Autonomous mobile robot module and automated modular lab assistant system comprising the autonomous mobile robot module for performing multiple laboratory operations

Abstract

An autonomous mobile robot module (30) for performing multiple laboratory operations, wherein the robot module (30) comprises: a safety sensor for detecting a human; a robot module controller (30.14) configured to control the multiple laboratory operations and to stop at least one of multiple laboratory operations when the human is detected; a motor for driving a movement of the autonomous mobile robot module (30) controlled by the robot module controller (30.14); a robot platform for receiving objects; a robot arm configured for performing multiple laboratory operations controlled by the robot module controller (30.14); one or more tools being connectable to the robot arm, wherein the one or more tools comprises at least: a capper and / or decapper function for capping and / or decapping of containers; a pipetting function for pipetting liquids among the containers.

Description

[0001] Autonomous mobile robot module and automated modular lab assistant system comprising the autonomous mobile robot module for performing multiple laboratory operations

[0002] Field of the Invention

[0003] The present invention relates to an autonomous mobile robot module and an automated modular lab assistant system with an autonomous mobile robot module for performing multiple laboratory operations, specifically a biological, a chemical, a biochemical and / or a medical laboratory operation. The present invention specifically relates to an autonomous mobile robot module and a flexible modular robotic toolbox for laboratory applications, more specifically an autonomous mobile robot module and a flexible and modular robotic toolbox for biochemical and chemical laboratory applications usable by humans and robots.

[0004] Background of the Invention

[0005] The daily routine in biochemical laboratories mainly consists of laboratory operations that make up a laboratory application. Examples for these laboratory operations comprise mixing, homogenizing, tempering (tempering shall include heating and cooling), solid dispensing, liquid dosing, pipetting, pH controlling & adjusting, weighing, centrifuging, analyzing, sampling, capping / decapping, transferring, gripping, storing, documenting and tracking. These laboratory operations can be performed in different combinations and constellations with regard to the respective workflow of a specific laboratory process. Examples for such laboratory applications comprise the liquid preparation of liquids like buffer s / eluents, dilution series, samples and reagents, the performance of titrations, the sampling workflow at a plant, the analytic measurement of samples during production or for final product release as well as the final filling and aliquoting of a product.

[0006] However, the repetition of such laboratory operations in many different preparatory and nonpreparatory laboratory applications combined with the manual documentation of each laboratory operation as well as the holistic workflow of a laboratory application as described in the prior art still requires a higher degree in versatility, flexibility, precision and / or user-friendliness. The remaining steps which must be performed by a human are still error-prone, specifically when performing laboratory operations in routine and repetitive manner. Further, the time, which is required on preparatory work processes is at the expense of the actual laboratory work in production or quality approval. Specifically, in times of staff shortage and demographic change it is essential to face the current status of how basic and preparative laboratory work is performed. In addition, manual laboratory spaces show a very low utilization since they are predominantly used in the working time of human lab workers.

[0007] Prior art often discloses the automation of one specific workflow or even only one specific part of a workflow, which may, for example, be applicable to automated workflows used in high throughput applications like high throughput screening. Moreover, often specifically engineered technology and equipment is disclosed that is not adapted to human use and is required in addition to human laboratory work space since manual workflows cannot be completely eliminated in the laboratory field. This means that prior art technologies are typically engineered in addition to the regular human laboratory space, which remain with a low utilization of usually only 20% per week when the human is present.

[0008] Specifically, the requirement of process variation in laboratory areas is usually very high and includes the use of a variety of different container types, chemicals, required volumes, a wide variety of process sequences with a wide variety of framework conditions and analytical devices. The efficiency reflected in the repetition rate of analytical measurements is often very low. Due to technical challenges, automated approaches are often highly sophisticated, application-specific and therefore expensive and uneconomical for process workflows at a high degree of process variance. In many laboratory areas, with a few exceptions such as the area of high-throughput screening, these criteria are therefore not met. That is why many laboratory work steps are still required to be carried out manually by laboratory employees.

[0009] Robots and automation solutions are usually used when the criteria of high uniformity / low process variance, a high repetition rate and / or a high-risk potential / product protection are met. Therefore, commercial solutions on the market are focused on processes that fulfill the above mentioned criteria. Prior art technologies focus on the automation of specific applications, like high throughput screenings handling a limited number of carrier types like well plates. Further, these technologies reduce automation only to specific process steps instead of automating holistic workflows. Thus, within this state of the art technologies human interaction is an essential part of these technologies.

[0010] In addition, such prior art technologies do not solve the problem of low utilization of existing laboratory equipment and space.

[0011] Working in a human-used environment inevitably means that a mobile robotic platform must have skills similar to those of humans. In the laboratory environment, this means working with pipettes, opening and closing a variety of containers, transporting a wide variety of materials and, of course, working and interacting with analysis and laboratory equipment. No prior art system fulfills such functions due to complexity.

[0012] A further challenge remains unsolved, as operations performed by a mobile robotic system must be safe for humans when sharing the lab space with humans. Furthermore, state of the art technologies using robotic arms, autonomous mobile robots (AMR) or also combinations of the two technologies are limited to minor capabilities. Working on classic laboratory equipment such as centrifuges, photometer, chromatography roller mixer, etc. is always combined with pre- and post- preparative work steps. Preparative work steps could be serial dilutions (Finding the right dilution for good photometric results), classic aliquoting, pipetting into specific containers, needed for the next analytic step, such as centrifuge tubes or cuvettes.

[0013] Summary of the Invention

[0014] It is therefore desirable to provide a versatile autonomous mobile robot module that can perform multiple laboratory operations in a lab space that is shared with humans and a versatile, convenient, flexible and / or standardized automated modular lab assistant system with the autonomous mobile robot module for performing at least one laboratory operation fully autonomous without human interaction required. It is also desirable to increase the number of functions and the versatility of the autonomous mobile robot module.

[0015] At least one of these objects is overcome by the subject matter of the independent claim. Further embodiments with optional features are subjected to the dependent claims. The invention according to an aspect and related embodiments thereof are described as follows in more detail.

[0016] The present disclosure presents an approach related to different processes comprising processes with low repetition and low uniformity / higher variance and / or high flexibility and which can be performed automatically in the same human laboratory work space comprising a wide range of different laboratory applications like liquid preparation, in detail buffer / eluent production, sample preparation, reagent preparation, dilution series preparation, filling, titration, sampling and photometric and chromatographic analytics can be realized automatically.

[0017] The present disclosure describes the use of a mobile robotic lab assistant, also denoted “autonomous mobile robot module” in a human lab environment. This requires the adaption of human laboratory equipment and furniture into so called functional laboratory modules with specific functionalities. The specific functionalities comprise functional laboratory modules and may be related to the typical laboratory operations needed in a laboratory. These laboratory operations may be mixing, homogenizing, tempering, solid dispensing, liquid dosing, pipetting, liquid dosing, weighing, centrifuging, analyzing, sampling, capping / decapping, transferring, gripping, storing, documenting and tracking. The present disclosure allows for a new laboratory design with autonomous laboratory assistants to support human laboratory workers.

[0018] The present disclosure further presents an automation of holistic laboratory applications especially such preparatory laboratory applications which may save time and prevent human-errors. More precisely, modular automation is described in multiple embodiments of workflows with regard to the respective laboratory operations represented by a flexible automation approach for several different laboratory applications based on the same laboratory operations.

[0019] The present disclosure provides a mobile robotic lab assistant with onboard functions for safe preparative laboratory work in a human used laboratory and stationary laboratory modules of which each module represents a specified amount of elementary laboratory operations that can be performed on the respective module. The laboratory operations performed on each module may be categorized based on the sense of belonging.

[0020] Since the focus is on the mobile robotic lab assistant with onboard functions for safe preparative laboratory work in a human used laboratory, all stationary (functional laboratory) modules may be designed in such a way that they can also be used and operated by humans in view of a hybrid collaboration between humans and machines. This may guarantee a high degree of flexibility with regard to process or workflow deviations. The high degree of flexibility may additionally be provided in that materials, objects and / or carriers embodied in different types of containers can be handled by the mobile robotic lab assistant with onboard functions for safe preparative laboratory work in a human used laboratory. The carriers, specifically containers including cylindrical shaped containers of different diameters between 5 mm and 101 mm with a screw cap like Schott™ bottles of every size, Falcon™ tubes, HPLC vials and Sarstedt™ tubes. In addition, the present disclosure describes handling of pipettes and pipette tips, cuvettes, magnetic stirring bars and funnels. The ability of handling conventional laboratory equipment reflects the high degree of flexibility and variable usability of the invention. According to a first aspect, an autonomous mobile robot module for performing multiple laboratory operations comprises: a safety sensor for detecting a human; a robot module controller configured to control the multiple laboratory operations and to stop at least one of multiple laboratory operations when the human is detected; a motor for driving a movement of the autonomous mobile robot module controlled by the robot module controller; a robot platform for receiving objects; a robot arm configured for performing multiple laboratory operations controlled by the robot module controller; one or more tools being connectable to the robot arm, wherein the one or more tools comprises at least: a capper and / or decapper function for capping and / or decapping of containers; a pipetting function for pipetting liquids among the containers.

[0021] The synergetic effect of the combination of such laboratory equipment specifically together with mechatronic elements realizes the allows preparatory activities comprising safe sample preparations at any place in a human lab environment and with or without any stationary lab device / equipment at any place in the lab, enabling safe sensor-monitored human-robot coexistence.

[0022] A versatile autonomous mobile robot module is provided that can perform multiple laboratory operations in a lab space that is shared with humans and a versatile, convenient, flexible and / or standardized automated modular lab assistant system with the autonomous mobile robot module for performing at least one laboratory operation fully autonomous without human interaction required. The number of functions and the versatility of the autonomous mobile robot module may be increased.

[0023] The autonomous mobile robot module may further comprise at least one of the following: a tip station; a waste container; a tool changer station; a camera; a storage space.

[0024] Specifically the development of a mobile robotic lab assistant with onboard functions for safe preparative laboratory work in a human used laboratory comprising two main functions, wherein the first function is based on safety sensors for secure working of the robotic system in coexistence with humans and the second function comprises preparative work realized by onboard functionalities comprising pipetting, tracking, pick and place, image recognition, gripper tool changing, a working surface, capping and decapping of containers and storage of various consumables. In sum, the mobile robotic lab assistant can provide safe preparative laboratory work at any place and at any time in coexistence with human lab workers and in an human environment.

[0025] The term “preparative work” in the laboratory environment may primarily consist of two main tasks: The first task is working with a wide variety of containers types from different manufacturers like Sarstedt, Greiner, Eppendorf, Schott etc., wherein the handling is essential in terms of opening, closing and storing of containers. On-board equipment is essential for this first aspect in terms of a flexible capper and a carrier tray system for containers, which cannot stand on its own. The second task is all around liquid handling. This may comprise in detail pipetting by using a pipette and a tip station- and a waste-station. So different volumes can be aliquoted. Furthermore, for realization both tasks together, not only storage for material and preparation place but also the use of a camera for recognition and in consequence of switching between both tasks a gripper change system is necessary.

[0026] The mobile robotic lab assistant with onboard functions for safe preparative laboratory can work in a human used laboratory (also denoted “robot module or robotic technician module”)” or “”) and is used for performing multiple laboratory operations comprising at least typical laboratory equipment together with mechatronic elements: wherein mechatronic elements comprise a safety sensor, a camera, a tool changing system, a robotic controller, a robotic arm and a mobile robotic platform and wherein typical laboratory equipment comprise a pipette, a tip station, a waste, a capper / decapper, space for storage and space for preparation. This typical laboratory elements together with the mechatronic elements realize the technical effect: Safe preparative work at any place in the lab wherein the robot module comprises : an onboard pipetting function for performing at least one of the multiple laboratory operations comprising pipetting liquids; an onboard visual detection function for performing at least one of the multiple laboratory operations comprising transferring of objects, tracking of labels and status detection of workbenches and consumables, recognition of samples like aggregation status (solid / liquid part), an onboard storage function for performing at least one of the multiple laboratory operations comprising independent storage and reloading with consumables, an onboard waste disposing function for independent disposing of pipette tips and used consumables, an onboard tool changing system for fully automatic process flow between container handling with two point grippers and liquid handling with the pipette, a capper / decapper function for performing at least one of the multiple laboratory operations comprising capping and / or decapping the at least one carrier; and a safety sensor function for detecting a human and stopping at least one of the multiple laboratory operations when the human is detected as being present near the mobile robotic lab assistant. A synergetic effect of the typical laboratory equipment together with mechatronic elements enables safe, autonomous and fully automated sample preparation at any place in the lab and at any analytical or other stationary placed laboratory equipment.

[0027] The pipetting function for performing at least one of the multiple laboratory operations comprising pipetting liquids may be realized by an onboard pipette device that is configured to be automatically operated. The pipette may be attached, affixed and / or coupled to the robot arm, specifically an end of the robot arm. The a capper / decapper function for performing at least one of the multiple laboratory operations comprising capping and / or decapping the at least one carrier may be realized by an onboard capper / decapper device. The safety sensor function for detecting a human and stopping at least one of the multiple laboratory operations when the human is detected as being present near the mobile robotic lab assistant may be realized by an onboard safety sensor, such as an infrared sensor for sensing whether a human is in the room and / or in a close vicinity of the sensor combined with a controller and a corresponding software which are configured to control and / or stop one or more laboratory operations. The visual detection function for performing at least one of the multiple laboratory operations comprising transferring of objects, tracking of labels and status detection of workbenches and consumables may be realized by a camera attached to the end of the robotic arm. The storage function for performing at least one of the multiple laboratory operations comprising independent storage and reloading with consumables may be realized by an on board drawer for storage of bottles, flasks and other consumables stored in trays and onboard open storage space on top of the moveable mobile platform.

[0028] The synergetic technical effect of these onboard functionalities and elements comprises safe preparative laboratory work at any place in a lab and independent interaction with human used laboratory environment. Interaction with human laboratory benches also denoted functional laboratory modules may be realized though visual markers, fixed positions and controller in every functional laboratory module. Mobile preparative working ability in the laboratory environment comprises: working with a wide variety of containers types and consumable types including Erlenmeyer flasks (e.g. 50 mL, 100 mL, 200 mL, 250 mL, 500 mL); Schott™ Bottles (e.g. 100 mL, 150 mL, 250 mL, 500 mL, 750 mL, 1000 mL); Falcon™ tubes (e.g. 15 mL & 50 mL); Sarstedt™ tubes (e.g. 0.5 mL, 1.0 mL & 2.0 mL); Magnetic Stirring Bars (e.g. 6 mm, 10 mm, 20 mm, 30 mm); Glass and plastic Cuvettes (semi-micro & macro); Funnels; Solid dosing heads wherein the handling is essential in terms of opening, closing and storing of containers; and liquid handling by means of pipetting at any place and device in the lab. This preparative working function is realized by an onboard pipette for pipetting liquids, an onboard tip station for tip pickup, an onboard waste for disposing of consumables, an onboard storage for material and preparation place an onboard camera for recognition, an onboard capper / decapper, an onboard carrier tray system for containers and an onboard gripper change system for changing between two-point gripper for handling of consumables and a pipette gripper for pipetting liquids on the mobile robotic lab assistant. Moreover, the synergetic effect of technical features of the mobile robotic lab assistant (Mobile autonomous platform with a robotic arm, pipetting, cap / decap, transport, and placement functions (storage for all consumables and chemicals) on board, and safety sensors on board) is provided in ensuring safe operation and safe preparative work at any location and at any time in the same environment when lab personnel are around, i.e. in the close vicinity, specifically in the same room with the mobile platform and / or at device stations in the lab. Further, the mobile robotic lab assistant allowing highly flexible, fully automated, and autonomous execution of various complex preparatory activities for analyses based on container handling (opening, screwing, placing) and liquid handling (pipetting), such as setting up dilution series, titrating, feeding analysis devices with samples, and general preparatory measures before analytical measurements. Further, a full automatic and autonomous mobile pipetting system is provided that can be used for unlimited pipetting at any place in a lab.

[0029] The mobile robotic lab assistant system may operate at the same time as human lab technicians or at different time slots due to the possibility of a coexistence of the mobile robotic lab assistant and a human enabled by the safety sensors of the robot. The mobile robotic lab assistant system may work completely independent or in cooperation with at least one functional laboratory module.

[0030] The robot arm may comprise a six-axis robot arm, specifically being configured for opening and closing of screw cap containers with different diameters.

[0031] The six-axis robot arm may be configured for depicting the movement of a human arm; and / or may further comprise at least one of A serially connected automated pipette; a Gripper Changer Station on top of a mobile Manipulator for flexible changing of gripper at any position in the lab; A two point gripper end-effector for gripping and pick and place of objects; A Tray gripper for transportation of any type of lab consumables or containers in defined trays; A waste for disposing of pipette tips and other consumables; A drawer for storage of containers like Bottles or Flasks; A drawer for storage of trays with consumables like tubes, funnels, magnetic stirring bars or cuvettes; Open storage space on top of the platform for temporary storage of materials and self supply with consumables.

[0032] According to a second aspect, an automated modular lab assistant system (also denoted “flexible modular robotic toolbox for laboratory applications” or “flexible and modular robotic toolbox for biochemical and chemical laboratory applications usable by humans and robots”) for performing multiple laboratory operations comprises: at least one autonomous movable and / or mobile robot module with a robot module controller, a robot arm and a robot platform for receiving objects; at least one functional laboratory module with a functional laboratory module controller; and at least one carrier with at least one standardized mechanical carrier feature, wherein the at least one robot module is configured to pick-up and / or grip with the robot arm the at least one carrier using the standardized mechanical carrier feature, and wherein the robot module controller and the functional laboratory module controller are configured to communicate using standardized interface protocols to cause the at least one robot module and the at least one functional laboratory module to interact with each other and to perform the at least one laboratory operation using the at least one carrier, wherein the robot module comprises: a pipetting function for performing at least one of the multiple laboratory operations comprising pipetting liquids; a capper / decapper function for performing at least one of the multiple laboratory operations comprising capping and / or decapping the at least one carrier; and a safety sensor function for detecting a human and stopping at least one of the multiple laboratory operations when the human is detected as being present near the automated modular lab assistant system.

[0033] The pipetting function for performing at least one of the multiple laboratory operations comprising pipetting liquids may be realized by a pipette device that is configured to be automatically operated for example by an automated pressure or suction. The pipette may be attached, affixed and / or coupled to the robot arm, specifically an end of the robot arm. The a capper / decapper function for performing at least one of the multiple laboratory operations comprising capping and / or decapping the at least one carrier may be realized by a capper / decapper device. The safety sensor function for detecting a human and stopping at least one of the multiple laboratory operations when the human is detected as being present near the automated modular lab assistant system may be realized by a safety sensor, such as an infrared sensor for sensing whether a human is in the room and / or in a close vicinity of the sensor combined with a controller and a corresponding software which are configured to control and / or stop one or more laboratory operations.

[0034] The at least one robot module and the at least one functional laboratory module may be flexibly configured in number and arrangement to perform the at least one laboratory application. In other words, the number, arrangement and functionality of robot modules and / or functional laboratory modules may vary and may be adapted to the at least one laboratory application.

