17 for data exchange.

[0025] The storage modules 12, 13, and 14 are of the same design as each other, and the only substantially different thing is the environment created within them. The incubator 13 can be heated to a high temperature. The refrigerator 14 can be heated to a low temperature. The storage modules 12, 13, and 14 are connected to each other by entrances 26. Each storage module has at least one or two entrances 26. The entrance 26 of storage module 12 may be directly adjacent to the entrance 26 of the adjacent storage module 14, so that when the entrance 26 is open, carriers 1-9 are transported from one storage module 12 to the other adjacent storage module 14. In particular, it is provided that the entrances 26 of directly adjacent storage modules are directly connected to each other. It is also provided that the entrance 26 of storage module 12 is directly adjacent to a process module. The entrances 26 can be closed.

[0026] Figure 3 shows a cross-section of storage modules 12, 13, and 14. In a carousel configuration, multiple storage devices 19 are arranged around a central point. The storage devices 19 are rotatable around the center, thereby allowing them to be moved to align with the entrance 26.

[0027] Figure 4 is a schematic diagram showing the structure of the storage device 19. The storage device 19 forms a storage rack, and carriers 1 to 9 can be stored therein in multiple tiers, arranged vertically to each other. The storage device 19 has two side walls running parallel to each other. Support elements 21 are provided on the opposing side walls, particularly in the form of support rails. The horizontal distance of the support rails 21 can be 5 cm to 15 cm, or 20 cm to 35 cm. The horizontal distance of the support rails 21 is preferably adapted to the length or width of a standard microplate (85.48 mm × 127.76 mm). The vertical distance of the paired, opposing support rails 21 can be slightly greater than the height of the carriers 1 and 2 having the minimum vertical height.

[0028] Figure 1 shows examples of various carriers 1-9 used to house cell cultures or auxiliary equipment for processing them. Carriers 1 and 2 are flat rectangular parallelepipeds with recesses in which biological cell cultures can be placed. Such carriers may have a height of 21 mm. Carrier 1 has a bottom 10, which can be a base body having a flat shape with a height less than the distance between the two support rails 21. Carrier 3 carries a bottle containing a processing solution that can be stored, for example, in a refrigerator 14.

[0029] Carrier 4 carries multiple containers for liquids, equipment, etc. The vertical height of carrier 4 is greater than the vertical distance between the two support rails 21, which are located directly above and directly below each other.

[0030] The carrier 5 is a flat dish with a height less than the vertical distance between two adjacent support rails 21. The carrier 5 is, in particular, a single container in which biological cell cultures can be grown or liquids can be stored.

[0031] Carrier 6 is similar to Carrier 3. Carrier 6 can carry bottles that can hold a larger capacity than those carried by Carrier 3.

[0032] Carrier 7 carries multiple pipette tips or elongated containers for holding liquids. The height of carrier 7 is greater than the vertical distance between the two support rails, which are located directly above and directly below each other.

[0033] Carrier 8 carries another elongated container for holding multiple picket chips or liquid. The height of carrier 8 is greater than the vertical distance between the two support rails 21, which are located directly above and directly below each other.

[0034] Figure 6 shows yet another carrier 9, which is similar to carrier 5 but has a rim surrounding a central recess, and its height is greater than the vertical distance between two adjacent support rails. Its height can be 30mm to 40mm.

[0035] The above description is intended to explain the inventions covered by this application as a whole, and the present invention also independently further develops the prior art by, in each case, at least a combination of the following features, and two, more, or all of these combinations of features may be combined.

[0036] All carriers 1-9 have a base portion, which is a bottom 10, and the bottom 10 carries information carriers 11 in standardized positions. The information carriers 11 are arranged on the outer walls of carriers 1-9. The information carriers 11 are positioned so as to be visible from a central cavity surrounded by multiple storage devices 19. However, each or individual carrier 1-9 may also have multiple information carriers 11.

[0037] In another exemplary embodiment of the present invention, it is provided that each of the carriers 1 to 9 has an information carrier 11 on opposite sides. In yet another exemplary embodiment of the present invention, it is provided that each side of carriers 1 to 9 has an information carrier 11. In exemplary embodiments in which carriers 1 to 9 have a plurality of information carriers 11 on different sides, it may be provided that each information carrier 11 also includes information about each side of carriers 1 to 9, i.e., information about whether it is a short side, a long side, and / or a front or rear side of the carrier. Preferably, it is sufficient that the front and rear sides can be distinguished. The information carrier may be a part of a plane on the plastic surface of the plastic body forming the carrier.