[0035] In other words, an automated modular lab assistant system for performing at least one laboratory operation comprises: at least one robot module with a robot module controller; at least one functional laboratory module with a functional laboratory module controller; and at least one carrier with at least one uniform and / or predefined mechanical carrier feature, wherein the at least one robot module is configured to pick-up, grip, hold, receive and / or carry the at least one carrier using the at least one uniform and / or predefined mechanical carrier feature, and wherein the robot module controller and the functional laboratory module controller are configured to communicate using matching, compatible, uniform and / or predefined interface protocols on both side, i.e. on the robot module controller side and the functional laboratory module controller side to cause the at least one robot module and the at least one functional laboratory module to communicate and / or physically interact with each other and to perform the at least one laboratory operation using the at least one carrier.

[0036] The combination of technical features of the automated modular lab assistant system according to the aspect (Mobile autonomous platform with a robotic arm, pipetting, cap / decap, transport, and placement functions (storage for all consumables and chemicals) on board, and safety sensors on board) has the technical effect of ensuring safe operation at any location and at any time in the same environment when lab personnel are around, i.e. in the close vicinity, specifically in the same room with the mobile platform and / or at device stations in the lab. Further, the automated modular lab assistant system allowing highly flexible, fully automated, and autonomous execution of various complex preparatory activities for analyses based on container handling (opening, screwing, placing) and liquid handling (pipetting), such as setting up dilution series, titrating, feeding analysis devices with samples, and general preparatory measures before analytical measurements. Further, a full automatic and autonomous mobile pipetting system is provided that can be used for unlimited pipetting at any place in a lab.

[0037] The automated modular lab assistant system may provide a versatile, convenient, flexible and / or standardized automated modular lab assistant system for performing the at least one laboratory operation. Besides achieving a high degree of flexibility, the system may be expanded in view of the number of functionalities, i.e. the toolbox may comprise only two or more than two, i.e. numerous modules, which may be used to carry out numerous laboratory operations. The automated modular lab assistant system for performing at least one laboratory operation may be considered a fully automated or at least partially automated lab system in which a human user may interact with the at least one robot module or the at least one robot module may operate alone and / or autonomously. It may specifically be possible that both options may be applicable such that automated modular lab assistant system may operate autonomously at some times and a human user such as a lab technician may interact with the automated modular lab assistant system at other times. The automated modular lab assistant system comprises at least two modules, namely one robot module and one functional laboratory module. The automated modular lab assistant system may comprise one robot module and multiple functional laboratory modules. The automated modular lab assistant system may comprise multiple robot modules and at least one functional laboratory module, specifically multiple functional laboratory modules. The automated modular lab assistant system may comprise multiple functional laboratory modules with different functions to increase versatility and / or multiple functional laboratory modules having the same function to increase the efficiency in one single function. The at least one robot module with a robot module controller may be considered a task-performing machine, specifically a machine which is programmable by a computer and which may be capable of carrying out a (simple and / or complex) series of actions automatically. The at least one robot module may be controlled by the robot module controller which may be embedded within and / or by an external control device, specifically a system controller which may comprise an orchestration software. The at least one robot module may perform / operate autonomously and / or partially autonomously. The at least one robot module may be mobile, i.e. may move around and change its position with respect to a functional laboratory module. Alternatively or in addition, the at least one robot module may have flexible components such as a robot arm that is configured to perform complex movements such as grabbing an object, twisting an object, squeezing an object, lifting an object, placing an object, pick-and-place, or the like. The at least one robot module may therefore be further configured to squeeze, twist, open, close, cap, decap, transport, turn, rotate, stir, shake, vibrate, heat, cool, pipette, empty and / or fill a carrier, such as a bottle and / or another object. The robot arm may comprise elements, which are rotatable against each other with respect to different rotational axes. The robot arm may therefore comprise one or more joints, specifically ball joints.

[0038] The at least one functional laboratory module with a functional laboratory module controller may be stationary, at least at most times. Alternatively or in addition, the at least one functional laboratory module with a functional laboratory module controller may be movable and / or mobile and / or flexible and / or may have components which are movable and / or mobile and / or flexible at least partially and / or at some times. The at least one functional laboratory module may have specific lab functions which are available to the at least one robot module and / or a human user such that the at least one robot module and / or a human user may carry out a lab operation corresponding to the specific lab function. The at least one carrier with at least one standardized mechanical carrier feature may specifically be considered a uniform geometry wherein different type of containers can be transported. The at least one standardized mechanical carrier feature may be considered a uniform and / or predetermined mechanical feature that is provided on the carrier. If multiple carriers are used, all carriers may comprise the same uniform mechanical carrier feature to make it simple and / or efficient to handle the carriers by using the same functions for grabbing, holding, picking etc. the carriers. Further, the at least one standardized mechanical carrier feature may allow to only use standardized carriers which are provided specifically for the mobile robotic lab assistant and / or automated modular lab assistant system. Therefore, it may be assured that only approved, licensed, and / or certified carriers are used in the automated modular lab assistant system.

[0039] In general, the term “standardized” as used herein in different contexts (standardized mechanical features, tracking and data storage and / or processing, without limitation) may refer to a property of at least two elements / objects, which is matching, compatible, uniform and / or predefined. One element may therefore have a standardized property that is either equal and / or compatible to the corresponding standardized property of another element. For example to better understand the described concept and without limitation, a first carrier may be provided with the standardized mechanical carrier feature in the form of two holes being positioned in the carrier body at a specific distance within the holes. A second carrier may then also be provided with the standardized mechanical carrier feature in the form of the two holes being positioned in the carrier body at the same specific distance within the holes. In that case, one element (first carrier) has a standardized property that is equal to the corresponding standardized property of another element (second carrier). The two holes being positioned in the carrier body may be compatible with a standardized mechanical robot gripper provided on a robot arm of the robot module, such as two pins which are positioned at the same specific distance within the pins as the distance provided between the holes. Further, the form of the pins and the form of the holes may be round in cross-section and the size may be compatible such that the pins can be received by the holes and the robot arm can pick up the first and the second carrier by using compatible mechanical features / properties. In that case, one element (first carrier / second carrier) has a standardized property (holes) that is compatible to / with the corresponding standardized property (pins) of another element (robot arm). A standardization has different advantages. It may be a very efficient concept to provide many different elements, carriers, modules and / or objects with standardized features as the workflows may not require adjustment of such mechanical features. Further, it may be assured, that only certified, approved and / or licensed equipment may be used together with the mobile robotic lab assistant and / or automated modular lab assistant system 1000 to avoid usage of unsafe, uncertified and / or unapproved equipment. The concept of standardization may help to achieve the modularity of the system such that elements and / or modules can easily be integrated or removed from the system without changing basic concepts used by the system. In other words, the scope of the system may be easily extended and / or reduced by providing standardized features on the elements and / or modules. Moreover, a higher degree of safety of the system may be assured and / or achieved, as no non-certified, non-approved and / or non-licensed equipment, module, object and / or element characterized by the lack of the standardized feature(s) can be easily integrated. Standardization may also be given through information-technical standardization using labeled material for example RFID labeled material. This labeling may lead to a standardized characterization of every used carrier like at least bottles, flasks, consumables and / or solid dosing heads using uniform labeling. This means that, regardless of the material being handled (carriers like at least trays, bottles, flasks, consumables and / or solid dosing heads), a clear identification of the material can be achieved via a uniform information path, namely the RFID label. Standardization may also be given through control-technical standardization using programmable logic controllers (PLC’s) in every robot module and functional laboratory module. Since every module may use the same communication protocol and is its own master, this leads to a standardized communication between the modules and guarantees modularity and flexibility in the system.

[0040] Modularity may be achieved on a mechanical and / or an electrical level: Modularity may be achieved on an electrical level by control engines in every module (e.g. a lab bench) that communicate with one overarching software unit for orchestration of chemical workflows, which may be considered an electrical modularity. Modularity may be achieved on a mechanical level by providing mobile tray types adaptable for the handling (transfer and preparation) of a plurality of different consumer goods (i.e. cuvettes, tubes, magnetic stirring bar etc.) and samples, which may be considered a mechanical modularity. In other words, modules which act as laboratory benches and which may be clustered according to at least one laboratory operation which is to be performed are configured for additional automated use throughout the information-technical, control- technical and mechanical standardization (Standardized trays, standardized fixed positions,, standardized tracking, standardized communication). The at least one robot module is configured to pick-up the at least one carrier using the standardized mechanical carrier feature at the tray, for example by grabbing (similar as a grabbing using a human hand) and / or by using other mechanisms which are predefined to match the standardized mechanical carrier features, such as pins and holes, magnetic elements, recesses and protrusions and / or the like. The robot module controller and the functional laboratory module controller are configured to communicate using standardized, i.e. compatible, corresponding and / or equal interface protocols to cause the at least one robot module and the at least one functional laboratory module to interact with each other and to perform the at least one laboratory operation using the at least one carrier. The term “module” refers to a robot module and / or to a functional laboratory module. Both types can be meant by this term. The at least one robot module may comprise at least one standardized and / or predefined mechanical robot feature for example the gripper tray which corresponds to, is compatible and / or matches with the at least one standardized mechanical carrier feature. The at least one standardized and / or predefined mechanical robot feature for example the gripper tray may be configured for gripping, picking up, grabbing, lifting, carrying, and / or transporting the at least one carrier by using the standardized mechanical carrier feature.

[0041] The at least one functional laboratory module may comprise at least one standardized and / or predefined mechanical laboratory feature for example the gripper tray which corresponds to, is compatible and / or matches with the standardized mechanical carrier feature. Specifically the standardized mechanical carrier feature may comprise at least one of the following features with a predefined geometry: one or more holes, one or more pins, one or more recesses, one or more protrusions, one or more mechanical features having magnetic properties and specifically the predefined geometry may comprise at least one of: a position and / or a form of the mechanical carrier feature. The at least one standardized and / or predefined mechanical robot feature and / or the at least one standardized and / or predefined mechanical laboratory feature may comprise one or more holes (specifically if the standardized mechanical carrier feature comprises one or more pins), one or more pins (specifically if the standardized mechanical carrier feature comprises one or more holes), one or more recesses (specifically if the standardized mechanical carrier feature comprises one or more protrusions), one or more protrusions (specifically if the standardized mechanical carrier feature comprises one or more recesses), one or more mechanical features having magnetic properties (specifically if the standardized mechanical carrier feature comprises one or more magnets) and specifically the predefined geometry may comprise at least one of: a position and / or a form of the at least one standardized and / or predefined mechanical robot feature and / or the at least one standardized and / or predefined mechanical laboratory feature. In other words, the at least one standardized mechanical robotic feature and / or the at least one standardized mechanical laboratory feature may specifically be compatible with the orientation, the position, the shape, the form and / or the geometry of the at least one standardized mechanical carrier feature and may therefore comprise at least one of: one or more holes - i.e. matching by one or more pins; one or more pins - i.e. matching one or more holes; one or more recesses - i.e. matching one or more protrusions; one or more protrusions - i.e. matching one or more recesses; one or more mechanical features having magnetic properties - i.e. matching the magnetic polarity; and matching in all cases the predefined geometry, specifically the position and / or the form of the mechanical carrier feature. If for example the at least one standardized mechanical carrier feature corresponds to a round pin, the at least one standardized mechanical robotic feature and / or the at least one standardized mechanical laboratory feature may correspond to a round hole. The at least one carrier may comprise a tracking device, specifically a standardized tracking device, and the at least one robot module and / or the at least one functional laboratory module is configured to track the at least one carrier by means of the tracking device, specifically wherein the tracking device comprises at least one of an RFID tag, a printed code, a QR code, a printed tag, a transmitter, a transceiver, an antenna. The at least one robot module and / or the at least one functional laboratory module may therefore comprise a tracking system, a receiver, and / or a transponder which is configured to detect and / or record a signal from the tracking device such that a position, a state and / or a property of the at least one carrier may be tracked, detected, determined and / or evaluated. The entire automated modular lab assistant system may perform the tracking on tracking devices which have uniform properties and / or on the same tracking devices and / or the same tracking principle which may then result in a standardized tracking. Therefore, multiple carriers, objects and / or elements may have similar or even substantially identical tracking devices, wherein the signal that may be transmitted from each tracking device of one carrier, object and / or element may differ from the signal transmitted from a tracking device of another carrier, object and / or element. A standardized tracking may increase the degree of efficiency and / or simplicity.

[0042] A full automatic mobile pipetting system and / or a mobile robotic lab assistant may comprise a mobile robotic platform for moving from one position to another, a six-axis robotic arm for pipette handling, a pipette end effector for flexible pipetting of liquids at any position in the lab, a camera system for detecting pipette tips in a tip tray, a tip station for providing different kind of tip types in trays, a working and storage area for placing containers for removal and dispensing liquids, a waste for disposing of pipette tips and other consumables and a infrared sensor system for people protection and security aspects and a source for tip trays, containers, samples and liquids for unlimited pipetting at any place. Therefore, the following actions may be taken to realize the full automatic mobile pipetting system as claimed by the independent claim: Providing a pipette system with a mobile autonomous platform allowing pipetting at any place; Providing an infrared sensor system for screening the environment and stopping process activities allowing to increase process security; Providing a tip station with automatic cover for the tip trays inside providing a GMP conform storage of tips; Providing a material storage as a source for material supply on demand providing a source for re-magazine with new tip trays; Providing a tip identification with a camera system increasing process robustness by identifying a tip before pipetting; Using of a pipette with pressure sensor increasing process robustness by leakage control and tip control. The automated modular lab assistant system and / or the mobile robotic lab assistant can be used in (bio- ) chemical and analytical laboratories using the same workspace as human lab employees. The Mobile Robotic Pipette System can perform: Pipetting at any place in the lab in coexistence with humans in a human environment, while autonomous reload of a tip station with new tip trays is possible and a fully automated open-and-close function of the cover of the tip station is provided. A process workflow may comprise: I) Load of all consumer goods and liquids, i.e. tips, containers, liquid solutions from material storage on mobile platform; II) Move to destination place in lab; III) Start security screening at the place; IV) Open Container V) Change Gripper; VI) Pick up pipette; VII) Open tip station; VIII) Screen tip positions in tray; IX) Pick up tip; X) Dip into the liquid reservoir, load up and down three times liquid until equilibration; XI) Liquid transfer into destination container; XII) Removal of tip into waste; XIII) Change Gripper; XIV) Close ContainerAt least one of the multiple laboratory operations may comprise documenting the multiple laboratory operations in a standardized, uniform, and / or predetermined way, specifically wherein the automated modular lab assistant system and / or mobile robotic lab assistant may comprise a centralized OPC UA data server configured to document the at least one laboratory operation in a standardized way. The standardized, matching, compatible, uniform and / or predefined interface protocols may comprise at least one of MTP, OPC UA, SILA, OPC UA LADS. The at least one carrier may comprise at least one of the following: a vial, a tube, a cuvette, a sample, an inlay with tips, a magnetic stirring bar, a funnel, a capsule filter element, a container, a bottle or a tray for receiving one or more of a vial, a tube, a cuvette, a container and / or a bottle, a sample tube, an inlay with tips, a magnetic stirring bar, a funnel, a capsule filter element. The term carrier may be understood in a broad way, namely in the sense of a support (e.g. a plate like a multi-well plate, a tray and / or a basket) and / or a container (a vial, a tube, a cuvette, a container and / or a bottle) and / or an object between a support and a container and / or an object that comprises a support and a container, to receive, hold, contain and / or enclose at least partially a liquid, a solid, an object and / or an element.

[0043] The at least one robot module may be movable, translatable, mobile and / or may autonomously move and may be configured to perform at least one of the following: transfer the at least one carrier(bottles, flasks, and / or other objects, solids and / or liquids), cap and / or decap vials, tubes, bottles, flasks, samples, grip and transfer the at least one carrier and / or other objects, solids and / or liquids and / or materials in the trays, pipette liquids at least from vials, tubes, bottles, flasks, cuvettes, samples to vials, tubes, bottles, flasks, cuvettes, samples, track the at least one carrier and / or other objects, solids and / or liquids. The at least one functional laboratory module for human and robot use may comprise at least one of the following: a water module, which may be configured to be used with the at least one robot module to perform the at least one laboratory operation comprising at least one of: providing, mixing, liquid dosing pH controlling & adjustment, capping / decapping and weighing; a solids module, which may be configured to be used with the at least one robot module to perform the at least one laboratory operation comprising at least one of: providing, solid dispensing, weighing and capping / decapping; a storage module type with a warehouse management module, which may be configured to be used with the at least one robot module to perform the at least one laboratory operation comprising at least one of: storing solids / liquids, storing the at least one carrier, storing other objects and equipment, documenting the inventory and tracking the inventory; an analytic module, which may be configured to be used with the at least one robot module to perform the at least one laboratory operation comprising analyzing samples, liquids, solids or other objects, a homogenization module, which may be configured to be used with the at least one robot module to perform the at least one laboratory operation comprising homogenizing and tempering samples, liquids, solids or other objects, a centrifuge module, which may be configured to be used with the at least one robot module to perform the at least one laboratory operation comprising centrifuging samples, liquids, solids or other objects, a sampling module, which may be configured to be used with the at least one robot module to perform the at least one laboratory operation comprising sampling samples, liquids, solids or other objects.

[0044] The at least one functional laboratory module may comprise multiple modules, specifically multiple of the listed different modules and / or multiple of identical modules as listed above. Providing stationary modules such as water modules, material storages, and / or analysis modules (e.g., photometer, chromatograph) have the technical effect of providing highly flexible, fully automated, autonomous, and partial / complete execution of various complex analytical activities for analyses such as photometric measurements (determination of optical density, enzyme activity determination, purity determination, titer determination, etc.). Providing a mobile autonomous platform with a robotic arm with transport and placement functions (tray format) and material storage / stationary modules with tray format positions and safety sensors and pipetting function has the technical effect of providing flexible, geometry-independent, simple, and easy material and sample handling between the modules. The at least one laboratory operation may comprise at least one of the following: mixing, homogenizing, tempering (including tempering to room temperature, heating and cooling), solid dispensing, liquid dosing, pipetting, liquid dosing, weighing, centrifuging, analyzing (with standard analytic units like chromatography / photometry), sampling, capping / decapping, transferring, gripping, storing, documenting and tracking and related applications based on the laboratory applications like liquid preparation for buffer preparation, analytic measuring, filling and aliquoting, titration and sampling workflow. The automated interplay between the at least one robot module and the at least one functional laboratory module may allow one or more, specifically multiple of the above listed laboratory operations.

[0045] The automated modular lab assistant system and / or mobile robotic lab assistant may further comprise a system controller, specifically this may comprise an orchestration software, that is configured to control the at least one robot module controller and / or the at least one functional laboratory module controller. The system controller may be acting as a central controller that is connected (wirelessly or via wire) with some or all controllers of the modules. Alternatively or in addition, the at least one robot module controller and the at least one functional laboratory module controller may be configured to interact with each other without the need to be controlled by a central and / or external controller. The automated modular lab assistant system and / or mobile robotic lab assistant may comprise at least one, specifically two or more functional laboratory modules and / or one or more robot modules, which are configured to be physically coupled with each other and / or decoupled from each other by means of a coupling mechanism. The coupling mechanism may be a standardized coupling mechanism that allows coupling a variety of modules with each other. The coupling mechanism may be an optical orientation mechanism that allows optical orientation of the robotic technician on all laboratory modules. In detail, an orientation and alignment point at the bottom of each laboratory module serves as orientation and alignment point for the mobile platform of the robotic technician and an orientation point on top of each module may serve for orientation of the six-axis arm of the robotic technician. The robotic technician may use laser sensors on board of the mobile platform and a camera system mounted on the six-axis robot. The coupling mechanism may correspond to a physical coupling mechanism that allows fixing, combining, attaching and / or physically coupling one or more modules with each other. The physical coupling mechanism may rely on a system comprising for example pins (on one module) and holes (on another module), wherein one module can comprise both, pins and holes. The physical coupling mechanism may rely on a snapping mechanism and / or on an alternative or additional mechanism. The coupling mechanism may be an electrical coupling mechanism that allows electrically coupling one or more modules with each other. The electrical coupling mechanism may rely on sockets and plugs being connected / connectable directly and / or via cables, for example. The coupling mechanism may be a data coupling mechanism that allows coupling one or more modules with each other to send, receive and / or exchange data.