[0038] Figure 6 shows individual carriers 2, 5, 6, 8, and 9, each having a different height. Only carriers 2 and 5 have a storage height H1 that is less than the vertical distance between the two support rails 21.

[0039] The distance between the two support rails 21, which are positioned directly above and directly below each other, defines the standard distance A. 4 The storage height H2 of the carrier is less than twice the standard distance A. The storage height H4 of carrier 8 is greater than three times the standard distance but less than four times the standard distance A, so the storage height H4 of carrier 8 occupies four empty compartments 20. In this case, each compartment 20 is defined by the space enclosed by two support rails 21 that are positioned one above the other. Carrier carrying bottles 9 It has a storage height H7 and occupies seven compartments 20 that are located above and below each other.

[0040] The gripper 23, schematically shown in Figure 4, can grip carriers 1 to 9 using, for example, a plate that engages with carriers 1 to 9 from below or a gripping arm, thereby pulling carriers 1 to 9 out of the storage device 19 and moving them to another location within the storage device 19, or moving carriers 1 to 9 through the entrance 26 to an adjacent storage device 19 of another module 12 to 14.

[0041] The gripper 23 or handling device 22 may have a reader 24. The information on the information carrier 11 can be read using the reader 24. In a preferred exemplary embodiment, the information is mounted on the information carrier 21 as a barcode. The reader 24 can be a barcode reader, which can be used to read the barcode information. The barcode is positioned 10 mm, 20 mm, or 30 mm inward from the lower edge of the bottom 10 of the carriers 1-9. It is readable when the carriers 1-9 are in the storage device. At that time, the bottom 10 is placed directly on the support rail 21. Since all carriers 1-9 have the same plan view, i.e., preferably the plan view of the microplate, carriers 1-9 with different storage heights can be placed in all storage devices.

[0042] In exemplary embodiments not shown, the reader 24 may be located at a different location inside the storage module 14. The carriers 1-9 carrying the information carrier 11 are transported to the reader 24 so that the information carrier 11 can be read using such a reader 24, which is not located on the gripper 23 or handling device 22.

[0043] The information carrier 11 directly contains data about storage heights H1 to H7. This can be expressed as absolute length in centimeters. However, the height data can also simply be expressed as a standard distance A or a multiple of a unit height. It is important to obtain the height data directly from the information carrier 11 without the need for further aids such as tables. As a result, the local control devices or arithmetic units 16 assigned to each of the modules 12 to 14 can obtain data about the heights of carriers 1 to 9 from the information acquired by the reader 24. The information carried by the information carrier 11 can further include the date and the type of auxiliary equipment (labware). Further information can include a serial number, unique identifier, orientation, or checksum. Based on type recognition, the arithmetic unit 16 can determine, for example, the size of the bottle or the size of the pipette tip.

[0044] The barcode of the information carrier 11 may have the format LLLLLLLLCCCCCCCCUUUUUUOHC. In this case, LLLLLLL is the badge number, CCCCCCC is the catalog number, UUUUUU is the serial number, O is the orientation, H is the height or the number of standard distances used, and C is the checksum. Other designs are also possible. As an alternative example, the barcode may have the format DDDDDDFFFFUUUUUUOHHCC. In this case, DDDDDD is the current date, e.g., the date of manufacture. The current date may have the format YYYYWW. In this case, YYYY is the year, WW is e.g., the calendar week of manufacture. FFFF can be the type of auxiliary device. UUUUUU can be the serial number. O can be the orientation. HH is the height and CC can be the checksum.

[0045] The gripper 23 of the handling device 22 is equipped not only with a reader 24 but also with a proximity sensor 25. The information on the information carrier 11, specifically the one-dimensional barcode, can be read using the reader, but the proximity sensor 25 can be used to determine whether or not the compartment between the two support rails 21, which are positioned vertically relative to each other, is occupied.

[0046] Reading device together with proximity sensor 25 2 The control function can be executed using 4. When the proximity sensor 25 detects the bottom 10 located in a compartment and the reader 24 detects a barcode there, the local control device 16 recognizes that the lower part of the carrier is located there. The control device 16 determines how many compartments above the bottom 10 are occupied by the same carrier from the height data held in the information of the information carrier 11. The proximity sensor 25 is used to check whether this is the case and whether the information of the information carrier is correct regarding the storage heights H1 to H7. Furthermore, the combination of the reader 24 and the proximity sensor 25 is used to determine whether one compartment is empty. If there are no properly empty compartments above the storage height of that carrier and it does not carry a barcode, it is also possible to detect an incorrect information carrier 11.

[0047] According to the present invention, each storage module 12-14 can operate autonomously by identifying carriers 1-9 using an information carrier 11, specifically formed as a barcode, which contains explicit data regarding storage heights H1-H7. No external data connection is required to determine which storage height each carrier 1-9 has. Thus, it is possible to determine whether a transfer port 27 in one of the storage devices 19 is available to transport carriers 1-9 through the entrances 26', 26 between two adjacent modules 12-14 to which carriers 1-9 can be transported. Figure 5 shows, for example, the entrance 26 on the right, which has a greater vertical spread between carriers 2 and 8 than the transfer port 27 located behind it. The vertical height of the transfer port 27 is large enough to transport a picket chip box 8. However, the height of the transfer port 27 is not sufficient to transport, for example, a carrier 9 with tall bottles on it. To enable the latter, conventionally it was necessary to increase the effective height of the transfer opening 27 by removing the carrier 2 from the area of ​​the entrance 26. For this purpose, the carrier 2 is grasped by the gripper 23 and moved to another suitable position within the module.

[0048] In the situation shown on the left side of Figure 5, the flat carrier 2 located beneath the carrier 9 must first be removed so that the carrier 9 loaded with bottles can be transported through the entrance 26'.

[0049] Accordingly, the present invention relates to a method for determining the vertical height of a transfer port 27 with the assistance of a reading device 24 and / or proximity sensor 25, or without using the proximity sensor 25, and increasing the vertical height of the transfer port 27 by, if necessary, removing carriers 1 to 9 placed therein and placing them in another storage device 19 or in a different location within the same storage device 19. In this method, first, one of the carriers 1 to 9 placed in the storage module 12 is placed in the storage module 1The carriers are identified as those to be removed from 2. Then, the storage heights H1 to H7 of carriers 1 to 9 are determined using the reading device 24. Based on the determined storage heights H1 to H7, the required vertical height of the transfer port 27 is calculated. Then, the actual vertical height of the transfer port 27 is determined using the reading device 24 and, if necessary, the proximity sensor 25. If the actual vertical height of the transfer port 27 is smaller than the storage heights H1 to H7 of the selected carriers 1 to 9, the vertical height of the transfer port 27 is increased by removing carriers 1 to 9 that are located in the area of ​​the loading port 26.

[0050] In accordance with the present invention, storage modules 12 to 14 can also be autonomously organized by identifying carriers 1 to 9 using an information carrier 11, particularly formed as a barcode, which includes explicit data regarding storage heights H1 to H7. This is possible without using proximity sensors 25. The position of the bottom 10 of all carriers 1 to 9 arranged in storage module 12 can be determined using a reader 24, which is preferably mounted on a gripper 23 but can also be mounted on a separate carrier that is movable independently of the gripper 23. Storage module 12 has a plurality of storage devices 19, in which carriers 1 to 9 are arranged. Using information regarding storage heights H1 to H7, the local control device 16 can determine the compartments 20 actually occupied and, in particular, calculate where empty compartments 20 exist. The number of empty individual compartments 20 can be reduced by removing carriers 1 to 9 and placing them in other locations in the same storage module 12. By moving carriers 1 to 9 to other locations, the number of free spaces consisting of multiple empty compartments for arranging carriers 1 to 9 with larger storage heights H1 to H7 can be increased.

[0051] Therefore, the present invention relates to a method characterized by reducing the number of empty compartments 20 or increasing the number of adjacent empty individual compartments 20 by arranging carriers 1 to 9 in different positions with the assistance of a reading device 24.

[0052] The present invention further relates to a method and apparatus configured thereto for organizing carriers 1-9 arranged in a storage module solely with the assistance of a reader, a gripper, and a control / calculation unit 16. The reader can be used to determine the lowest compartment filled by a carrier. Then, by determining the storage height, the next compartment located above the carrier and not occupied by articles carried by the carrier can be determined. The reader can be used to determine whether that compartment is empty and whether any further compartments above it are empty. Then, a carrier located below an empty compartment can be grasped using a gripper and moved upward so that there is no empty compartment directly above it. By starting this method from the uppermost carrier, all empty compartments are filled one after another. The present invention also relates to a method for determining empty compartments one after another between two carriers located directly above and below each other, starting from either above or below, and then filling those empty compartments by rearranging the carrier located below or above them.