[0046] The automated modular lab assistant system and / or mobile robotic lab assistant may further comprise or may be based on a 3 -layer model configured to automate the at least one laboratory operation, specifically wherein: a first layer comprises a user front end (HMI) layer configured for creating laboratory process workflows and starting workflows; a second layer comprises an orchestration layer configured for translating a laboratory process into functional working packages and planning a workflow; and a third layer comprises a PLC-layer configured for processing the functional working packages on the at least one robot module and / or the at least one functional laboratory module. The automated modular lab assistant system and / or mobile robotic lab assistant may be configured to perform the at least one laboratory operation fully automated and / or being configured to perform the at least one laboratory operation partially- automated in coexistence with human workers. In other words, the automated modular lab assistant system and / or mobile robotic lab assistant may perform autonomously and may in some cases allow a human user to interact with the modules, elements and / or objects of the automated modular lab assistant system. The robot module controller and the functional laboratory module controller are configured to cause the at least one robot module and the at least one functional laboratory module to interact with each other and a human user to perform the at least one laboratory operation using the at least one carrier. In other words, the robot module 30, the human and the functional laboratory module may interact with each other to perform the at least one laboratory operation together.

[0047] As an example for one specific embodiment, without limitations, the user may approach the robot module and ask the robot module for the equipment and material to prepare one liter of an aqueous buffer solution. The robot module may clarify with the user the authorization and in detail, the task. As an example, the robot module may suggest different recipes for the aqueous buffer solutions and may guides the user on demand through a new recipe and suggest chemical types and final containment types. Based on the user’s input the robot module can start existing recipes and / or create new recipes. The robot module may select the correct carrier, which may be a IL bottle in this case, and may calculate the correct amount of phosphate buffer saline salt for one liter of water. The robot module may interact with the functional laboratory module, which may be a solids module to weigh and provide the correct amount of salt. The robot may fill the dosed amount of salt into the bottle and add a magnetic stirring bar. The robot may further add the correct amount of water into the bottle by interacting with the liquid module that provides IL of water. The robot module may then hand out the bottle with the salt, the water and the magnetic stirring bar to the user. The user may then decide by himself whether the content of the bottle should be stirred or stored somewhere to be stirred later.

[0048] The present disclosure contains multiple embodiments with features that provide a synergistic technical effect. For example, there is a synergistic effect of providing an automated modular lab assistant system having at least two modules and / or mobile robotic lab assistant and providing a concept of standardization in view of mechanical properties, information-technical properties, control-technical properties, object tracking and / or data storage. All elements, modules and objects, which may interact with the automated modular lab assistant system and / or mobile robotic lab assistant may be exchanged, removed from and / or added to the system without changing the basic concept of operation. The integration is simple and / or uncomplicated. The automated modular lab assistant system and / or mobile robotic lab assistant may therefore be customized, adapted to further requirements / applications, supplemented for additional functions / applications and / or extended. The automated modular lab assistant system and / or mobile robotic lab assistant shows to be very versatile as many functions may be added to and / or removed from the system embodied in the according functional laboratory module and / or robot module. Further, a high degree of versatility and flexibility can be achieved by allowing a human to interact with the modules of the automated modular lab assistant system and / or mobile robotic lab assistant. As the modules, functions and equipment may be chosen individually by a user and potentially the system, specifically the modules may use artificial intelligence to adapt to the behavior of a user, a high degree of customization and / or personalization may be achieved while keeping the elements of the “toolbox” simple and user-friendly using standardization concepts as outlined herein. Such effects are of synergistic nature, as different technical features, which appear to be isolated from each other act together to achieve a technical effect in an interrelated manner. A specific example is given by an automated modular lab assistant system and / or a mobile robotic lab assistant with onboard functions for safe preparative laboratory work in a human used laboratory for performing at least one laboratory operation, the automated modular lab assistant system and / or a mobile robotic lab assistant comprising: at least one mobile robot module with a robot module controller; at least one functional laboratory module with a functional laboratory module controller; and at least one carrier with at least one standardized mechanical carrier feature, wherein the at least one functional laboratory module comprises regular laboratory environment usable by humans, wherein the at least one robot module is capable of operating in regular human laboratory environment configured to pick up and / or grip the at least one carrier using the standardized mechanical carrier feature, pipette liquids, cap and decap the at least one carrier, move mobile in between the at least one functional laboratory modules localized at distances of smaller and greater than two meters, and wherein the robot module controller and the functional laboratory module controller are configured to communicate using standardized interface protocols to cause the at least one robot module and the at least one functional laboratory module to interact with each other and to perform the at least one laboratory operation using the at least one carrier, wherein the at least one functional laboratory module comprising a regular laboratory bench comprising human laboratory devices can be operated by humans and the at least one robot module, wherein the at least one mobile robotic module or a human can work on and / or interact with at least one stationary laboratory module, wherein the at least one mobile robotic module or the stationary modules can handle a wide range of different types of carrier containment.

[0049] The advantage is given in enabling a mobile manipulator (robot) to work in a classic (biochemistry laboratory environment designed for humans, thereby creating a modular, fully automated laboratory landscape while simultaneously ensuring a manual operation with a very high degree of digitization in the same laboratory environment. This means: coexistence and thus the use of the same resources; dual workspace for humans and robots.

[0050] The robot arm may comprises a six-axis robot arm, specifically being configured for opening and closing of screw cap containers with different diameters. A mobile robotic lab assistant with onboard functions for safe preparative laboratory work in a human used laboratory with six-axis robot arm, capper / decapper, pipette, storage place, tip station, tool changing station and camera allows for an increase in functionality and versatility of lab robots beyond regular pick and place movements.

[0051] The robot module may be configured for autonomous moving and transport of an object. The six- axis robot arm may be configured for depicting the movement of a human arm. The automated modular lab assistant system and / or mobile robotic lab assistant may further comprise at least one of A serially connected automated pipette; a Gripper Changer Station on top of a mobile Manipulator for flexible changing of gripper at any position in the lab; A two point gripper endeffector for gripping and pick and place of objects; A Tray gripper for transportation of any type of lab consumables or containers in defined trays; A waste for disposing of pipette tips and other consumables; A drawer for storage of containers like Bottles or Flasks; A drawer for storage of trays with consumables like tubes, funnels, magnetic stirring bars or cuvettes; Open storage space on top of the platform for temporary storage of materials and self supply with consumables. The mobile manipulator may therefore have an extended range of capabilities compared to state of the Art mobile manipulators. A Mobile preparative robotic unit may therefore have the following key functions: capping, transporting, pipetting and waste management; preparation on board-key functions needed at each workstation, in consequence of integration in mobile platform.

[0052] A capper / decapper may have materials used that are solvent-resistant and have smooth surfaces. The design of the capper may have rounded corners and edges. Overhanging components may be designed with drip edges. Therefore, Material, surfaces and contours of the capper may be carried out in accordance to the principles of hygienic design, GMP compliant and easy to clean. The capper can be used in clean room areas. A capper / decapper may have swing jaws, driven by a planet gear and motor and fixed through a brake. Therefore, Flexible capping and Decapping of different containers in respect to their diameter (range: 1 - 150 mm), height (unlimited) and geometry (round, edged) may be realized without set up and adjustment times in case of changing from one container type to another. A Mobile full autonomous robotic system may have the following on-board equipment: Pipette, Capper, Tip station, Storage area, Preparation area, end effector change system, plurality of different end effectors, waste and security sensors for allowing Safe and flexible preparation work in a human used laboratory at any place with / without human presence. A mobile robotic platform may have an onboard equipment Pipette (automatic pipette), tip station, and camera for Automatic and flexible Pipetting at any place in the laboratory. Storage space may be provided as an On-board storage of consumables. Therefore, an independent unlimited reloading of the system with pipette tips or consumables at any place from own storage in combination with mobile platform for reloading of storage is provided.

[0053] Sensors for real time environmental detection of human movement may be provided to make safe coexistence and working with humans possible and simultaneous movement of the arm and operation of the onboard functions like pipetting or capping while moving of the platform is possible. On-Board Gripper Changer may be provided as an end effector change system having a plurality of different end effectors. Therefore, changing of operating gripper like two-point gripper, tray gripper or pipette at any place in the lab is possible. On-Board waste containers may be provided for waste disposing directly on the robot. Trays for several container types may be provided for flexible handling of various container types comprising transport, preparation, storage. The Mobile full autonomous robotic system can be used in (bio-) chemical and analytical laboratories using the same workspace as human lab employees. The Robotic Lab Assistant capable of performing human laboratory tasks can perform at least one of Sample Preparation for analytical measurement like HPLC-,LC / MS-, Photometer- or other analytical Test; Aliquoting of liquid samples; Liquid Preparations like buffer- / eluent-preparations, dilution series. Capping and Decapping of screw cap containers; and / or Pick and Place of objects with six degrees of freedom; Storing and self supply with consumables like bottles, flasks, pipette tips.

[0054] The automated modular lab assistant system and / or mobile robotic lab assistant may be used for liquid handling being a core element in biochemical and analytical laboratories for dosing small amounts of liquid. The automated modular lab assistant system and / or mobile robotic lab assistant provides, depending on the specific use case, a flexibility in volumes, container types and also allows accessing positions which are difficult to access, specifically when performing flexible analytic measurements for production or quality control and when these parameters can vary frequently. The automated modular lab assistant system and / or mobile robotic lab assistant integrates a fully automated cartesian liquid handler pipette with a six-axis robotic arm aiming high flexibility of movement and high precision of the pipetting process. Specifically, a Hamilton Z-Excursion Universal Sampler Lite™ (Zeus LT™) may be integrated in the cartesian Hamilton Microlab™ liquid handler, which may take advantage of a pressure and conductivity liquid level detection (pLLD and cLLD) as well as an automated volume adjustment. Specifically, the technical integration of the Zeus LT™ with a Universal Robot URlOe™ using a Beckhoff CX2033™ controller is considered resulting in the implementation of a holistic pipetting process including tip pick-up, pressure liquid level detection, liquid aspiration, liquid dispensing and tip disposal. To prevent from possible cross-contamination disposable pipette tips (e.g. 50 pL, 300 pL and 1000 pL) may be used. The used pipette tips may be conductive and / or may have a built-in filter. They may be stored for example in 96-piece racks from which they can be picked up directly. The pipetting function may have an integrated function for surface detection, which may be carried out using conductivity or pressure measurement.

[0055] The robot arm may comprise a six-axis robotic arm with six degrees of freedom. The collaborative robot may have a payload of about 12.5 kg and a maximum reach of about 1300 mm.

[0056] According to an example, a method of performing at least one laboratory operation by an automated modular lab assistant system and / or using an automated modular lab assistant system comprises the steps: teaching the automated modular lab assistant system by machine learning to associate a signal, specifically a signal from a user, with the at least one laboratory operation; receiving at the automated modular lab assistant system the signal, which is associated with the at least one laboratory operation; processing the signal and / or associating the signal with the at least one laboratory operation according to the taught association; establishing a communication between a robot module controller and a functional laboratory module controller of the automated modular lab assistant system using standardized interface protocols to cause at least one robot module and at least one functional laboratory module to interact with each other and to perform at least a portion of the at least one laboratory operation. The previously described automated modular lab assistant system may be configured and / or equipped to perform the method according to the example and / or embodiment variant thereof. However, the previously described automated modular lab assistant system according to the aspect is not necessarily required to perform the said method to operate according to the aspect. The signal may be a signal received from a user and comprises at least one of a voice command, a movement of the user, a hand signal, a body language / sign; and / or the signal may corresponds to a laboratory and / or user state and may comprises at least one of an emergency situation of the user, a health-threatening situation of the user, a predetermined temperature that is exceeded, a predetermined gas concentration that is exceeded, a fire, a flooding, a damage and / or failure of the at least one robot module and / or the at least one functional laboratory module, a predetermined measure that is not fulfilled; and / or the method may further comprise teaching the automated modular lab assistant system to associate a feature of the user, specifically biomedical data of the user’s face, with system settings that are related to the at least one laboratory operation. The receiving at the automated modular lab assistant system of the signal may use at least one of the following: a camera, a visual sensor, a gas sensor, a noise sensor, a microphone, a conductivity and / or electrochemistry sensor, a temperature sensor.

[0057] The step of teaching the automated modular lab assistant system by machine learning to associate the signal from the user with the at least one laboratory operation may be based on artificial intelligence, neuronal networks or the like. The teaching as well as the processing and / or associating the signal with a laboratory operation may be performed by using one or more processors which may be comprised by the robot module controller, the functional laboratory module controller, a system controller and / or an external controller. The teaching may be performed by the supplier and / or producer of the automated modular lab assistant system and / or by the user and / or maintenance staff once the automated modular lab assistant system performs in a lab. The automated modular lab assistant system may constantly learn from a user “on-the-fly” which allows customizing the automated modular lab assistant system to the requirements of the user and / or the specific signals used by a user. The user may for example use the voice to express a command as a signal and the automated modular lab assistant system may learn to associate the command with at least one specific laboratory operation. For example, the user may say as a command “robot, prepare a PBS buffer solution” and the automated modular lab assistant system may be configured to understand the command by using voice recognition, processes the command and associate the command with the at least one laboratory operation for preparing the PBS buffer solution with a certain concentration based on previous settings and / or protocols and at least partially prepare the PBS buffer solution. The step of teaching the automated modular lab assistant system may - in addition to machine learning -comprise the entry of data into the system by a user, such as a preferred and / or default setting, like a specific concentration of a buffer. Therefore, the user may enter such data and / or settings into the system by using a touch pad of the system and / or by entering data and / or setting by voice. The machine learning may help to develop recognition of signs like recognizing words, the voice of a user and / or understand and / or associate a command that is provided in a certain language and / or dialect.

[0058] The automated modular lab assistant system may be connected to a cloud, the internet and / or a server. This connection may be used to provide resources, tables, texts etc. to search and / or find the meaning of a sign, specifically a word and / or a command. The automated modular lab assistant system may use deep learning which refers to a method of artificial intelligence (Al) by which computers are taught to process data being inspired by the human brain. Deep learning models may for example recognize complex patterns in pictures, text, sounds, and other data to produce accurate insights and predictions. The automated modular lab assistant system may use Chat Generative Pre-trained Transformer (ChatGPT). The automated modular lab assistant system may use reinforcement learning from human feedback (RLHF), including reinforcement learning from human preferences by which the system is trained using a “reward model” that is directly fed with human feedback. The automated modular lab assistant system may use a translator software, specifically being provided publicly and / or being based on machine learning. For the step of receiving at the automated modular lab assistant system the signal from the user which is associated with the at least one laboratory operation, the automated modular lab assistant system may comprise a camera, a microphone and / or a processor to receive and / or record one or more signals from a user and / or process the visual and / or noise signal. Specifically, the at least one robot module may comprise at least one of the said camera, microphone and / or processor. The teaching may and processing may specifically be performed on and / or by the robot module controller of the robot module.

[0059] The automated modular lab assistant system, specifically the robot module may not only receive signals in form of commands or other signals, it may also provide information visually or via a noise. Therefore, the automated modular lab assistant system, specifically the robot module may be configured to speak to a user via a loud speaker and / or provide information visually via a screen, lights, specifically lamps, LEDs, or the like. The step of establishing the communication may be automatically prompted by the association of the signal with the at least one laboratory operation. The communication between the robot module controller and the functional laboratory module controller of the automated modular lab assistant system may be performed / established via internet, Bluetooth, Ethemet / Lan cable or the like. The at least one robot module and the at least one functional laboratory module are prompted by the communication between their controllers to interact, specifically physically interact with each other and to perform at least a portion of the at least one laboratory application. They may perform the complete laboratory application or they may perform a portion of the laboratory application and the remaining portion, i.e. the remaining steps may be performed by the user. The method may be performed fully automated while the receiving depends on the user who provides the signal. The method may be considered at least partially automated, specifically the teaching may require manual input of data and / or settings by a user and / or provider.

[0060] The automated modular lab assistant system may be trained (as previously described) and configured to recognize a body language that indicates an emergency case of the user (being considered as and / or corresponding to the signal) and perform an emergency action (being considered as and / or corresponding to the laboratory operation) as a response, such as triggering an emergency call, an alarm (visual and / or via a noise), a providing of water for fire extinction and / or rinsing of the body and / or body parts of the user, a providing of a gas, a foam, a liquid, a solid in an attempt to resolve the emergency situation. For example, the user may fall in the lab space and may not move for a certain time. The automated modular lab assistant system may be trained and configured to recognize the emergency, the user is in and may trigger and / or perform an emergency call. This may allow to increase safety in a lab. The automated modular lab assistant system may be trained with or without machine learning (as previously described) and configured to recognize critical situations such as a gas lacking into the lab and / or a critical gas concentration, a fire, a critical temperature, a flooding, a burning cable, an alarm, a short-time overload and / or electrical short, a dysfunction of a module, an element of the system, a connection (physical connection such as an electrical connection and / or an internet connection) and / or a function of a module and / or element or the like. To this end, the system may comprise a sensor, specifically an optical sensor to detect gas, a heat sensor, one or more camera(s) to observe and / or monitor the lab space and / or a user or other sensors, which help detecting a critical situation. The automated modular lab assistant system, specifically the robot module may move and / or move a sensor, specifically a camera to monitor and follow a user and / or another machine. The automated modular lab assistant system, specifically the robot module may be configured to monitor a wide range of angles in the lab space. The data collected via such a sensor may be constantly processed and / or sent / provided to an external monitoring instance, which allows monitoring the space by a human and / or a machine for example using pattern recognition, to a cloud, a surveillance authority and / or to internal and / or external storage unit to protocol the lab activities. This may allow recording lab and / or monitoring activities in labs, specifically high-risk labs for safety and / or to protocol the activities. The automated modular lab assistant system may in general be also controlled from an external controller such as a human who monitors laboratory actions. The human who monitors laboratory actions may further communicate with the automated modular lab assistant system and / or a user of the automated modular lab assistant system via the system such as a speaker integrated in the system. The method according to the example of a variant thereof allows the automated modular lab assistant system to optimally support a user in working in a laboratory environment. The method allows the automated modular lab assistant system to adapt to the routine and / or requirements of a user by customization.

[0061] A method for autonomous sample and liquid preparation prior and after analytical measurement in a manual human laboratory may be used as a humanoid robotic laboratory assistant and may be capable of performing Sample Preparation for analytical measurement like HPLC-,LC / MS, Photometer- or other analytical Test, aliquoting of liquid samples, liquid preparations like buffer- / eluent-preparations, Capping and Decapping of screw cap containers, Pick and Place of objects in six degrees of freedom, Storing and self supply with consumables like bottles, flasks, pipette tips. The main human laboratory capabilities may be performed flexibly at any workstation in a laboratory.