[0053] The present invention further relates to a method for finding a storage location having a predetermined minimum number of individual compartments 20 that are arranged to overlap each other vertically, using a reading device 24 and information regarding storage heights placed on an information carrier 11.

[0054] In the above, the term gripper 23 or handling device is understood to mean any type of means that can move a carrier from a first position to another second position, either alone or in combination with other means. Therefore, the term gripper or handling device is understood to include, in particular, an end effector. Furthermore, the term gripper or handling device may also be understood to mean an electrically operated device that is controllable by a control device and which can use the control device to remove carriers 1-9 from or insert into compartment 20. However, the gripper 23 or handling device may also be understood to mean a device that can remove carriers 1-9 from compartment 20 by causing the device or a part of the device to perform horizontal motion. The device may also perform vertical motion to raise or lower carriers 1-9. The gripper 23 or handling device may further consist of a device that can move carriers 1-9 from storage module 12 to storage module 14 through two adjacent entrances 26, or that can transport carriers 1-9 between storage modules 12, 14 and process module 15.

[0055] The present invention also includes exemplary embodiments in which a plurality of storage modules 12-14 have at least one handling device 22. The handling device 22 can grasp and transport at least one carrier 1-9. Thus, the present invention also relates to a method comprising one or more modules 12-14, at least one of which has a handling device 22.

[0056] The above description is intended to explain the inventions covered by this application as a whole, and the present invention also independently further develops the prior art by, in each case, at least a combination of the following features, and two, more, or all of these combinations of features may be combined.

[0057] A method for handling carriers 1-9 that carry biological cell cultures or auxiliary tools for processing biological cell cultures, comprising a handling device 22 having a gripper 23, wherein each of the multiple carriers 1-9 is placed on a support element 21 by its edge, and these support elements 21 protrude horizontally from the opposing side walls of the storage device, arranged in pairs with a standard vertical distance A, and the carriers 1-9 require different storage heights H1-H7 depending on their type or the auxiliary tool they carry, some of which are greater than one or more times the standard vertical distance A, and the carriers 1-9 have an information carrier 11, and the information on the information carrier 11 is readable by a reader of the handling device 22 and can be evaluated by a computing device 16, in this method, A method characterized in that the information includes data relating to the storage heights H1 to H7 of each carrier 1 to 9, and that the handling of carriers 1 to 9 is performed using that data.

[0058] A method characterized in that the information carrier 11 is placed on the bottom 10 or frame of carriers 1 to 9, which have two support shoulders that can be placed on a support element 21, so that the information can be read from the retrieval side of the storage device 19.

[0059] A method characterized in that the handling device 22 has a proximity sensor 25, and the proximity sensor 25 is used to determine whether a section 20 extending to a pair of support elements 21 located vertically above and directly above the pair of support elements 21 is occupied, and / or whether carriers 1 to 9 are placed on the pair of support elements 21.

[0060] A method characterized by using a reading device 24 and a proximity sensor 25 to detect compartments 20 occupied by carriers 1 to 9 and empty compartments 20, and finding the vertical arrangement of empty compartments 20 corresponding to at least the storage heights H1 to H7 of carriers 1 to 9 in order to add carriers 1 to 9 to the storage device 19.

[0061] A method characterized in that the vertical arrangement of the empty compartments 20 is found exclusively using a reading device 24 and a proximity sensor 25.

[0062] A method characterized in that carriers 1 to 9 placed in the storage device 19 are removed from the compartment 20 to which they are assigned and assigned to another compartment 20, thereby forming a new arrangement of compartments 20, and increasing the number of empty compartments 20 that are arranged to overlap each other vertically.

[0063] A method characterized in that the vertical area 27 of the storage device 19 is freely held within the height of the loading entrance 26, and its height corresponds to the largest storage heights H1 to H7 of the carriers 1 to 9 arranged in the housings 12 to 14.

[0064] A method characterized in that a reading device 24 is assigned to a handling device 22, or is located in at least one module 12-14, the modules 12-14 being configured to store a plurality of carriers 1-9.

[0065] The apparatus is characterized in that the information includes data relating to the storage heights H1 to H7 of each carrier 1 to 9, and a programmable control device 16 is provided, the control device being configured to handle the carriers 1 to 9 using the data.

[0066] An apparatus characterized in that a handling device 22 is assigned to a gripper 23, and / or a reading device 24 is assigned to either the handling device 22 or the gripper 23.

[0067] A carrier characterized in that the information carrier 11 includes explicit data relating to the storage heights H1 to H7 of each carrier.

[0068] A carrier characterized in that the information includes a date, data relating to carrier types 1-9, a unique identifier, orientation, and / or a checksum, and / or a "batch number," and / or a height value.

[0069] An apparatus, method, or carrier characterized in that the information carrier 11 includes a barcode and the reading device is a barcode scanner.

[0070] An apparatus, method, or carrier characterized in that carriers 1 to 9 have a plurality of information carriers 11, and / or each of two adjacent sides or sides located opposite to each other has an information carrier 11, and / or the information carriers 11 of carriers 1 to 9 having a plurality of information carriers 1 to 9 further have information about the side to which each information carrier 11 is attached.

[0071] All disclosed features are essential to the present invention (both in themselves and in combination with each other). The disclosures of this application encompass the disclosures of any related / additional priority documents (copies of earlier applications) in their entirety, and are intended to incorporate the features of those documents into the claims of this application. Dependent claims feature independent inventive further developments of the prior art, even without the features of the cited claims, particularly for the purpose of filing a divisional application based on these claims. The invention specified in each claim may have one or more additional functions, particularly those specified in the preceding description, especially those to which reference numerals are assigned, and / or specified in the descriptions of the reference numerals. The present invention also relates, in particular, to embodiments in which individual features described above are not implemented, insofar as they are obviously unnecessary for their respective intended use or can be replaced by other means having the same technical effect. [Explanation of Symbols]

[0072] 1 carrier, for shallow dishes 2. Carrier, microplate 3 carriers, shallow dish 4. For carriers and containers 5 carriers, with large bathtub 6 carriers, shallow dish 7. Carriers, for pipette tips 8. Carriers, for pipette tips 9 carriers, high wall 10 bottom 11 Information carriers 12 Storage modules, for auxiliary tools 13. Storage module, for cell culture. 14. Storage module, for cell culture. 15 Process Modules 16 Local control unit 17 Central Control Unit 18 Storage room 19. Storage racks, storage equipment 20 plots 21 Support rail 22 Handling device 23 Grippa 24. Reader 25 Proximity Sensor 26 Loading entrance 26' Loading entrance 27 Vertical area, transfer port 28 pillars A standard distance H1, H2, H3, H4, H5, H6, H7 storage height

Claims

1. A method for handling carriers (1-9) that carry biological cell cultures or auxiliary devices for processing biological cell cultures, comprising one or more modules (12-14) having at least one handling device (22), each of the plurality of carriers (1-9) resting on support elements (21) by their edges, the support elements (21) protruding horizontally from opposing side walls of a storage device, each of the carriers (1-9) having a standard vertical distance (A) from each other, and the carriers (1-9) having different storage heights (H) depending on their type or the auxiliary device they carry. １ ~H ７ The method requires, and some of their storage heights are greater than one or more times the standard vertical distance (A), and the carriers (1-9) have an information carrier (11), and the information on the information carrier (11) is readable by a reader (24) and evaluated by a computing device (16), The aforementioned information is the storage height (H) of each of the carriers (1 to 9). １ ~H ７ A method characterized by including data relating to ) and using said data to handle the carriers (1 to 9).

2. The method according to claim 1, characterized in that the information carrier (11) is placed on the bottom (10) or frame of the carrier (1 to 9) having two support shoulders that can be placed on the support element (21), so that the information can be read from the retrieval side of the storage device (19).

3. The method according to 1 or 2, characterized in that the handling device (22) has a proximity sensor (25), and the proximity sensor (25) is used to determine whether a section (20) extending to a pair of support elements (21) located vertically above and directly above the pair of support elements (21) is occupied, and / or whether one carrier (1 to 9) is placed on the pair of support elements (21).