[0062] It is to be understood that the present invention is not limited to the particular embodiments and examples described herein as these may vary. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to limit the scope of the present invention which will be limited only by the appended claims. Unless defined otherwise, all technical and scientific terms used herein have the same meanings as commonly understood by one of ordinary skill in the art. Detailed Description of the Invention

[0063] In the following, some embodiments will be described in detail, wherein the invention should not be understood to be limited to the embodiments described. The following embodiments and figures are provided to aid the understanding of the present invention, the true scope of which is set forth in the appended claims. Single features being described in a particular embodiment may be arbitrarily combined, given that they are not excluding each other. In addition, different features which are provided together in the example embodiments are not to be considered restrictive to the invention.

[0064] Skilled artisans appreciate that elements in the figures are illustrated for simplicity and clarity and have not necessarily been drawn to scale. For example, the dimensions of some of the elements in the figures may be exaggerated relative to other elements whereas other elements may have been left out or represented in a reduced number in order to enhance clarity and improve understanding of the aspect of the present disclosure.

[0065] The same reference numerals are used among different embodiments and examples for the same or similar elements or elements that have similar or the same effects.

[0066] Description of the Figures

[0067] Fig- 1 is a scheme showing the mobile robotic lab assistant and several laboratory operations according to one embodiment;

[0068] Fig. 2a is a drawing showing the mobile robotic lab assistant (robot module) and several functions according to one embodiment;

[0069] Fig. 2b is a drawing showing the sampling module and several functions according to one embodiment;

[0070] Fig- 3 is a drawing showing the water module and several functions according to one embodiment;

[0071] Fig. 4a is a drawing showing the solid dispensing module and several functions according to one embodiment;

[0072] Fig. 4b is a drawing showing the photometer module and several functions according to one embodiment;

[0073] Fig. 4c is a drawing showing the HPLC module and several functions according to one embodiment;

[0074] Fig. 4d is a drawing showing the centrifuge module and several functions according to one embodiment;

[0075] Fig. 4e is a drawing showing the homogenization module and several functions according to one embodiment;

[0076] Fig- 5 is a drawing showing the warehouse management module, the storage module room temperature and the storage module +4°C several functions according to one embodiment; Fig- 6 is a scheme showing an overview about all categories A-D of different modules according to one embodiment;

[0077] Fig- 7 is a scheme showing the realization of the applications by using different types of modules together with the mobile robotic lab assistant;

[0078] Fig- 8 is a drawing showing the robot module and sampling module and several functions according to one embodiment;

[0079] Fig. 9 is a drawing showing the water module and several functions according to one embodiment;

[0080] Fig. 10 is a drawing showing the dispensing module, photometer module, HPLC module, centrifugation module and homogenization module and several functions according to one embodiment;

[0081] Fig. 11 is a drawing showing the warehouse management module, the storage module room temperature and the storage module +4°C and several functions according to one embodiment;

[0082] Fig. 12 is a drawing showing the robot module and several functions according to one embodiment;

[0083] Fig. 13 is a drawing showing the different types of grippers and several functions according to one embodiment;

[0084] Fig. 14 is a drawing showing the robot module in different views and several functions according to one embodiment;

[0085] Fig. 15 is a drawing showing the sampling module and several functions according to one embodiment;

[0086] Fig. 16 is a drawing showing the water module and several functions according to one embodiment;

[0087] Fig. 17 is a drawing showing in detail the sealing plug capper & decapper of the water module and several functions according to one embodiment;

[0088] Fig. 18 is a drawing showing the dispensing module and several functions according to one embodiment;

[0089] Fig. 19 is a drawing showing the photometer module and several functions according to one embodiment;

[0090] Fig. 20 is a drawing showing the HPLC module and several functions according to one embodiment;

[0091] Fig. 21 is a drawing showing the centrifugation module and several functions according to one embodiment;

[0092] Fig. 22 is a drawing showing the homogenization module and several functions according to one embodiment; Fig. 23 is a drawing showing the warehouse management module and several functions according to one embodiment;

[0093] Fig. 24 is a drawing showing the room temperature module and several functions according to one embodiment;

[0094] Fig. 25 is a drawing showing the +4°C storage module and several functions according to one embodiment;

[0095] Fig. 26 is a drawing showing different types of material and sample variants as tray design according to one embodiment;

[0096] Fig. 27 is a drawing showing an example of a laboratory and production area, with the mobile robotic lab assistant.

[0097] Fig. 1 is a scheme showing the laboratory operations 1- 17 realized by the mobile robotic lab assistant 30 and several laboratory applications 100-104, such as a liquid preparation 100, in detail the buffer preparation and analytical measurements 101 according to one embodiment. In more detail, Fig. 1 is an example of the concept idea behind the modules 30-40 is schematically depicted by the concept of Lego™ building blocks for the performance of a buffer preparation or an analytical measurement as shown in the following figure. This embodiment relates to the execution and construction of several basic modules 30-40 for the performance of laboratory operations 1- 171ike mixing 1, homogenizing 2, tempering 3, solid dispensing 4, liquid dosing 5 pipetting 6, liquid dosing 7, weighing 8, centrifugation 9, analyzing 10, sampling 11, capping / decapping 12, transferring 13, gripping 14, storing 15, documenting 16 and tracking 17. These modules 30-40 can then further be used for the autonomous preparation of liquids 100 like buffer s / eluents, samples and reagents, dilution series, the performance of titrations 103, the sampling at a plant 104, the analytical measurement of samples 101 during production or for final product release as well as the final filling 102 of produced product. Through a flexible combination of the modules 30-40 on which different laboratory operations l-17can be performed autonomously several laboratory applications 100-104 can be depicted.

[0098] A categorization in four different module types as shown in the illustrated embodiment of Fig. 2a, Fig. 2b, Fig. 3, Fig. 4a, Fig. 4b, Fig. 4c, Fig. 4d, Fig. 4e and Fig. 5. Modules of category A comprise moving mobile modules, which may comprise a robot module A.l 30 as shown in the illustrated embodiment of Fig. 2a. Examples for moving modules of category A are therefore mobile robots, the so-called robotic lab technician A.l 30, and module A.2 31 (as shown in the illustrated embodiment of Fig. 2b) which corresponds to a probe sampling module that can be placed at a desired position in the lab for sampling.

[0099] Functional laboratory modules 32-40 may comprise stationary modules, specifically stationary modules according to the below described categories B, C and D.

[0100] Modules of category B (such as a liquid module 37) are stationary modules may have predefined dimensions, e.g. without limitations, of about 1800 mm in lengths and about 900 mm in width and height and have a water supply as shown in the illustrated embodiment of Fig. 3. Modules of category C (such as a solid dispensing module 32) may have predefined dimensions, e.g. without limitations, of about 1200 mm in lengths and about 900 mm in width and height as shown in the illustrated embodiment of Fig. 4a. Category C modules do not have a water supply and may be equipped with one big laboratory device or many small laboratory devices and a defined free bench area for tray handling and working.

[0101] Modules of Category D (such as a storage module 39 and 40 ) may have predefined dimensions, e.g. without limitations, of about 900 mm in lengths, about 900 mm in width and about 2100 mm in height. Category D Modules are storage modules and are equipped with a rotatable carousel for storing of consumables, bottles and other types of containers as shown in the illustrated embodiment of Fig. 5.

[0102] Fig- 1-6 therefore provides an example of the concept idea behind the modules of the Category A- D, being schematically depicted by the concept of Lego™ building blocks for the performance of a liquid preparation 100 or an analytical measurement 101.

[0103] Fig. 7 provides an example of the concept idea behind the modules of the Category A-D for the performance of a filling and aliquoting process 102 under use of module 30, 38, 39 and 40 and liquid preparation 100 with extension of the further modules 32 and 37 and analytical measurement 101 with extension of the further modules 33, 34, 35 and 36.

[0104] The stationary modules 32-40 may be operated and used by a mobile module A.l 30 (as shown in the illustrated embodiment of Fig. 7) as well as by a human user. Depending on the needs different modules 30-40 can be included multiple times into the lab as shown in the illustrated embodiment ofFig.27.

[0105] Each module has its own programmable logic controller (PLC) 31.7, 32.7, 33.4, 34.4, 35.4, 36.7, 37.12, 38.5 which serves as a process control system for the corresponding module 30, 31-40 and enables simple communication with a higher-level orchestration software based on a standardized interface protocol (MTP, OPC UA). Therefore, the disclosure describes three different software layers for plug and play use of the modules 30, 31-40. A first layer comprises a user front end (HMI) layer configured for creating laboratory analytic process workflows and starting workflows. A second layer comprises an orchestration layer configured for translating an laboratory analytic process into functional working packages and planning a workflow and a third layer comprises a PLC-layer configured for processing the functional working packages on the at least one robot module 30 and / or the at least one functional laboratory module 31-40. The third layer is an integration layer comprising the PLCs in which all different device communication protocols are translated into one communication standard like MTP, OPC UA, Sila, OPC UA LADS. Thus, the HMI sends the commands to the orchestration layer, which sends the commands to the corresponding integration layer PLC that, at the end, gives the commands to the individual devices.

[0106] In the following, some embodiments and examples of the modules 30, 31-40 are described in further detail.

[0107] Module A.l 30 - The Robotic Technician also denoted mobile robotic lab assistant with onboard functions for safe preparative laboratory work in a human used laboratory Together with Fig. 12-14, an embodiment of a robot module 30 is described, namely module A. l 30 that is based on a mobile manipulator (a classic mobile manipulator being extended in its functions) consisting of a mobile platform 30.1 and a six-axis robot arm 30.2. Compared to already existing robots, this embodiment provides an extension of the functions over commercially available mobile manipulators. Classic mobile manipulators are usually limited to two functions, which is pick-and-place of items as well as the transport of the respective items from one place to another. For the use of such a mobile manipulator in an embodiment of the mobile robotic lab assistant 30 these functionalities of the mobile manipulator are extended including simple and complex laboratory operations 1-17. Therefore Module A.l 30 is not only able to pick and place items as well as transport them from one place to another but may also be able to handle a pipette for liquid pipetting 6, to store materials and to open and close cylindrical shaped containers 12 of different diameters with screw caps to name a couple of functions, without limitation.

[0108] Therefore, in the present embodiment, a mobile manipulator is extended by a rectangular construction body on top of the mobile platform 30.1 part of the mobile manipulator next to the six axis robotic arm 30.2 as shown in Fig. 12-14 As an example of one embodiment, and without limitations, the mountings on top of the rectangular construction on the mobile platform 30.1 are placed below the robotic arm’s range of motion to prevent any restrictions in the reachability of the arm. These mountings on top of the construction body offers a wide range of different functionalities on board. A capper and decapper 30.10 of screw cap cylindrical containers is mounted on top of the construction body. This capper 30.10 may be able to fix cylindrical shaped containers of different diameters, for example between about 5 mm and 101 mm. Simultaneously the capper-decapper 30.10 may be able to spin the container with a force up to 8 Nm so by the same time the robotic arm 30.2 can fix the cap of the container with the corresponding two-point gripper end-effector 30.7 lifting the cap according to the force vertically upward or downwards depending on the status of the container. Thus, additionally, the capper and decapper is also able to open bottles with sealing plug. A mounted 2D camera 30.3 on top of the robotic arm 30.2 is responsible for object detection and includes a scanner to detect information on the RFID label. Thus, the camera 30.2 scans a barcode or serial number that is printed on the RFID label. Additionally a gripper station is mounted on the construction body with different end effectors 30.5 - 30.8 for the six axis robotic arm 30.2, which for example includes a two-point gripper 30.7 - 30.8 for pick-and-place movements, a gripper for gripping the trays 30.6 and an automated liquid pipette 30.5 for liquid pipetting 6 at any place in the lab. Additionally, a tip station 30.9 on top of the mobile platform is equipped with several different types of pipette tip volumes for pipetting of small volumes from 1 pL to large volumes of 1000 pL. The resulting accuracy for pipetting is in the range of 1% to 5%. Moreover, there are free parking lots 30.11- 30.12 for different materials that are handled by the robotic arm 30.2. These parking lots 30.11 - 30.12 may specifically be cylindrical notches in the construction body with diameters between about 46 mm and 101 mm for Schott™ bottles or flasks or well plate format-shaped notches for pipette tip boxes or other materials / carriers stored in a well plate format tray / rack 60, without limitations. These parking lots 30.11 - 30.12 may be realized as notches to guarantee safe transportation of material. These tray and bottles slots for storage can also be used for preparation tasks as preparation area. In detail preparation area shall mean the handling of liquids and material / carrier on top of the mobile platform for example for liquid aliquoting 102, preparation for analytical measurements 101 or dilution series production. Additionally, there is a waste container 30.13 on board for disposal of pipette tips and other disposable materials. In addition, the robotic technician 30 is equipped with safety sensors to detect his surroundings and enable safe working in a human environment. The robotic technician 30 is able to stop working at any place in the lab when the sensors recognize a human in the range of the robot.

[0109] Module C.l 32- The Solid Dispensing Module

[0110] Together with Fig. 18, an embodiment of a functional laboratory module 32 is described, namely module C. l 32 - a solids dispensing module 32, specifically a solid dispensing module that may have in one embodiment laboratory bench dimensions of about 1200 mm length and about 900 mm for width and height, without limitations. An orientation and alignment point 32.8 - 32.9 at the bottom of module C.1 32 serves as orientation and alignment point 32.8 for the mobile platform of the robotic technician 30 and an orientation point 32.9 on top of the bench serves for orientation of the six-axis arm 30.2 of the robotic technician 30. From a frontal view perspective there is an automated scale 32.2, placed on a weighing stone 32.3 on the left side of the bench with a dosing module / dispenser 32.1 for solids. The scale 32.2 is enclosed by a scale enclosure 32.5 to ensure precise weighing and protect from environmental influence. For human safety, a plurality of different safety variants are possible. Two variants may be described as follows:

[0111] Variant 1 :

[0112] The whole module bench including the enclosed scale may be enclosed by a hood construction 32.6 to be connected to a suction system to protect human lab technicians from toxic chemicals. Solids are dispensed in container with sealing plug. Thus under the overall module hood a mounting 32.4 is added for closing an opening of sealing plugs inside the hood.

[0113] Variant 2:

[0114] The whole module bench including the enclosed scale may be enclosed by a hood construction 32.6 to be connected to a suction system to protect human lab technicians from toxic chemicals. For protection from toxic solids an additional capper / decapper like the one of module A.l 30.1 may be positioned under the hood construction 32.6 to ensure save capping and decapping of toxic material under the hood construction.

[0115] Variant 3:

[0116] Only the scale 32.2 is enclosed by a hood construction 32.6 to be connected to a suction system. The suction system is turned on when the door of the hood construction is open and is turned off automatically as soon as the hood construction is closed for solid dosing. Thus, after solid dosing when the door of the hood construction is opened and the suction system is turned on the robotic arm 30.2 takes out the solid filled container and closes it inside the hood construction 32.6 to prevent exposure to the outside environment. The container may have a fixed lid that can be closed using a sliding mechanism. In the bottom housing of the laboratory bench, there is the control cabinet 32.7 for installing the module's electronics. On top of the bench, a waste container 32.10 is placed at a fixed position for disposal of pipette tips and other disposable materials, at this module mostly for human use. Module B 37 - The Water Module

[0117] Together with Fig. 16, an embodiment of a functional laboratory module 37, namely module B 37, i.e. a liquid module, specifically a water module is shown and comprises four different laboratory operations 1-17 in one laboratory bench. These laboratory operations 1-17 include liquid dosing 5, pH-controlling & adjusting 7, weighing 8 and mixing 1, without limitations. The module may be based on a laboratory bench design configured to be shared between the robotic technician A.l 30 and a human user / technician.

[0118] Therefore the module may be equipped with a water supply and / or a wash basin 37.10 as well as an eye shower 37.11 for human use and a fixed starting point at the bottom of module B 37 for orientation and alignment 37.13 of the mobile platform 30.1 of the robotic technician A.l 30 as well as an orientation point 37.14 on top of the bench for orientation of the six axis arm 30.2 of the robotic technician. In one embodiment, the dimensions of the module may comprise a length of about 1800 mm and a width and height of about 900 mm, without limitations. On the back wall of module B 37 the display of the pH-meter 37.1 is mounted and the wall mount for the dosing head 37.3 of the pure water system. On top of the bench a stirrer-scale 37.4 for gravimetric liquid dispensing is mounted at a fixed position with a holder for the pH-electrode 37.2 and a mounting for closing an opening of sealing plugs 37.8 for example under a movable suction arm. Between the wash basin 37.10 and the stirrer scale 37.4 there are four different Schott™ bottles fixed on the bench, three of them containing calibration solutions 37.5 for the pH-meter and one containing the storage solution 37.6 for the pH-sensor to have the sensor stored accordingly. Regarding the frontal view of Fig. 16 on the right side of the wash basin 37.10 there is a cleaning ring with water glands 37.7 for cleaning of the pH sensor. On the right side of the cleaning ring still from the front view perspective, there is a fixed sponge 37.15 for dabbing the wet pH probe prior to inserting it into a solution.

[0119] In the housing of the laboratory bench, directly under the calibration solutions, there is a water purification system 37.3 (pure water system) and, to the right of it, the control cabinet 37.12 for installing the module's electronics. On top of the bench, a waste container 37.9 is placed at a fixed position for disposal of pipette tips and other disposable materials. To handle containers with toxic substances that are opened for a short time to transfer the content, a movable suction arm with a hood (commercially available) can be placed at the module according to SHE (Safety, Health & Environment) compatibility. On module B 37, additional electrodes can be included for further titration 103 workflows like for example platinum electrodes or silver electrodes.

[0120] Module C.2 - The Photometer Module 33

[0121] Together with Fig. 19, an embodiment of a functional laboratory module, namely module C.2 33- an analytic module, specifically a photometer module 33 is described, which may have in one embodiment laboratory bench dimensions of about 1200 mm length and about 900 mm for width and height, an orientation and alignment point 33.5 for the mobile platform 30.1 of the robotic technician A. l 30 at the bottom of the module and an optical or mechanical orientation point 33.6 on top of the module for orientation of the robotic arm system 30.2, without limitations. On the left side of the bench a photometer 33.1 is positioned, which is suited for human and robotic lab technician (module A.l) 30 use. Next to the photometer there is free space for example for tray placement 33.2 or preparative work. On the very right side of the bench a waste container 33.3 is placed at a fixed position for disposal of pipette tips and other disposable materials. In the bottom housing of the laboratory bench, there is the control cabinet 33.4 for installing the module's electronics. Based on the usage of standardized trays 60, different cuvette types can be handled by the robotic lab technician (module A.l 30).

[0122] Module C.3 - The HPLC Module 34

[0123] Together with Fig. 20, an embodiment of a functional laboratory module, namely module C.3 34- an analytic module, specifically a high performance liquid chromatography (HPLC) module 34 is described, which may have in one embodiment laboratory bench dimensions of about 1200 mm length and about 900 mm for width and height, an orientation and alignment point 34.5 for the mobile platform 30.1 of the robotic technician A.l 30 at the bottom of the module and an optical or mechanical orientation point 34.6 on top of the module for orientation of the robotic arm system 30.2, without limitations. On the left side of the bench an HPLC 34.1 is positioned, which is suited for human and robotic lab technician A.l 30 use. Next to the HPLC 34.1 there is free space for example for tray placement 34.2 or preparative work. On the very right side of the bench a waste container 34.3 is placed at a fixed position for disposal of pipette tips and other disposable materials. In the bottom housing of the laboratory bench, there is the control cabinet 34.4 for installing the module's electronics. Based on the usage of standardized trays 60, different HPLC vial types can be handled by the robotic lab technician (module A.l 30).

[0124] Module C.435 - The Centrifuge Module 35

[0125] Together with Fig. 21, an embodiment of a functional laboratory module, namely module C.4 35- a centrifuge module 35 is described, which may have in one embodiment laboratory bench dimensions of about 1200 mm length and about 900 mm for width and height, an orientation and alignment point 35.5 for the mobile platform 30.1 of the robotic technician A.l 30 at the bottom of the module and an optical or mechanical orientation point 35.6 on top of the module for orientation of the robotic arm system 30.2, without limitations. On the left side of the bench, an automated centrifuge 35.1 is positioned, which is suited for human and robotic lab technician A.l 30 use. Next to the centrifuge 35.1, there is free space for example for tray placement 35.2 or preparative work. On the very right side of the bench, a waste container 35.3 is placed at a fixed position for disposal of pipette tips and other disposable materials. In the bottom housing of the laboratory bench, there is the control cabinet 35.4 for installing the module's electronics.

[0126] Module C.5 - The Homogenization Module 36

[0127] Together with Fig. 22, An embodiment of a functional laboratory module, namely module C.5 36 - a homogenization module 36 is described, which may have in one embodiment laboratory bench dimensions of about 1200 mm length and about 900 mm for width and height, an orientation and alignment point 36.8 for the mobile platform 30.1 of the robotic technician A.l 30 at the bottom of the module and an optical or mechanical orientation point 36.9 on top of the module for orientation of the robotic arm system 30.2, without limitations. On top of the bench a Rollermixer 36.1, athermomixer 36.3, an ice bath 36.4 and a Vortex 36.2 is positioned.. There is free space for example for tray placement 36.5 or preparative work to the front of the equipment. On top of the bench, a waste container 36.6 is placed at a fixed position for disposal of pipette tips and other disposable materials. In the bottom housing of the laboratory bench, there is the control cabinet 36.7 for installing the module's electronics.

[0128] Module D.O - The Warehouse Management Module 38

[0129] Together with Fig. 23, an embodiment of a functional laboratory module, namely Module D.O 38 - The Warehouse Management Module is described which may have typical laboratory bench dimensions of 900 mm length, 900 mm for width and 900 mm height. Module D.O 38 consists of a control cabinet 38.5 for installing the module's electronics including the PLC for controlling and monitoring modules D. l and D.2. On top of the bench, a RFID printer 38.2 is positioned for labeling of disposable material, a RFID reader 38.4 is positioned for reading labeled materials and a scale 38.3 for weighing liquid bottles that were used by the human to detect the rest amount of liquid in the bottle. A display 38.1 at the bench enables the human to request any carriers, material, bottles, flasks or solids from modules D. l and D.2.

[0130] Module D.l - The Room Temperature Storage Module 39

[0131] Together with Fig. 24, an embodiment of a functional laboratory module 39, namely module D.1, a room temperature storage module 39, which may have laboratory bench dimensions of about 900 mm length, about 900 mm for width and about 2100 mm height, without limitations. An orientation and alignment point 39.9 at the bottom of module D. l 39 serves as orientation point for the mobile platform 30.1 of the robotic technician A.l 30 and an optical or mechanical orientation point 39.10 on top of the module for orientation of the robotic arm system 30.2. The Module comprises a rotating carousel 39. 1 with four levels in which flasks and bottles 39.2, solid dosing heads 39.4 and consumables placed on trays 39.3 can be stored in four different levels. These materials may include: Erlenmeyer flasks (e.g. 50 mL, 100 mL, 200 mL, 250 mL, 500 mL); Schott™ Bottles (e.g. 100 mL, 150 mL, 250 mL, 500 mL, 750 mL, 1000 mL); Falcon™ tubes (e.g. 15 mL & 50 mL); Sarstedt™ tubes (e.g. 0.5 mL, 1.0 mL & 2.0 mL); Pipette Tips for human use (e.g. 0.1 - 10 pL, 0.1 - 20 pL, 0.5 - 100 pL, 2 - 200 pL, 50 - 1000 pL); Pipette Tips for Robotic use (e.g. 10 pL, 50 pL, 300 pL, 1000 pL); Magnetic Stirring Bars (e.g. 6 mm, 10 mm, 20 mm, 30 mm); Glass and plastic Cuvettes (semi-micro & macro); Funnels; Solid dosing heads.

[0132] Besides the bottles / flasks and solid dosing heads every other material type is stored in a cuboid 3D-printed tray / rack 60. 1, 60.2, 60.3, 60.4, 60.5, 60.6 and 60.7 with a length of about 127.76 mm and a width of about 85.48 mm as shown in Fig. 26s, without limitations. The height of the tray / rack depends on the stored material and the amount of stored material in one tray / rack 60 depends on the size of the material. Open materials like cuvettes and magnetic stirring bars have an additional lid to prevent contamination. This means that module A.l 30 can drive in front of the material storage and take out a cuboid shaped tray / rack 60 filled with a desired material using the respective end effector gripper 30.6. Bottles are gripped at the neck of the bottles. Easy picking for the robot arm 30.2 may be provided through handover ports 39.6 at every level of the carousel that are permanently closed and do only open when a material is requested by the human or the robotic technician (module A.l 30) through the overarching software. In order to enable proper inventory of all materials every material / carrier may be labeled with an RFID label and / or an RFID reader may be fixed on the module D.1 39. In each level of the material storage carousel an RFID antenna may be fixed and the rows may be protected and shielded from each other to prevent false signals. Therefore, whenever a material is taken out by a human or a robotic technician A.1 30 the RFID reader acknowledges this and recognizes the amount of the remaining materials / carriers in a carousel level.

[0133] Summarized, module D. l 39 is the basic module for storing- carriers comprising materials like flasks, bottles, solid dosing heads and consumables at room temperature. These materials may be empty or already filled with required and / or produced liquid / solid and are stored in the different levels of the carousel. Depending on the type of stored material a respective plate 39.2-39.4 is used. This means every level consists of a plate which is feasible to store a specific type of carrier / material (trays, bottles / flasks, solid dosing heads). The number of spaces per plate differs according to the size of the stored container type. In conclusion each module D. l 39 can be configured according to the material that is to be stored and can therefore be configured with variable plate versions for storing only trays, bottles / flasks, or solid dosing heads for example for pure base storage, acid storage, liquid / sample storage or solid storage. Alternatively, also a mix of different plates and thus different materials can be configured to store trays, bottles / flasks and solid dosing heads in one carousel if required for example for empty material storage. Depending on the stored material the complete module D. l 39 can be connected to a suction 39.7 system like for example required for a pure base / acid storage. Underneath every plate 39.2-39.4 a safety collection tub 39.5 can be positioned.

[0134] In the upper part of the module on top of the carousel, there is the control cabinet 39.8 for installing the module's electronics. In the bottom housing of the module under the carousel there is a shelf for human use 39.11 and storage of materials / equipment that is supposed to be loaded into the carousel (additional storage room for humans).

[0135] Module D.l 40 - The 4°C Storage Module

[0136] Together with Fig. 25, An embodiment of a functional laboratory module, namely module D.2 40 - is described that may have laboratory bench dimensions of about 900 mm length, about 900 mm width and about 2100 mm height, an orientation and alignment point 40.9 for the mobile platform 30.1 of the robotic technician A.l 30 at the bottom of the module and an optical or mechanical orientation point 40. 10 on top of the module for orientation of the robotic arm system 30.2, without limitations. It works identically to module D.1 39 and therefore consists of a rotating carousel 40.1 with four different levels with handover ports 40.6 and different types of plates 40.2, 40.3 and 40.4 in which different carriers comprising materials like bottles / flasks 40.2, solid dosing heads 40.4 or trays 40.3 can be placed. Thus inventorisation is guaranteed through RFID labels, RFID antenna and RFID reader and the storage module is refilled by the human laboratory technician. The module D.2 40 only differs from module D.l 39 in the cooling to 4°C and the lack of a suction system. The cooling system is placed in the bottom of the module. As with Module D. l 39, the control cabinet 40.8 for installing the module's electronics is located in the upper part of the module. A cooling to -20°C may also be possible.

[0137] Module A.l 31 - Sampling Module Together with Fig.15, An embodiment of a functional laboratory module, namely module A.2 31 - the sampling module is used for autonomous sampling at a plant to perform an analytical test of a sample of a product that is being produced, is described. In the bottom housing of the laboratory bench, there may be a control cabinet 31.7 for installing the module's electronics. Module A.2 31 may be constructed as a movable unit and can be placed at a sampling port 31.2 of a plant in the production. The movable unit may be placed and / or operated by a human. The movable sample unit may comprise a cleaning line 31.3 for cleaning media and pressured air and also the necessary actors and sensors for steering the sampling process. The sterile sample tube in a tray 60.4 can be placed in the sampling module and can be connected with the sample valve 31.2 of the vessel of the plant as well as with the actor and sensor elements 31.5 in the movable unit. Further sample tubes in tray 60.4 can be placed in the sample module. The sampling process is as follows: The sample valve 31.2 opens and liquid flows from the vessel to the sample containment. The liquid flow is controlled by a level detection and stops after reaching a defined liquid level in the sample containment. Finally, the connection to the vessel is cut off, the sample transfer line is cleaned and the sample can be picked up by the robot module 30.

[0138] Liquid Preparation 100

[0139] The disclosure describes a concept which may be used for every kind of laboratory work in which elementary laboratory operations 1-17 like mixing 1, homogenizing 2, tempering 3, solid dispensing 4, liquid dosing 5, pipetting 6, pH controlling and adjusting 7, weighing 8, centrifuging 9, analyzing 10, sampling 11, capping / decapping 12, transferring 13, gripping 14, storing 15, documenting 16 and tracking 17 and similar tasks are performed. This includes without limitations preparative laboratory applications 100-104 for further production or analytical steps like liquid preparation 100 including buffer / eluent preparation, sample preparation, dilution series preparation and reagent preparation as well as further liquid preparation 100 for several use cases. Calibration of the pH-meter can also be performed.

[0140] In the following, a workflow of a liquid preparation 100 is described using the mobile robotic lab assistant with onboard functions for safe preparative laboratory work in a human used laboratory, module A.l 30, and modules B 37, C. l 32 and D. l 39 / D.2 40. The steps are broken down to the individual laboratory operations that are performed at every module. Taking a regular liquid preparation 100 as an example, this workflow is separated in three major parts starting with a solid dispensing step 4, continuing with a liquid dispensing step 5 / 6 and finalized through a pH- adjusting step 7. Depending on the liquid that is supposed to be prepared, some steps may be skipped or performed multiple times.

[0141] Workflow having the following steps:

[0142] 1. Module A.1 30 provides an end container from Module D.l 39.

[0143] 2. Module A.l 30 tracks the barcode on the RFID label of the end container using the camera 30.3 on top of the robotic arm and the information of the final target solution is saved and connected to the respective RFID label on the bottle. Afterwards module A.1 30 places the end container in a storage position 30. 11, 30.12 for transportation. 3. Afterwards module A.l 30 transfers the end container to module B 37 and places the bottle back on the capper / decapper 30.10 to decap it and place it on the magnetic stirrer 37.4 scale of Module B 37. . Module A.l 30 picks up the water dispenser 37.3 and fills up the end container with water to the halve of the desired end volume.

[0144] 5. Afterwards module A.l 30 drives again to module D. l 39 and provides a small container for solid dispensing.

[0145] 6. Module A.l 30 tracks the barcode on the RFID label of the small container using the camera 30.3 on top of the robotic arm and the information of the target solid is saved and connected to the respective RFID label on the bottle. Afterwards Module A.l 30 places the small container in a storage position 30. 11, 30.12 for transportation.

[0146] 7. Module A.1 30 transfers the solid container to module C.1 32.

[0147] 8. Module A.l 30 places the small container on the capper / decapper & decaps 30.10 the small container.

[0148] 9. Afterwards Module A.l 30 places the container on the scale 32.2 at module C. l. Then the Module A.l 30 goes to the room temperature storage module 39

[0149] 10. At one of the ports 39.6 of the carousel 39. 1 the target solid is made available for Module A.l 30 to pick it and place it on the dispensing module 32.1 of the scale 32.2 at module C.1 32.

[0150] 11. The solid is dispensed by the dosing module 32.1 into the target container on the scale 32.2 at module C. l.

[0151] 12. Module A.l 30 removes the container from the scale 32.2 at module C. l 32 and places it on the capper / decapper 30. 10.

[0152] 13. Module A.l 30 caps the container and places it in a storage position 30.11, 30.12 on its platform.

[0153] 14. Afterwards Module A.l 30 places back the solid powder to the port 39.6 of the carousel 39.1 to be stored back in its original position in module D.1 39.

[0154] 15. Module A.l 30 transfers the dispensed solid to the end container on module B 37 and places it on its capper / decapper 30.10

[0155] 16. Meanwhile the magnetic stirrer scale 37.4 starts stirring at module B 37.

[0156] 17. Module A.1 30 decaps the small container with the target solid and adds it to the end container. Therefore Module A.l 30 takes the water dispenser 37.3 and adds water to the solid in the small container. After adding the solid to the end container for the first time Module A.l 30repeats this procedure twice.

[0157] 18. For liquid dispensing Module A.l 30 provides the respective liquid bottle from module D.l 39 / D.2 40. The correct liquid ingredient is made available at one of the ports 39.6, 40.6 of the carousel 39. 1, 40.1 of module D. l 39 / D.240. 19. Module A.l 30 tracks the barcode on the RFID label of the liquid using its camera 30.3 to check if this is the right liquid and places it in a storage position 30. 11, 30.12 on its platform.

[0158] 20. Afterwards Module A.l 30 transfers the liquid to module B 37.

[0159] 21. Module A.l 30 places the liquid bottle on its capper / decapper 30.10 and decaps the bottle.

[0160] 22. Module A.l 30 picks up the respective pipette type end effector 30.5 at the gripper station.

[0161] 23. Module B 37 starts the magnetic stirrer scale 37.4.

[0162] 24. Module A.l 30 pipettes the liquid into the end container and discards the used tip at the waste container 37.9 on top of the bench of module B 37.

[0163] 25. Module A.l 30 changes the pipette end effector back to the two point gripper 30.7.

[0164] 26. Afterwards Module A.l 30 caps the liquid bottle.

[0165] 27. Module A.l 30 transfers the liquid ingredient back to module D. l 39 / D.2 40 and places it in the respective port 39.6, 40.6 of the carousels 39.1, 40. 1 to be stored at its original position.

[0166] 28. Module A.1 30 drives back to module B 37 to perform the pH adjusting step.

[0167] 29. Module A.l 30 places the pH-sensor in the pH sensor holder 37.2 in the end container.

[0168] 30. Module A.1 30 drives to module D.1 39 / D.240 to provide the right acid or base from the acid or base storage.

[0169] 31. Module A.l 30 tracks the barcode on the RFID label on the acid or base using its camera 30.3and places it in a storage place 30.12 on its platform.

[0170] 32. Module A.l 30 transfers the acid or base to module B 37.

[0171] 33. The acid or base is placed in the capper / decapper 30.10 and is decapped.

[0172] 34. Module A.l 30 picks up the respective pipette type end effector 30.5 at the gripper station.

[0173] 35. Module A.l 30 pipettes the acid or base dropwise in the end container until the target pH is reached. The magnetic stirrer scale 37.4 is still continuously stirring.

[0174] 36. Afterwards module A.l 30 changes the end effector back to the two-point gripper 30.7 and caps the acid or base and places it in its storage position 30.12 at module A.1 30.

[0175] 37. Module A.l 30 removes the sensor 37.16 from the end container.

[0176] 38. Module A.1 30 inserts the sensor 37.16 in the splash ring 37.7 to wash it and dries it by pressing it against the sponge 37.15 on module B 37.

[0177] 39. Afterwards module A.l 30 places the sensor in the storage solution 37.6 on module B 37.

[0178] 40. Module A.l 30transfers the acid or base back to its storage (module D.l 39 / D.2 40) and places it at the carousel port 39.6, 40.6 to be stored in its original position. 41. Afterwards module A.1 30drives back to module B 37 and fills up the end container with water using the water dispenser 37.3 until reaching the intended weight. Finally, the magnetic stirrer scale 37.4 is switched off.

[0179] 42. Module A.l 30 places the filled end container on its capper / decapper 30.10 and caps it.

[0180] 43. Module A.l 30 places the end container in a free storage position 30. 12 on its platform.

[0181] 44. Module A.l 30 transfers the end container to be stored in module D.l 39 / D.2 40.

[0182] Analytical Measuring 101

[0183] The disclosure describes a concept which may be used for every kind of laboratory work in which elementary laboratory operations 1-17 like mixing 1, homogenizing 2, tempering 3, solid dispensing 4, liquid dosing 5, pipetting 6, pH controlling and adjusting 7, weighing 8, centrifuging 9, analyzing 10, sampling 11, capping / decapping 12, transferring 13, gripping 14, storing 15, documenting 16 and tracking 17 and similar tasks are performed. Besides liquid preparation, this includes further preparative laboratory applications 100-104 like analytical measuring 100 accompanying production or performed during quality control for the release of a final product. The concept described in this disclosure may be used for the performance of different kinds of analytical measurements 100 like photometric measurements, HPLC measurements, mass spectrometry measurements and different other types of analytical measurements using several types of analytical devices. A major part of analytical measurements is the preparation of liquid solutions 100 like buffers, samples or reagents that is carried out by the invention as explained above. Further, for analytical measurements laboratory operations like centrifuging 9, tempering 3 (including heating and cooling), homogenizing 2 and mixing 1 may be elementary. Workflow for the performance of an analytical measurement 101 by the concept of this disclosure (mobile robotic lab assistant with onboard functions for safe preparative laboratory work in a human used laboratory, module A.l 30) may be performed as described in the following using the steps:

[0184] 1. Module A.l 30 puts on the respective end effector 30.6, 30.7 or 30.8 for the robotic arm.

[0185] 2. Module A.1 30 provides several liquid ingredients that were prepared in a prior step and stored in module D. l 39 / D.2 40 - the liquid storage. These include for example buffer solutions, sample solutions and reagent solutions.

[0186] 3. Module A.l 30 picks and places every solution after each other on a parking position 30.11 and / or 30.12 on its platform after tracking the respective barcode on the RFID label with its camera 30.3 Afterwards the bottles are transported to module C.5 36 for homogenization and tempering on the roller mixer 36.1 or the thermomixer 36.3 depending on the size of the container.

[0187] 4. Afterwards module A.l 30 drives to module D. l 39 and picks up a tray with cuvettes 60.3 and / or HPLC vials 60. 1 depending on the type of measurements.

[0188] 5. Module A.l 30 places the tray at a storage position 30.11 on its platform and drives it to the module with the respective analytical device. For photometric measurement to module C.2 33 and for HPLC measurement to module C.3 34. 6. Afterwards module A.l 30 places the tray with the cuvettes 60.3 or the HPLC vials 60.1 or 60.2 on the respective module C.2 33 or C.3 34.