4. Using the reading device (24) and proximity sensor (25), the compartments (20) occupied by carriers (1-9) and empty compartments (20) are detected, and in order to add carriers (1-9) to the storage device (19), the storage height (H) of the carriers (1-9) is at least １ -H ７ The method according to the previous invention, characterized in that a vertical arrangement of vacant compartments (20) corresponding to ) is found.

5. The method according to 4, characterized in that the vertical arrangement of the empty compartments (20) is determined exclusively using a reading device (24) and a proximity sensor (25).

6. The method according to any one of 1 to 5, characterized in that a new arrangement of compartments (20) is formed by removing carriers (1 to 9) placed in the storage device (19) from the compartments (20) to which they are assigned and assigning them to other compartments (20), thereby increasing the number of empty compartments (20) that are positioned directly above and directly below each other.

7. In the method according to any one of claims 1 to 6, wherein the storage device (19) is located inside the housing (12 to 14) between the entrance (26) of the housing (12 to 14) and the handling device (22), The vertical region (27) of the storage device (19) is freely held within the height of the loading entrance (26), and its height is the maximum storage height (H) of the carriers (1 to 9) arranged within the housing (12 to 14). １ ~H ７ A method characterized by corresponding to ).

8. The method according to any one of 1 to 7, characterized in that the reading device (24) is assigned to the handling device (22) or is located in at least one of the modules (12 to 14), the modules (12 to 14) are configured to store a plurality of carriers (1 to 9).

9. An apparatus for carrying out the method according to any one of claims 1 to 8, comprising: at least one storage device (19) having support elements (21) that protrude in pairs from a side wall at a standard vertical distance (A); carriers (1 to 9) for carrying a plurality of biological cell cultures or auxiliary tools for processing biological cell cultures; and a handling device (22) for handling the carriers (1 to 9), wherein each of the carriers (1 to 9) has an information carrier (11), and the information is readable by a reader (24) and can be evaluated by a computing device (16) of the apparatus, The information includes data regarding the storage height (H １ ~H ７ ) of each of the carriers (1 to 9), and in particular, a programmable control device (16) is provided, and the control device is configured to handle the carriers (1 to 9) using the data. A device characterized by this is provided.

10. The apparatus according to claim 9, characterized in that the handling device (22) is assigned to the gripper (23), and / or the reading device (24) is assigned to the handling device (22) or the gripper (23).

11. A carrier (1-9) configured to be handled by a handling device (22) for carrying a biological cell culture or an auxiliary device for processing a biological cell culture, and for being placed on support elements (21) that project in pairs from opposing side walls of a storage device (19) at a standard vertical distance (A), The carriers (1 to 9) each have an information carrier (11), The information carrier (11) is stored at the storage height (H) of each of the carriers (1 to 9). １ ~H ７ A carrier characterized by including explicit data about ).

12. The carrier according to claim 11, characterized in that the information includes a date, data relating to the type of carrier (1 to 9), a unique identifier, orientation, and / or a checksum, and / or a "batch number," and / or a height value.

13. The method according to any one of claims 1 to 8, characterized in that the information carrier (11) includes a barcode and the reading device (24) is a barcode scanner.

14. The apparatus according to claim 9 or 10, characterized in that the information carrier (11) includes a barcode and the reading device (24) is a barcode scanner.

15. The carrier according to claim 11 or 12, characterized in that the information carrier (11) includes a barcode.

16. The method according to any one of 1 to 8, characterized in that a carrier (1 to 9) has a plurality of information carriers (11), and / or has an information carrier (11) on each of two mutually adjacent sides or sides located opposite to each other, and / or the information carriers (11) of a carrier (1 to 9) having a plurality of information carriers (11) further have information about the side to which each information carrier (11) is attached.

17. The apparatus according to 9 or 10, characterized in that a carrier (1 to 9) has a plurality of information carriers (11), and / or has an information carrier (11) on each of two mutually adjacent sides or sides located opposite to each other, and / or the information carriers (11) of a carrier (1 to 9) having a plurality of information carriers (11) further have information about the side to which each information carrier (11) is attached.

18. The carrier according to claim 11 or 12, characterized in that the carrier (1 to 9) has a plurality of information carriers (11), and / or has an information carrier (11) on each of two mutually adjacent sides or sides located opposite to each other, and / or the information carriers (11) of the carrier (1 to 9) having a plurality of information carriers (1 to 9) further have information about the side to which each information carrier (11) is attached.

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