[0189] 7. Module A.1 30 drives to module C.5 36 and picks up the different solutions that were tempered and homogenized and places them in a parking position 30.11 to transport them to module C.2 33 - photometer module or C.3 34 - HPLC module.

[0190] Version 1 :

[0191] 8. In a next step module A.l 30 picks up with the microscopic gripper 30.8 the first solution and places it in the capper / decapper 30.10 to decap the screw cap with the macroscopic gripper 30.7.

[0192] 9. Module A.1 30 changes the end effector of its robotic arm and puts on the pipette end effector 30.5.

[0193] 10. Module A.l 30 pipettes the respective amount of the first solution into the HPLC vial or the cuvette.

[0194] 11. Module A.1 30 changes the end effector to put on the two-point gripper 30.7, 30.8.

[0195] 12. Afterwards module A.l 30 caps again the solution and places it in a parking position 30.11, 30.12.

[0196] Version 2:

[0197] 13. Module A.l 30 uses the two-point gripper end effector 30.7 to place every solution after each other on the capper decapper 30.10 to decap and place the solutions back on the parking position 30.11, 30.12. Alternatively, the solutions can also be placed on a respective tray or free space on the respective module (for example module C.2 33 or C.3 34 ).

[0198] 14. Afterwards module A.1 30 changes the end effector to the pipette end effector 30.5 and pipettes the respective amount of each solution into the cuvette or HPLC vial.

[0199] 15. Module A.l 30 changes the end effector and uses the two-point gripper 30.8.

[0200] 16. Then Module A.l 30 places the cuvette in the photometer 33.1 or the HPLC vial in the HPLC 34.1 and starts measuring.

[0201] 17. After the first measurement at the photometer 33.1, Module A.l 30 checks if additional solutions have to be pipetted into the cuvette before performing a next measurement. If this is the case then Module A.1 30 proceeds by changing the gripper back to the pipette end effector 30.5 and adds the desired liquid.

[0202] 18. As long as the solutions are not needed anymore Module A.l 30 uses the two-point gripper 30.7 to cap all solutions and places them back on their parking position 30.11, 30.12 on the platform.

[0203] 19. Module A.1 30 transports the solutions back to the corresponding module D.1 39 or D.2 40 for liquid storage or discards them. 20. The measured data is directly saved in an overall software.

[0204] For the performance of specific analytical measurements like for example protein assays, centrifugation of samples may be required. Therefore, an additional step where Module A.1 30 operates module C.4 35 - the centrifuge module may be required.

[0205] Filling and Aliquoting 102

[0206] The disclosure describes a concept, which may be used for small scale filling applications as well as aliquoting applications 102. For this use a mobile robotic lab assistant with onboard functions for safe preparative laboratory work in a human used laboratory, module A.l 30, together with module D.1 / D.2, and module C.5 36 may be used. The following workflow for the filling of 500 mL of a solution into 0.1 mL aliquots describes the steps:

[0207] 1. Module A.l 30 drives to module D. l 39 / D.2 40 and picks up the solution that has to be aliquoted.

[0208] 2. Module A.l 30drives the solution to module C.5 36 to homogenize and temper it.

[0209] 3. Meanwhile module A.l 30 drives to module D. l 39 and picks up the respective number of trays with 0.5 mL Sarstedt™ tubes 60.1, 60.2.

[0210] 4. Module A.l 30 drives the tray 60. 1, 60.2 to module C.5 36.

[0211] 5. Module A.l 30 places the trays 60. 1, 60.2 on the tray position on module C.5 36.

[0212] 6. Module A.l 30 decaps all Sarstedt™ tubes.

[0213] 7. Module A.1 30 picks up the 500 mL solution from for example the roller mixer 36.1 and decaps the bottle using the two point gripper 30.7.

[0214] 8. Afterwards module A.1 30 changes to the pipette gripper 30.5 and starts aliquoting the 0.1 mL into the Sarstedt™ tubes.

[0215] 9. As soon as the stock solution is empty module A.1 30 changes its end effector to the two point gripper 30.7 and caps all Sarstedt™ tubes.

[0216] Titration 103

[0217] The disclosure describes a concept which may be used for gravimetric titrations 103. A titration workflow can be performed as follows by using the steps:

[0218] 1. Module A.l 30 picks up the solution that has to be tested for a specific concentration of a compound from module D. l 39 / D.2 40.

[0219] 2. Module A.l 30 tracks the barcode on the RFID label on the unknown solution using its camera 30.3 and places it in a storage place 30.11, 30.12 on its platform.

[0220] 3. Module A.l 30 drives to module B 37 and decaps the unknown solution and places it on the magnetic stirrer scale 37.4 to perform an acid-base-titration. The magnetic stirrer scale 37.4 is tared and stirring begins. 4. Module A.1 30 places the pH-sensor 37.16 in the unknown solution.

[0221] 5. Module A.l 30 drives to module D. l 39 / D.2 40 to provide the right acid or base from the acid or base storage.

[0222] 6. Module A.l 30 tracks the barcode on the RFID label on the acid or base using its camera 30.3 and places it in a storage place 30.12 on its platform.

[0223] 7. Module A.1 30 transfers the acid or base to module B 37.

[0224] 8. The acid or base is placed in the capper / decapper 30.10 and is decapped.

[0225] 9. Module A.1 30 picks up the respective pipette type end effector 30.5 at the gripper station.

[0226] 10. Module A.l 30 pipettes the acid or base dropwise in the end container until the target pH (in this case pH = 7) is reached. The magnetic stirrer scale 37.4 is still continuously stirring.

[0227] 11. Afterwards module A.1 30 changes the end effector back to the two-point gripper 30.7 and caps the acid or base and places it in its storage position 30.12 at module A.1 30.

[0228] 12. Module A.1 30 removes the sensor / electrode 37.16 from the end container.

[0229] 13. Module A.1 30 inserts the sensor in the splash ring 37.7 to wash it and dries it by pressing it against the sponge 37.15 on module B 37.

[0230] 14. Afterwards Module A.l 30 places the sensor / electrode 37.16 in the storage solution 37.6 on module B 37.

[0231] 15. Module A.l 30 transfers the acid or base back to its storage (module D. l 39 / D.2 40) and places it at the carousel port 39.6, 40.6 to be stored in its original position.

[0232] 16. According to the known concentration of the used acid / base and the weight of the dispensed acid / base the overall software is able to determine the concentration of the unknown solution.

[0233] 17. Module A.1 30 discards the tested liquid and places the dirty container in the dirt area..

[0234] Sampling Process 104

[0235] The disclosure describes a concept which may be used for sampling workflows 104 in production. A sample may be taken by module A.2 31. Then the sample may be picked up by the mobile robot unit A.l 30 and placed in the laboratory for further analysis. A sampling process following the workflow has the following steps:

[0236] 1. A production employee places the movable sample unit at the sample port of the vessel.

[0237] 2. The lab employee prepares the movable sample unit with the sample equipment

[0238] 3. The orchestration software of the flexible robotic toolbox places a sample requirement at module A.2 31.

[0239] 4. The sampling valve 31.2 is opened and media can fill the tube to the first sample tube. 5. The integrated filling system control stops media transfer.

[0240] 6. The sampling valve 31.2 is closed and the media supply stops.

[0241] 7. The 2 port tubes of the sample in the sampling tray 60.4 are cutted off.

[0242] 8. Now, the residual media in the tubes can be removed

[0243] 9. The mobile robotic unit A.1 30 catches up the sample and transfers the sample to the laboratory

[0244] Concerning the Complete System

[0245] The following features may apply in one or more embodiments of the automated modular lab assistant system 1000 and / or a method of performing at least one laboratory operation 1-17 using an automated modular lab assistant system 1000 and / or the following features may apply in one or more embodiments of the mobile robotic lab assistant 30 and / or a method of performing at least one laboratory operation 1-17 using an mobile robotic lab assistant 30:

[0246] The flexible modular robotics toolbox may fulfill typical laboratory operations 1-17, i.e. mixing 1, homogenizing 2, tempering 3, solid dispensing 4, liquid dosing 5, pipetting 6, pH-controlling and adjusting 7, weighing 8, centrifugation 9, analyzing 10, sampling 11, capping / decapping 12, transferring 13, gripping 14, storing 15, documenting 16 and tracking 17.

[0247] Each module 30-40 of the flexible modular robotics toolbox may have specific, defined functions based on the laboratory operations 1-17 in everyday laboratory work as shown in the illustrated embodiment of Fig. 2a, 2b, 3, 4a, 4b+c, 4d, 4e and 5. These modules 30-40 which act as laboratory benches and which may be clustered according to at least one basic laboratory operation 1-17 which is to be performed are configured for additional automated use throughout the information- technical, control-technical and mechanical standardization (Standardized trays, standardized fixed positions, standardized communication, standardized tracking, standardized communication) as shown in the illustrated embodiment of Fig. 28. Laboratory Applications 100-104 and methods may run in the fully automated laboratory and are made up of at least one laboratory operation 1- 17 and not the module components. A module 30-40 landscape can execute at least one laboratory application 100-104 as shown in the illustrated embodiment of Fig. 7. The flexible modular robotic toolbox may comprise a Module A.l 30 (i.e. robotic technician module), module B 37 (i.e. water module), module C. l 32 (i.e. solid dosing module), module D.O 38 (i.e. warehouse management module), module D. l 39 / D.2 40 (i.e. room temperature / 4°C storage module, module C.2 33 (i.e. photometer module), module C.3 34 (i.e. HPLC module), module C.5 36 (i.e. homogenization module), module C.4 35 (i.e. centrifuge module), module A.2 31 (i.e. Sampling module) as shown in the illustrated embodiment of Fig. 6. The modular landscape may allow a combination system to be flexibly selected by the user as shown in the illustrated embodiment of Fig. 1. A wide range of different laboratory applications may be mapped within the same equipment park as shown in the illustrated embodiment of Fig. 7. The coexistence of humans and at least one robot module 30 may be provided in a common laboratory workspace and their use of the same equipment as shown in the illustrated embodiment of Fig. 27. Each module of the flexible modular robotics toolbox may be used by both humans and at least one robot module 30 as shown in the illustrated embodiment of Fig.27. The stationary functional laboratory modules can be used by humans or at least one robot module 30 at the same time or in separate shifts as shown in the illustrated embodiment of Fig. 27. The implementation of the flexible modular robotics toolbox may only require teaching of the orientation points 31.8, 31.9, 32.8, 32.9, 33.5, 33.6, 34.5, 34.6, 35.5, 35.6, 36.8, 36.9, 37.13, 37.14, 39.9, 39.10, 40.9, 40.10 of each module 31-40 and the connection to the PLC. The combination of laboratory operations 1-17 in a module may be based on path- and cycle time- reduction in a process workflow (e.g. water module (mixing 1, weighing 8, pH adjustment 7, water dosing 5)) and investment reduction (e.g. mobile robot module (de- / capping 12, transferring 13, pipetting 6, )). Each module 30-40 may have its own programmable logic controller 30.14, 31.7, 32.7, 33.4, 34.4, 35.4, 36.7, 37.12, 38.5, which serves as a process control system for the corresponding module and enables simple communication with the higher-level orchestration software based on a standardized interface protocol (MTP, OPC UA, Sila, LADS). Three different software layers for plug and play use may be applied in the disclosure. A first layer comprises a user front end (HMI) layer configured for creating laboratory analytic process workflows and starting workflows. A second layer comprises an orchestration layer configured for translating an laboratory analytic process into functional working packages and planning a workflow and a third layer comprises a PLC-layer configured for processing the functional working packages on the at least one robot module 30 and / or the at least one functional laboratory module 31-40. The third layer is an integration layer comprising the PLCs in which all different device communication protocols are translated into one communication standard like MTP, OPC UA, Sila and / or OPC UA LADS.

[0248] The laboratory operations 1-17 can be freely combined by the user as shown in the illustrated embodiment of Fig. 1. The design of the modules can be easily integrated and set up in typical laboratory spaces because the bench dimensions of the modules are related to typical laboratory bench furniture with dimensions of 900 in widths and multiples of 300, 600 and 900 in length as shown in the illustrated embodiment of Fig. 27. The flexible modular robotics toolbox may allow any selection and number of modules 30-40, precisely tailored to the demand in a laboratory. Whereby some modules 30-40 can also be not integrated at all or can be integrated several times based on the requirements and bottleneck and cycle time analysis. The modular system may be expanded at any time with additional new modules including new laboratory operations. The ability of handling several carriers 60.9 comprising conventional laboratory materials and containers may be provided. These carriers may comprise cylindrical shaped containers of different diameters between 5 mm and 101 mm with a screw cap like Schott™ bottles of every size, falcon tubes, HPLC vials and Sarstedt™ tubes. In addition, the concept of this disclosure may be able to handle carriers 60.9 comprising pipettes and pipette tips, cuvettes, magnetic stirring bars and funnels as shown in the illustrated embodiment of Fig. 26. The ability of all modules 31-40 to be operated by an autonomous laboratory technician (module A.l 30) performing the same tasks as a human laboratory technician as shown in the illustrated embodiment of Fig. 2a.

[0249] The expandability of the applicability is given through different combinations of the different modules as shown in the illustrated embodiment of Fig.7. The laboratory application of liquid preparation 100 like buffer s / eluents can be manufactured by the mobile robotic lab assistant with onboard functions for safe preparative laboratory work in a human used laboratory and at least one functional laboratory module and / or the flexible modular robotic toolbox as shown in the illustrated embodiment of Fig.7. The laboratory application of titration 103 analysis can be done by the mobile robotic lab assistant with onboard functions for safe preparative laboratory work in a human used laboratory and at least one functional laboratory module and / or the flexible modular robotic toolbox. The laboratory application of filling and aliquoting 102 can be done by the the mobile robotic lab assistant with onboard functions for safe preparative laboratory work in a human used laboratory and / or the flexible modular robotic toolbox, i.e. the Flexible and Modular Robotic Toolbox for Biochemical and Chemical Laboratory Applications usable by Humans and Robots as shown in the illustrated embodiment of Fig.7. The laboratory application of sampling workflow 104 can be done by the mobile robotic lab assistant with onboard functions for safe preparative laboratory work in a human used laboratory and at least one functional laboratory module and / or the flexible modular robotic toolbox. The laboratory application of analytic measurement 101 like a photometric analysis or chromatographic analysis can be done by mobile robotic lab assistant with onboard functions for safe preparative laboratory work in a human used laboratory and at least one functional laboratory module and / or the flexible modular robotic toolbox as shown in the illustrated embodiment of Fig.7. The bench scale production application of a small scale filling 102 process of solids and / or liquids in containments can be produced by the mobile robotic lab assistant with onboard functions for safe preparative laboratory work in a human used laboratory and / or at least one functional laboratory module and / or the flexible modular robotic toolbox as shown in the illustrated embodiment of Fig.7. Plug and Play modules due to the PLCs 30.14, 31.7, 32.7, 33.4, 34.4, 35.4, 36.7, 37.12, 38.5 in every module 30-40 and the separate integration layer, combing many different interfaces into one standard, that gets commands from an overarching orchestration software. The use of conventional technologies available on the market from different market segments, such as laboratory equipment and laboratory furniture from the chemical industry and programmable logic controllers from the electrical industry, and combining them as well as expanding them with each other in order to fully automate previously manually performed process chains without human intervention needed and additionally leaving the opportunity for manual performance. The use of Programmable logic controllers to enable automated use of additionally manually usable laboratory benches as shown in the illustrated embodiment of Fig.27. The modules and the equipment integrated into the flexible modular robotics toolbox can be used by robot modules 30 and humans. Therefore, a specific module may be screwed and plugged into an aluminum profile base. The background here is that the devices may have to be fixed precisely; a welded frame of classic laboratory furniture may not offer the precision that a robot module 30 needs for its gripping and operating tasks. The equipment may be aligned with the reference system of the frame, which can be picked and processed very precisely. Lab equipment may have a fixed place and may only be returned to the defined place after use. Humans use the same holding points during and after use. The accuracy may be towards lOths of a millimeter. At the same time, this way of making regular laboratory benches suitable for robot modules 30 does not hinder humans in their manual use of the benches as shown in the illustrated embodiment of Fig.16, 17, 18, 19, 20, 21, 22, 24, 25. The concept described in this disclosure may comprise of a new laboratory design with robot modules 30 to support human laboratory workers as shown in the illustrated embodiment of Fig.27.

[0250] Concerning the Overarching Infrastructure - Plug and Play Modules The modules may be structured like a classic package unit in plant engineering. They may have their own control system (PLC) 30.14, 31.7, 32.7, 33.4, 34.4, 35.4, 36.7, 37.12, 38.5 that allows full functional access to the equipment, sensors and actuators of the modules 30-40. In addition, all movement and usage routines are stored based on the alignment and orientation points 31.8,

[0251] 31.9, 32.8, 32.9, 33.5, 33.6, 34.5, 34.6, 35.5, 35.6, 36.8, 36.9, 37.13, 37.14, 39.9, 39.10, 40.9,

[0252] 40.10. The modules 30-40 may offer a uniform interface communication standard through OPC UA LADS, OPC UA, Sila and also MTP in the case of longer process step chains such as cleaning the pH probe, which is made up of many small individual steps. This means a clearly separated and clearly defined interface to the actual orchestration software is provided. The orchestration software communicates with the PLC 30.14, 31.7, 32.7, 33.4, 34.4, 35.4, 36.7, 37.12, 38.5. The PLC 30.14, 31.7, 32.7, 33.4, 34.4, 35.4, 36.7, 37.12, 38.5, in turn, ensures that the process steps stored in the recipes are processed. In principle, the automation technology standard may be transferred from production systems to a laboratory.

[0253] Watch-Dog Functionality

[0254] The toolbox system may have extensive checks for the individual process steps. In detail, this means that only components that have watch-dog functions may be used, or additional safety sensors may be integrated to ensure that each procedure has run properly. Examples: Was pipetting really successful? A pressure sensor in the pipette provides leakage control; Was an item really successfully grabbed? The gripper provides feedback when the defined nominal gripping force is reached during gripping. Has the pH probe been cleaned? A light barrier and a position detector on the pinch valve drive provide feedback that cleaning has actually taken place. Especially with regard to GMP applications, this may be necessary and essential.

[0255] Applications Open / Independent Platform Technology for Laboratory Applications

[0256] A “mobile robotic lab assistant with onboard functions for safe preparative laboratory work in a human used laboratory” and / or "Flexible and Modular Robotic Toolbox for Biochemical and Chemical Laboratory Applications usable by Humans and Robots" is developed - The use of at least one laboratory operations 1-17 is provided comprising mixing 1, homogenizing 2, tempering 3, solid dispensing 4, liquid dosing 5, pipetting 6, pH controlling and adjusting 7, weighing 8, centrifugation 9, analyzing 10, sampling 11, capping / decapping 12, transferring 13, gripping 14, storing 15, documenting 16 and tracking 17that make up laboratory processes, more specifically laboratory applications 100-104. However, the end user can then freely decide what he / she makes of it and what his / her application looks like. The laboratory operations are not limited to the above mentioned laboratory operations 1-17 and the laboratory applications are not limited to the above mentioned laboratory applications 100-104 and may be extended with further laboratory operations and / or laboratory applications.

[0257] Concerning Module A.l 30

[0258] A unit that may perform and / or assist human-like operations and can operate human equipment effectively. Module A.l 30can interact with laboratory equipment in the same way as a human being. The different abilities of Module A.l 30consisting of a mobile autonomous robotic platform 30.1 for transportation, a robotic arm 30.2 for pick and place / grip and transfer, several different end effectors for gripping 30.6, 30.7, 30.8 and pipetting 30.5, a tip station with different types of tips 30.9, a capper and decapper 30.10 for opening of screw caps and sealing plugs of cylindrical shaped containers with various diameters and / or flasks, a camera system 30.3 for vision and several storage capacities 30.11 and 30. 12 for material storage. The ability of Module A.l 30- the robotic technician to change the end effector 30.5, 30.6, 30.7, 30.8 of the robotic arm at any module since the gripper / tool changer 30.4 is on top of the platform of module A.l 30. The ability of Module A.1 3 Oto transport any kind of material including cylindrical shaped containers of different diameters between 5 mm and 101 mm like Schott™ bottles of every size and other materials like falcon tubes, HPLC vials, Sarstedt™ tubes, pipette tips, cuvettes, magnetic stirring bars, flasks and funnels. The Capper and Decapper 30.10 on the platform of module A.l 30. The mobile autonomous pipette 30.5.

[0259] Concerning Module B 37

[0260] The performance of pH-adjustment 7, titrations 103, water dosing 5, pH calibration, weighing 8 and mixing 1 without human interaction through autonomous control by the module itself through an integrated programmable logic controller 37.12. The ability of performing gravimetric liquid preparation 100, pH-adjustment 7 and titration 103 by the use of a magnetic stirrer scale 37.4.

[0261] Concerning Module C.l 32

[0262] The performance of solid dispensing 4 and weighing 8 without human interaction through autonomous control by the module itself through an integrated programmable logic controller 32.7.

[0263] Concerning Module C.l 33

[0264] The photometric measurement of samples without human interaction through autonomous control by the module itself through an integrated programmable logic controller 33.4.

[0265] Concerning Module C.334

[0266] The chromatographic measurement of samples without human interaction through autonomous control by the module itself through an integrated programmable logic controller 34.4.

[0267] Concerning Module C.435

[0268] The centrifugation 9 of samples without human interaction through autonomous control by the module itself through an integrated programmable logic controller 35.4.

[0269] Concerning Module C.536

[0270] The homogenization 2 and tempering 3 of samples without human interaction through autonomous control by the module itself through an integrated programmable logic controller 36.7.

[0271] Concerning Modules D 38, 39 & 40

[0272] The idea of using a carousel 39. 1, 40.1 basic structure for all types of storage modules 39, 40 that only differ in the design of the plates 39.2, 39.3, 39.4, 40.2, 40.3, 40.4 on the individual levels of the carousel 39. 1, 40.1. In this way, an existing module D 39, 40 can be converted into a different storage module simply by replacing the plates of the carousel levels. In conclusion each module D.1 39 and D.2 40 can be configured according to the material that is to be stored and can therefore be configured with variable plate versions for storing only carriers comprising trays, bottles / flasks, and / or solid dosing heads for example for pure base storage, acid storage, liquid / sample storage or solid storage. Alternatively, also a mix of different plates and thus different carriers comprising trays, bottles / flasks, and / or solid dosing heads can be configured to store different carriers comprising trays, bottles / flasks and / or solid dosing heads in one carousel if required for example for empty material storage as shown in the illustrated embodiment of Fig. 24 and 25. The basic carousel structure from module D. l 39 / D.2 40 can be used for consumable storage, solid dosing head storage, liquid storage, base storage and acid storage. The basic carousel structure can additionally be cooled to 4°C (or -20°C) to store liquids and solids that have to be cooled (module D.2 40). The basic carousel structure of module D.l 39 can be connected to a suction system 39.7. The RFID based inventory system at modules D for real time detection of existing carriers comprising at least material / bottles / solid dosing heads / samples / trays in D modules. The storage of small materials like falcon tubes, HPLC vials, Sarstedt™ tubes, pipette tips, cuvettes, magnetic stirring bars and funnels in a tray 60 with standardized well plate format and a mechanical carrier feature 60.8. The monitoring and provision of carriers comprising at least materials / bottles / dosing heads / samples / trays without human interaction through autonomous control by an overarching module D.O 38 controlling all Module D storage modules through an integrated programmable logic controller 38.5. The carousel of modules D that may be connected to a suction system 39.7 and can offer the needed bottles / dosing heads / samples at the transfer port 39.6 by getting a command from an overall software for robotic use or from the display 38.1 at module D.O 38 by a human. The monitoring and provision of liquids without human interaction through autonomous control by the module itself through an integrated programmable logic controller 38.5.

[0273] Concerning Module A.231

[0274] The sampling workflow 104 at a plant without human interaction through autonomous control by the module itself through an integrated programmable logic controller 31.7.

[0275] Embodiment and examples for the development of the six-axis liquid handler

[0276] The development of this six-axis liquid handler using a Zeus LT™ automatic pipette may be realized according to the following steps: 1. Establishing a communication between a programming device and the ZEUS LT™ and testing of the various functionalities of the ZEUS LT™. 2. Implementation of the automated control of the ZEUS LT™ by a PLC using a RS-232™ gateway. 3. 3D-printing of the pipette adapter. 4. Integration of the ZEUS LT™ with the URlOe™. 5. Realization of tip pick-up as first step of the pipetting process. 6. Implementation of the pressure liquid level detection process. 7. Realization of liquid pipetting including equilibration in the liquid and transfer from one container to another.

[0277] The integration of the ZEUS LT™ with the URlOe™ may be carried out using a PLC. All functionalities of the ZEUS LT™ may be controlled by means of serial communication and the MATCH™ system of the Zimmer Group. The tip pick-up functionality may be realized using a camera and a corresponding image processing algorithm. Coordinated interaction between the URlOe™ and the Zeus LT™ may be realized via the PROFINET™ interface of the URlOe™. Finally, a six-axis liquid handler using an automatic pipette may be established. Embodiment and example for the use of mobile robotic technician module:

[0278] The technical effect and advantage of on-board preparation, provided by using the mobile robotic technician module with the onboard functions of pipetting, transporting, storing, opening and closing containers as well as position and status detection can be demonstrated using the example of determining the cell and product titer during fermentation.

[0279] In biotechnological production for small molecules and enzymes, fermentation, i.e. the production of the active ingredient using cells as an expression system, is one of the most important manufacturing processes. During fermentation, cell growth, intermediates and the formation of the product must be monitored as part of in-process control.

[0280] The process can be described as follows:

[0281] First, the sample is taken at a sterilizable port on the reactor. The sample is then transferred to the laboratory. For the intermediate determination and the product concentration determination, a part of the sample is centrifuged, as the cells and cell residues interfere with the analysis and therefore have to be separated. The other part of the sample is used to determine the cell number respectively to measure the optical density as an indicator of the cell concentration. For centrifugation, the sample is aliquoted into centrifuge tubes and decanted after centrifugation, i.e. supernatant fluid and solid cake are separated from each other. The concentration of the desired intermediates and the product is then determined photometrically or chromatographically. Since the target concentration must be within a defined range due to the accuracy of the measuring method, dilutions series are necessary. The optical density is determined photometrically with the noncentrifuged part of the sample, also based on dilution series. It should be noted that the sample must be homogenized before to prevent sediment sedimentation.

[0282] Currently this workflow is performed manually by human lab employees. Due to the combination of various different workstations of a manual analysis lab in addition to a production environment current automation solutions

[0283] The full automatic process by using the mobile robotic assistant and his stationary satellite system modules can be described as follows:

[0284] The sample is taken on the sampling module, which is placed beside of reactor and provided in a standardized tray format. The mobile robotic technican module moves from the laboratory to the reactor production site and catches up the sample from the sampling module. The mobile robotic technican module then returns to the laboratory and, in a first step, takes all the necessary consumables on board, i.e. cuvettes, centrifuge tubes and chromatography tubes, all placed in standardized tray formats on the storage module.

[0285] Now the first block of preparative working steps can be carried out on the centrifuge module by using the onboard functions: The preparation starts with decapping the sample lid and the lids of the centrifuge tubes on the capper. By picking up the suitable tip on the pipette, part of the sample can be aliquoted into the centrifuge tubes. The centrifuge tubes and the sample are then closed again with the lids. Now the centrifuge can be loaded and started. During centrifugation, the sample is placed on the roller mixer of the homogenization module for homogenization. As soon as the centrifugation is completed, the second preparative working block can be carried out by using the onboard functions of the mobile robotic technician module. So, the centrifuge tubes are taken out of the centrifuge by using the two-point gripper and their lids are opened on the capper. With the help of the camera, the meniscus between the solid cake and the clear filtrate is determined using image recognition. The liquid portion can then be decanted by using a pipette and aliquoted into chromatography tubes in varying dilutions. After closing with lids by using the two-point gripper and the capper, the chromatography tubes are placed in the autosampler of the chromatography module for analysis.

[0286] During the chromatographic analysis, the cell sample from the homogenizer module can now be prepared for photometric analysis in a third preparative working block. Now the sample tube is opened by using the capper and the two point gripper and a dilution series is created directly in the cuvettes by using the pipette to determine the correct concentration range. The dilution series can then be analyzed in the photometer module.

[0287] Summarized a large number of classic laboratory devices are necessary for In-Process Control during fermentation and, in particular, numerous preparative work steps are to be done before and after the use of the centrifuge, photometer, homogenizer and chromatography. Preparative work steps as onboard functions on the mobile platform offer the advantages of working safely at any place and processing the analysis job quickly and efficiently. Also, expensive additional equipment in case of lack of the on-board functions can be avoided on the stationary modules.

[0288] In the following specific embodiments are described:

[0289] Mobile robotic lab assistant (30) for performing multiple laboratory operations (1-17), the mobile robotic lab assistant (30) comprising: at least typical laboratory equipment together with mechatronic elements: wherein mechatronic elements comprise a safety sensor (30.15), a camera (30.3), a tool changing system (30.4 & 30.17), a robotic controller (30.14), a robotic arm (30.2) and a mobile robotic platform (30. 1) and wherein typical laboratory equipment comprise a pipette (30.5), a tip station (30.9), a waste (30.13), a capper / decapper (30.10), space for storage (30.11, 30.12 & 30.16) and space for preparation (30.16), wherein the mobile robotic lab assistant (30) comprises: an onboard pipetting function (30.5), an onboard tip station (30.9) and an onboard waste (30.13) for discarding of used consumables an pipette tips independently for performing at least one of the multiple laboratory operations (1-17) comprising pipetting (6) liquids at any place in the lab; an onboard gripper function (30.6 and 30.7) for performing at least one of the multiple laboratory operations (1-17) comprising gripping (14) of objects an onboard tool changer station with a tool changer (30.4) at the robotic arm (30.2) for changing to the required function comprising pipetting (6) or gripping (14) at any place in the lab and at any device in the lab an onboard camera (30.3) for performing at least one of the multiple laboratory operations (1-17) comprising tracking (17), transferring (13) of objects and workspace detection an onboard capper / decapper function (30.10) for performing at least one of the multiple laboratory operations (1-17) comprising capping and / or decapping (12) the at least one carrier (60.9) at any place in the lab; and an onboard safety sensor function (30.15) for detecting a human and stopping at least one of the multiple laboratory operations (1-17) when the human is detected as being present near the mobile robotic lab assistant (30). a storage for reloading himself (30.11, 30.12, 30.9) with tips for the pipette or further carriers and or consumables at any place in the lab.

[0290] The synergetic effect of typical laboratory equipment together with mechatronic elements realizes the technical effect of performing preparatory activities comprising safe sample preparations at any place in a human lab environment and with or without any stationary lab device / equipment at any place in the lab, enabling safe sensor-monitored human-robot coexistence.

[0291] Specifically, the automated mobile robotic lab assistant system (30) may be one, wherein the robot arm comprises a six-axis robot arm (30.2), specifically being configured for opening and closing of screw cap containers with different diameters together with an on-board capper / decapper (30.10); wherein the robot arm is configured to handle an automatic pipette (30.5) for precise sensor monitored pipetting with leakage and liquid level detection (6) at any place in the lab in six degrees of freedom; wherein onboard storage (30.11, 30.12, 30.9) enables independent reloading of the mobile robotic lab assistant system (30) in any place in the lab for performing preparative working in any place in the lab, wherein an onboard toll changer station (30.17) and a tool changer (30.4) at the robotic arm (30.2) enables flexible change in the robot arm functionality comprising pipetting and / or gripping at any place in the lab, wherein the on board camera (30.3) enables scanning of the workplace environment, scanning of solids and liquids, tracking (17) of labels and transferring (13) of objects, wherein safety sensors (30.15) enable safe coexistent working with humans in the lab.

[0292] Specifically, the automated mobile robotic lab assistant system (30) may be one, wherein the robot module (30) is configured for autonomous moving and transport of an object; and / or wherein the six-axis robot arm (30.2) is configured for depicting the movement of a human arm; and / or further comprising at least one of A serially connected automated pipette (30.5) with sensors for liquid level-, tip presence- and leakage detection; a Gripper Changer Station (30.17) on top of a mobile Manipulator (30.1) for flexible changing of gripper at any position in the lab; A two point gripper (30.7) end-effector for gripping and pick and place of objects; A Tray gripper (30.6) for transportation of any type of lab consumables or containers in defined trays; A tip station (30.9) for tip pick-up at any place in the lab, A waste (30.13) for disposing of pipette tips and other consumables; A drawer for storage (30.12) of containers like Bottles or Flasks; A drawer for storage (30.11) of trays with consumables like tubes, funnels, magnetic stirring bars or cuvettes; Open storage space on top of the platform (30.11, 30.16 &30.12) for temporary storage of materials and self supply with consumables; Safety sensors (30.15) for safe coexistence with human workers in the same lab environment.

[0293] Specifically, the automated mobile robotic lab assistant system (30) may be one comprising at least one functional laboratory module (31-40) wherein the functional laboratory module comprise modified human laboratory benches (laboratory setup for human-robot coexistence 1000) for additional automated use by the mobile robotic lab assistant (30); wherein modification comprises the functional laboratory module controllers ( 31.7, 32.7, 33.4, 34.4, 35.4, 36.7, 37.12, 38.5 ), orientation markers (31.8, 32.8, 33.5,34.5, 35.5, 36.8, 37.13, 39.9, 40.9) and fixed positions; and at least one carrier (60.9) and at least one standardized tray (60, 60.1, 60.2, 60.3, 60.4, 60.5, 60.6, 60.7) with mechanical carrier feature (60.8) and carrier (60.9), wherein the at least one robot module (30) is configured to pick up and / or grip with the robot arm the at least one carrier (60.9) using the standardized mechanical carrier feature (60.8), and wherein the robot module controller (30.14) and the functional laboratory module controller (31.7, 32.7, 33.4, 34.4, 35.4, 36.7, 37.12, 38.5 ) are configured to communicate using standardized interface protocols to cause the at least one robot module (30) and the at least one functional laboratory module (31-40) to interact with each other and to perform the at least one laboratory operation (1-17) using the at least one carrier (60.9), wherein the at least one robot module (30) comprises at least one standardized mechanical robot feature which matches the standardized mechanical carrier feature (60.8); and / or specifically wherein the mechanical carrier feature (60.8) comprises at least one of the following features with a predefined geometry: one or more holes, one or more pins, one or more recesses, one or more protrusions, one or more mechanical features having magnetic properties, and specifically wherein the predefined geometry comprises at least one of: a position and / or a form of the mechanical carrier feature (60.8).

[0294] Specifically, the automated mobile robotic lab assistant system (30) may be one, wherein the at least one carrier (60.1-60.7, 60.9) comprises a standardized tracking device and the at least one robot module (30) and / or the at least one functional laboratory module (31-40) is configured to track the at least one carrier (60.1-60.7, 60.9) by means of the standardized tracking device, specifically wherein the standardized tracking device comprises at least one of: an RFID tag, a printed code, a QR code, a printed tag, a transmitter, a transceiver, an antenna.

[0295] Specifically, the automated mobile robotic lab assistant system (30) may be one, wherein at least one of the multiple laboratory operations (1-17) comprises documenting the multiple laboratory operations (1-17) in a standardized way, specifically wherein the mobile robotic lab assistant (30) comprises a centralized OPC UA data server configured to document the at least one laboratory operation (1-17) in a standardized way.

[0296] Specifically, the automated mobile robotic lab assistant system (30) may be one wherein the standardized interface protocols comprise at least one of: MTP, OPC UA, SILA, OPC UA LADS.

[0297] Specifically, the automated mobile robotic lab assistant system (30) may be one wherein the at least one carrier (60.9) comprises at least one of the following: a vial, a tube, a cuvette, a container, a bottle, a flask, a sample tube, an inlay with tips, a magnetic stirring bar, a funnel and / or a capsule filter element; and / or a tray (60.1-60.7) for receiving a vial (60.1), a tube (60.2), a cuvette (60.3), a container and / or a bottle / flask, a sample tube (60.4), an inlay with tips (60.5), a magnetic stirring bar (60.6), a funnel (60.7) and / or a capsule filter element, wherein the at least one carrier may comprise empty carriers and / or liquid and / or solid filled carriers

[0298] Specifically, the automated mobile robotic lab assistant system (30) may be one wherein the at least one robot module (30) is movable and / or mobile and is configured to perform the at least one laboratory operation (1-17): pipette (6), transfer / transport (13) the at least one carrier (60.9) and / or other objects, solids and / or liquids, the capping and / or decapping (12) the at least one carrier (60.9) comprising a bottle, a flask, a tube and / or a vial, pick and place / grip and transfer (13, 14) other objects than the at least one carrier (60.9), solids and / or liquids, track (17) the at least one carrier and scan the workplace environment and / or wherein the at least one functional laboratory module (31-40) comprises at least one of the following: a water module (37) configured to be used with the at least one robot module (30) to perform the at least one laboratory operation (1-17) comprising at least one of providing, liquid dosing (5), weighing (8), pH controlling & adjusting

[0299] (7), and mixing (1) liquids and titration (103), a solids module (32) configured to be used with the at least one robot module (30) to perform the at least one laboratory operation (1-17) comprising at least one of solid dispensing (4), weighing (8) and capping / decapping (12), a warehouse management module (38) configured to be used by human to create new articles, liquids, solids and / or carriers in the system and concerning the mobile robotic lab assistant for central inventory of carriers, liquids and or solids in modules D.1 (39) and modules D.2 (40), to perform the at least one laboratory operation (1-17) comprising at least one of tracking (17) solids, tracking (17) liquids, tracking (17) the at least one carrier (60.9), tracking (17) other objects and equipment, a room temperature storage module (39) configured to be used with the at least one robot module (30) to perform the at least one laboratory operation (1-17) comprising at least one of storing (15) and / or tracking (17) solids, storing (15) and / or tracking (17) liquids, storing (15) and / or tracking (17) the at least one carrier (60.9), storing (15) and / or tracking (17) other objects and equipment, a +4°C storage module (40) configured to be used with the at least one robot module (30) to perform the at least one laboratory operation (1-17) comprising at least one of storing (15) and / or tracking (17) solids, storing (15) and / or tracking (17) liquids, storing (15) and / or tracking (17) the at least one carrier (60.9), a photometric module (33) configured to be used with the at least one robot module (30) to perform the at least one laboratory operation (1-17) comprising analyzing (10) samples, liquids, solids and / or other objects, a HPLC module (34) configured to be used with the at least one robot module (30) to perform the at least one laboratory operation (1-17) comprising analyzing (10) samples, liquids, solids and / or other objects, a homogenization module (36) configured to be used with the at least one robot module (30) to perform the at least one laboratory operation (1-17) comprising homogenizing (2) and tempering (3) samples, liquids, solids and / or other objects, a centrifuge module (37) configured to be used with the at least one robot module (30) to perform the at least one laboratory operation (1-17) comprising centrifuging (9) samples, liquids, solids and / or other objects, and a sampling module (31) configured to be used with the at least one robot module (30) to perform the at least one laboratory operation (1-17) comprising sampling (11) samples, liquids, solids and / or other objects.

[0300] Specifically, the automated mobile robotic lab assistant system (30) may be one wherein the at least one laboratory operation (1-17) further comprises at least one of the following: mixing (1), homogenizing (2), tempering (3) including tempering to room temperature heating and cooling, solid dispensing (4), liquid dosing (5), pipetting (6), pH controlling and adjusting (7), weighing

[0301] (8), centrifuging (9), analyzing (10), sampling (11), capping / decapping (12), transferring (13), gripping (14) storing (15), documenting (16) and / or tracking (17) and / or combinations of laboratory operations (1-17) like laboratory applications (100-104) liquid preparation (100), specifically buffer / eluent preparation and dilution series, analytic measuring (101), specifically being based on photometry and Chromatography, filling and aliquoting (102), titration (103) and or / sampling workflow (104). Specifically, the automated mobile robotic lab assistant system (30) may further comprise a system controller (1001), specifically wherein the system controller comprises an orchestration software, that is configured to control the robot module controller (30.14) and / or the functional laboratory module controller (31.7, 32.7, 33.4, 34.4, 35.4, 36.7, 37.12, 38.5).

[0302] Specifically, the automated mobile robotic lab assistant system (30) may be one comprising interaction with two or more functional laboratory modules (31-40) which are configured to be physically coupled with and decoupled from each other by means of a coupling mechanism.

[0303] Specifically, the automated mobile robotic lab assistant system (30) may be one further comprising a 3 -layer model configured to automate the at least one laboratory operation (1-17), specifically wherein: a first layer comprises a user front end (HMI) software layer configured for creating process workflows and starting workflows according to the at least one laboratory operation, a second layer comprises a system controller software layer, specifically this may comprise an orchestration layer configured for translating a process into functional working packages and planning a workflow communicating to the mobile robot module controller and / or the functional module controllers, and a third layer comprises a hardware and software PLC-layer (programmable logic controller layer) configured for processing the functional working packages on the at least one robot module (30) and / or the at least one functional laboratory module (31-40).

[0304] Specifically, the automated mobile robotic lab assistant system (30) may be one being configured to perform at least one of the plurality of laboratory operations (1-17) fully automated and / or being configured to perform at least one of the plurality of laboratory operations (1-17) partially- automated.

[0305] Specifically, the automated mobile robotic lab assistant system (30) may be one wherein the robot module controller (30.14) and the functional laboratory module controller (31.7, 32.7, 33.4, 34.4, 35.4, 36.7, 37.12, 38.5) are configured to cause the at least one robot module (30) and the at least one functional laboratory module (31-40) to interact with each other and a human user to perform the at least one laboratory operation (1-17) using the at least one carrier (60.9), and / or mobile robotic lab assistants Omobile robotic lab assistantmobile robotic lab assistantmobile robotic lab assistantmobile robotic lab assistantmobile robotic lab assistantmobile robotic lab assistant.

[0306] Reference List

[0307] 1000 automated modular lab assistant system

[0308] 1001 system controller

[0309] Applications:

[0310] 100 Liquid Preparation

[0311] 101 Analytic Measuring

[0312] 102 Filling and Aliquoting

[0313] 103 Titration

[0314] 104 Sampling Workflow

[0315] Modules:

[0316] 30 Robotic Technician Module A.l

[0317] 30.1 mobile platform

[0318] 30.2 six axis robot

[0319] 30.3 camera

[0320] 30.4 tool changer

[0321] 30.5 gripper Pipette

[0322] 30.6 gripper Trays

[0323] 30.7 gripper Capping & Macroscopic

[0324] 30.8 gripper Microscopic

[0325] 30.9 tip Station

[0326] 30.10 capper / decapper

[0327] 30.11 tray Storage

[0328] 30.12 bottle & flask Storage

[0329] 30.13 waste

[0330] 30.14 control cabinet with PLC

[0331] 31 Sampling Module A.2

[0332] 31.1 Movable platform

[0333] 31.2 Sample valve

[0334] 31.3 Cleaning line 31.4 Sample

[0335] 31.5 Level detection control

[0336] 31.6 Waste

[0337] 31.7 control cabinet with PLC

[0338] 31.8 orientation point mobile platform

[0339] 31.9 orientation point robotic arm

[0340] 32 Dispensing Module C.l

[0341] 32.1 Dispenser

[0342] 32.2 Scale

[0343] 32.3 Weighing Stone

[0344] 32.4 Sealing plug capper & decapper

[0345] 32.5 Scale Enclosure

[0346] 32.6 Suction Hood

[0347] 32.7 control cabinet with PLC

[0348] 32.8 orientation and alignment point mobile platform

[0349] 32.9 orientation point robotic arm

[0350] 32.10 Waste

[0351] 33 Photometer Module C.2

[0352] 33.1 Photometer

[0353] 33.2 Tray place

[0354] 33.3 Waste

[0355] 33.4 control cabinet with PLC

[0356] 33.5 orientation and alignment point mobile platform

[0357] 33.6 orientation point robotic arm

[0358] 34 HPLC Module C.3

[0359] 34.1 HPLC device and auto sampler

[0360] 34.2 tray place

[0361] 34.3 waste

[0362] 34.4 control cabinet with PLC 34.5 orientation and alignment point mobile platform

[0363] 34.6 orientation point robotic arm

[0364] 35 Centrifuge Module C.4

[0365] 35.1 centrifuge

[0366] 35.2 tray place

[0367] 35.3 waste

[0368] 35.4 control cabinet with PLC

[0369] 35.5 orientation and alignment point mobile platform

[0370] 35.6 orientation point robotic arm

[0371] 36 Homogenization Module C.5

[0372] 36.1 roller mixer

[0373] 36.2 vortex mixer

[0374] 36.3 thermo mixer

[0375] 36.4 ice bath

[0376] 36.5 tray place

[0377] 36.6 waste

[0378] 36.7 control cabinet with PLC

[0379] 36.8 orientation and alignment point mobile platform

[0380] 36.9 orientation point robotic arm

[0381] 37 Water Module B

[0382] 37.1 pH meter

[0383] 37.2 pH sensor holder

[0384] 37.3 PW III water doser

[0385] 37.4 Stirrer- Scale

[0386] 37.5 pH calibration solutions

[0387] 37.6 pH sensor storage solution

[0388] 37.7 flushing ring for pH sensor

[0389] 37.8 Sealing plug capper & decapper

[0390] 37.9 waste

[0391] 37.10 washbasin

[0392] 37.11 eye shower

[0393] 37.12 control cabinet with PLC

[0394] 37.13 orientation and alignment point mobile platform 37.14 orientation point robotic arm

[0395] 37.15 Sponge

[0396] 37.16 pH Sensor

[0397] 38 Warehouse Management Module D.O

[0398] 38.1 touch display

[0399] 38.2 Label printer

[0400] 38.3 Scale

[0401] 38.4 Scanner

[0402] 38.5 control cabinet with PLC

[0403] 39 Room Temperature Storage Module D.l

[0404] 39.1 rotating carousel

[0405] 39.2 storage plate for bottles and flasks

[0406] 39.3 storage plate for trays

[0407] 39.4 storage plate for solid dosing heads

[0408] 39.5 safety collection tub

[0409] 39.6 handover port with in / out control

[0410] 39.7 suction connect

[0411] 39.8 control cabinet without PLC

[0412] 39.9 orientation and alignment point mobile platform

[0413] 39.10 orientation point robotic arm

[0414] 39.11 drawer for storage

[0415] 40 +4°C Storage Module D.2

[0416] 40.1 rotating carousel

[0417] 40.2 storage plate for bottles

[0418] 40.3 storage plate for trays

[0419] 40.4 storage plate for solid dosing heads

[0420] 40.5 safety collection tub

[0421] 40.6 port with in / out control

[0422] 40.7 Isolation Layer

[0423] 40.8 control cabinet without PLC

[0424] 40.9 orientation and alignment point mobile platform 40.10 orientation point robotic arm

[0425] 40.11 drawer for storage

[0426] 60 Tray

[0427] 60.1 vial tray

[0428] 60.2 tube tray

[0429] 60.3 cuvette tray

[0430] 60.4 sampling tray

[0431] 60.5 pipette tip box tray

[0432] 60.6 magnetic stirring bar tray

[0433] 60.7 funnel tray

[0434] 60.8 mechanical carrier feature

[0435] 60.9 carrier

[0436] Laboratory Operations:

[0437] 1 Mixing

[0438] 2 Homogenizing

[0439] 3 Tempering

[0440] 4 Solid dispensing

[0441] 5 Liquid dosing

[0442] 6 Pipetting

[0443] 7 pH controlling & adjusting

[0444] 8 Weighing

[0445] 9 Centrifuging

[0446] 10 Analyzing

[0447] 11 Sampling

[0448] 12 Capping / Decapping

[0449] 13 Transferring

[0450] 14 Gripping

[0451] 15 Storing

[0452] 16 Documenting 17 Tracking

[0453] 30.15 safety sensor; 30. 16 space for storage and preparation; 30. 17 tool changing system

Claims

Patent Claims1. An autonomous mobile robot module (30) for performing multiple laboratory operations, wherein the robot module (30) comprises: a safety sensor for detecting a human; a robot module controller (30.14) configured to control the multiple laboratory operations and to stop at least one of multiple laboratory operations when the human is detected; a motor for driving a movement of the autonomous mobile robot module (30) controlled by the robot module controller (30.14); a robot platform for receiving objects; a robot arm configured for performing multiple laboratory operations controlled by the robot module controller (30.14); one or more tools being connectable to the robot arm, wherein the one or more tools comprises at least: a capper and / or decapper function for capping and / or decapping of containers; a pipetting function for pipetting liquids among the containers.

2. The autonomous mobile robot module (30) of claim 1, further comprising: at least one of the following: a tip station (30.9); a waste container (30.13); a tool changer station; a camera; a storage space.

3. The autonomous mobile robot module (30) of claim 1 or 2, wherein the robot arm comprises a six-axis robot arm, specifically being configured for opening and closing of screw cap containers with different diameters.

4. The autonomous mobile robot module (30) of any one of the preceding claims, wherein the six-axis robot arm is configured for depicting the movement of a human arm; and / or further comprising at least one of: A serially connected automated pipette; a Gripper Changer Station on top of a mobile Manipulator for flexible changing of gripper at any position in the lab; A two point gripper end-effector for gripping and pick and place of objects; A Tray gripper for transportation of any type of lab consumables or containers in defined trays; A waste for disposing of pipette tips and other consumables; A drawer for storage of containers like Bottles or Flasks; A drawer for storage of trays with consumables like tubes, funnels, magnetic stirring bars or cuvettes; Open storage space on top of the platform for temporary storage of materials and self supply with consumables.

5. An automated modular lab assistant system (1000) for performing multiple laboratory operations (1-17), the automated modular lab assistant system (1000) comprising: the autonomous mobile robot module (30) of one of the preceding claims; at least one functional laboratory module (31-40) with a functional laboratory module controller ( 31.7, 32.7, 33.4, 34.4, 35.4, 36.7, 37.12, 38.5 ); and at least one carrier (60.9) with at least one standardized mechanical carrier feature (60.8),wherein the autonomous mobile robot module (30) is configured to pick up and / or grip with the robot arm the at least one carrier (60.9) using the standardized mechanical carrier feature (60.8), and wherein the robot module controller (30.14) and the functional laboratory module controller (31.7, 32.7, 33.4, 34.4, 35.4, 36.7, 37.12, 38.5 ) are configured to communicate using standardized interface protocols to cause the autonomous mobile robot module (30) and the at least one functional laboratory module (31-40) to interact with each other and to perform the at least one laboratory operation (1-17) using the at least one carrier (60.9).

6. The automated modular lab assistant system (1000) of claim 5, wherein the autonomous mobile robot module (30) comprises at least one standardized mechanical robot feature which matches the standardized mechanical carrier feature (60.8); and / or wherein the at least one functional laboratory module (31-40) comprises at least one mechanical laboratory feature which matches the mechanical carrier feature (60.8) configured for gripping, fixing, receiving and / or holding the autonomous mobile robot module (30) using the mechanical carrier feature (60.8), specifically wherein the mechanical carrier feature (60.8) comprises at least one of the following features with a predefined geometry: one or more holes, one or more pins, one or more recesses, one or more protrusions, one or more mechanical features having magnetic properties, and specifically wherein the predefined geometry comprises at least one of: a position and / or a form of the mechanical carrier feature (60.8).

7. The automated modular lab assistant system (1000) of claim 5 or 6, wherein the at least one carrier (60.1-60.7, 60.9) comprises a standardized tracking device and the autonomous mobile robot module (30) and / or the at least one functional laboratory module (31-40) is configured to track the at least one carrier (60.1-60.7, 60.9) by means of the standardized tracking device, specifically wherein the standardized tracking device comprises at least one of: an RFID tag, a printed code, a QR code, a printed tag, a transmitter, a transceiver, an antenna.

8. The automated modular lab assistant system (1000) of any one of the preceding claims, wherein at least one of the multiple laboratory operations (1-17) comprises documenting the multiple laboratory operations (1-17) in a standardized way, specifically wherein the modular lab assistant system (1000) comprises a centralized OPC UA data server configured to document the at least one laboratory operation (1-17) in a standardized way.

9. The automated modular lab assistant system (1000) of any one of the preceding claims, wherein the standardized interface protocols comprise at least one of: MTP, OPC UA, SILA, OPC UA LADS.

10. The automated modular lab assistant system (1000) of any one of the preceding claims,wherein the at least one carrier (60.9) comprises at least one of the following: a vial, a tube, a cuvette, a container, a bottle, a flask, a sample tube, an inlay with tips, a magnetic stirring bar, a funnel and / or a capsule filter element; and / or a tray (60.1-60.7) for receiving a vial (60.1), a tube (60.2), a cuvette (60.3), a container and / or a bottle / flask, a sample tube (60.4), an inlay with tips (60.5), a magnetic stirring bar (60.6), a funnel (60.7) and / or a capsule filter element, wherein the at least one carrier may comprise empty carriers and / or liquid and / or solid filled carriers11. The automated modular lab assistant system (1000) of any one of the preceding claims, wherein the autonomous mobile robot module (30) is configured to perform the at least one laboratory operation (1-17): transfer / transport (13) the at least one carrier (60.9) and / or other objects, solids and / or liquids, the capping and / or decapping (12) the at least one carrier (60.9) comprising a bottle, a flask, a tube and / or a vial, pick and place / grip and transfer (13, 14) other objects than the at least one carrier (60.9), solids and / or liquids, and / or wherein the at least one functional laboratory module (31-40) comprises at least one of the following: a water module (37) configured to be used with the autonomous mobile robot module (30) to perform the at least one laboratory operation (1-17) comprising at least one of: providing, liquid dosing (5), weighing (8), pH controlling & adjusting (7), and mixing (1) liquids and titration (103), a solids module (32) configured to be used with the autonomous mobile robot module (30) to perform the at least one laboratory operation (1-17) comprising at least one of: solid dispensing (4), weighing (8) and capping / decapping (12) a warehouse management module (38) configured to be used by human to create new articles, liquids, solids and / or carriers in the system and concerning the automated modular lab assistant system for central inventory of carriers, liquids and or solids in modules D.l (39) and modules D.2 (40), to perform the at least one laboratory operation (1-17) comprising at least one of: tracking (17) solids, tracking (17) liquids, tracking (17) the at least one carrier (60.9), tracking (17) other objects and equipment, a room temperature storage module (39) configured to be used with the at least one robot module (30) to perform the at least one laboratory operation (1-17) comprising at least one of: storing (15) and / or tracking (17) solids, storing (15) and / or tracking (17) liquids, storing (15) and / or tracking (17) the at least one carrier (60.9), storing (15) and / or tracking (17) other objects and equipment, a +4°C storage module (40) configured to be used with the autonomous mobile robot module (30) to perform the at least one laboratory operation (1-17) comprising at least one of: storing (15) and / or tracking (17) solids, storing (15) and / or tracking (17) liquids, storing (15) and / or tracking (17) the at least one carrier (60.9), a photometric module (33) configured to be used with the autonomous mobile robot module (30) to perform the at least one laboratory operation (1-17) comprising analyzing (10) samples, liquids, solids and / or other objects, a HPLC module (34) configured to be used with the autonomous mobile robot module (30) to perform the at least one laboratory operation (1-17) comprising analyzing (10) samples, liquids, solids and / or other objects,a homogenization module (36) configured to be used with the autonomous mobile robot module (30) to perform the at least one laboratory operation (1-17) comprising homogenizing (2) and tempering (3) samples, liquids, solids and / or other objects, a centrifuge module (37) configured to be used with the autonomous mobile robot module (30) to perform the at least one laboratory operation (1-17) comprising centrifuging (9) samples, liquids, solids and / or other objects, and a sampling module (31) configured to be used with the autonomous mobile robot module (30) to perform the at least one laboratory operation (1-17) comprising sampling (11) samples, liquids, solids and / or other objects.

12. The automated modular lab assistant system (1000) of any one of the preceding claims, further comprising a system controller (1001), specifically wherein the system controller comprises an orchestration software, that is configured to control the robot module controller (30.14) and / or the functional laboratory module controller (31.7, 32.7, 33.4, 34.4, 35.4, 36.7, 37.12, 38.5).

13. The automated modular lab assistant system (1000) of any one of the preceding claims, further comprising a 3 -layer model configured to automate the at least one laboratory operation (1-17), specifically wherein: a first layer comprises a user front end (HMI) layer configured for creating process workflows and starting workflows, a second layer comprises a system controller layer, specifically this may comprise an orchestration layer configured for translating a process into functional working packages and planning a workflow, and a third layer comprises a PLC-layer (programmable logic controller layer) configured for processing the functional working packages on the autonomous mobile robot module (30) and / or the at least one functional laboratory module (31-40).

14. The automated modular lab assistant system (1000) of any one of the preceding claims, being configured to perform at least one of the plurality of laboratory operations (1-17) fully automated and / or being configured to perform at least one of the plurality of laboratory operations (1-17) partially-automated.

15. The automated modular lab assistant system (1000) of any one of the preceding claims, wherein the robot module controller (30.14) and the functional laboratory module controller (31.7, 32.7, 33.4, 34.4, 35.4, 36.7, 37.12, 38.5) are configured to cause the autonomous mobile robot module (30) and the at least one functional laboratory module (31-40) to interact with each other and a human user to perform the at least one laboratory operation (1-17) using the at least one carrier (60.9), and / or wherein the robot module controller (30.14) and / or the functional laboratory module controller (31.7, 32.7, 33.4, 34.4, 35.4, 36.7, 37.12, 38.5 ) use artificial intelligence and / or a neuronalnetwork to improve the performance of the at least one laboratory operation (1-17) and / or learn to perform a new laboratory operation.

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