Automated environmental sampling device

Abstract

The present application relates to an automated sampling device, particularly an environmental sampling device adapted to cooperate with or including a particle monitoring system where the sampling section for performing a sampling process on a sample fluid, preferably a gas, such as air, comprises a particle sampler or collector device and / or a particle counter device.

Description

[0001] AUTOMATED ENVIRONMENTAL SAMPLING DEVICE

[0002] Technical Field

[0003] The present application relates to an automated sampling device, particularly an environmental sampling device adapted to cooperate with or including a particle monitoring system where the sampling section for performing a sampling process on a sample fluid, preferably a gas, such as air, comprises a particle sampler or collector device and / or a particle counter device.

[0004] Background

[0005] The monitoring of sample fluids, either of liquids or more commonly of gases like air, is frequently performed for the purpose of evaluating contaminants, for classification and monitoring purposes, in a range of cleanroom and manufacturing environments requiring low levels of particles in the respective atmosphere, such as cleanroom environments for manufacturing electronics or semiconductors or measuring instruments, and aseptic environments for manufacturing pharmaceutical and biological products, such as sterile medicinal products, or in food and beverage process testing.

[0006] Forthe purpose of monitoring fluid (air) in such a context, particle monitoring systems are known and comprise active microbial or gas (air) samplers and particle counters. Active microbiological or gas (air) samplers and airborne particle counters are beneficial because they allow a user to sample a quantitative amount of gas (air) and to determine the risk for contamination (microbial flora) to sterile products in a surrounding environment.

[0007] An example of a microbiological gas (air) sampler and method for sampling, detecting and / or characterizing particles, for example, via collection, growth, and analysis of viable biological particles such as microorganisms is disclosed in EP 0 964 240 Al. This device includes an integrated sampler and impact surface, such as a receiving surface of a collection and growth media in a Petri dish, typically with a nutrient agar based test media, for collecting biological particles from a flow of air forced into or onto the collection and growth media in the Petri dish over a specified period of time.

[0008] The collected particles are then typically incubated to grow living particles and subsequently analyzed by different techniques including naked eyes inspection, microscopy, fluorescence or auto-fluorescence, ATP detection or others. A particle counter as the other type of particle monitoring device typically pumps the gas to be monitored through a measuring system. A high intensity light source, for example a laser beam, is directed into the gas flow to illuminate the particles as they pass through a detection chamber. The illuminated particles crossing the laser beam will create signals that are detected by a photomultiplier. The output of the photomultiplier has several amplifiers with different gain stages that allow a discrimination of particle number and particle sizing based on the evaluation of the signals, more specifically of the amplitudes of the signals.

[0009] US 2021 / 0214121 Al discloses an air sampler device for a particle monitoring system. The air sampler device includes a bottom plate on which a Petri dish is to be placed, and a top plate that is placed on the bottom plate to surround the Petri dish and that is an example of a sampler sieve or sampling lid. A vacuum tube is attached to an air port of the bottom plate. Air is then sucked into the sampler device through holes in the top plate, so that the air and with it the contaminated particles are projected onto the surface of a test media, for example an agar medium, contained in the Petri dish, which is accommodated on the air sampler device between the top plate and the bottom plate, by kinetic energy and the particles remain on the agar medium. The air exits through the air port. At the end of the testing cycle, the top plate (sampling lid) is taken off of the bottom plate, the Petri dish is removed, and the top plate is replaced. The Petri dish is closed by a mating lid and can then be analyzed at a remote location to determine the level of cleanliness of the surrounding environment.

[0010] CN101659921 (A) discloses an automatic microorganism sampler allowing for automatic continuous sampling and automatic recording of sampling data.

[0011] JP 2022-553903 A discloses a mobile monitoring device configured to perform an air and / or surface sampling operation of an area and obtain sampling data.

[0012] US 2020 / 0158603 Al discloses a system for detecting particle in a fluid, the system comprising a particle detection system and a robotic manipulator system.

[0013] Such stand-alone air sampler devices and / or particle counter devices are typically placed manually by an operator at the different sampling points of the cleanroom environments. Also, the consumables that are in particular necessary for each of repeated monitoring like the Petri dishes and the sampler sieves (sampling lids) are manually placed, removed and either discarded (for the sampler sieves (sampling lids)) or recorded and transported to another site for evaluation (for the Petri dishes).

[0014] Human presence in the cleanroom environments is generally critical as it involves the risk of contamination, the risk that clothes of operators may introduce particle contaminations (broken fibers), and the risk of air perturbation that may influence the detection results and impair repeatability and comparability of detection results at a particular sampling point.

[0015] In addition, processes involving human interaction are prone to human error risks during the manual manipulation of the Petri dishes (risk of false positive tests) and the manual recording of traceability (risk of data loss or data errors). Such risks can be reduced by trained operators to perform the tests, but cannot be completely excluded, apart from the difficulties caused by availability and cost of the time consuming manual work done by trained operators.

[0016] WO 2021 / 091861 Al discloses a mobile monitoring device for monitoring controlled contamination areas that includes a motorized mobile structure, a sampling unit, and a central management and control unit. The motorized mobile structure is configured to move within an area to be monitored. The sampling unit is positioned on the mobile structure, and is configured to perform sampling operations of air and / or surfaces of the area and obtain sampling data. The central management and control unit is operatively connected to the mobile structure and to the sampling unit. The mobile structure may be controlled by the central unit to reach predefined points of the area to be monitored. The sampling unit may be selectively activated and / or deactivated by the central unit in correspondence with predefined starting points of said sampling operations. The sampling unit can comprise a particle counter instrument or a microbiological sampler provided with a Petri dish that can be removably installed on a support of the sampling unit. The document does not describe how the consumables required for repeated sampling operations should be handled to achieve a truly autonomous automated sampling operation nor how the transport and storing of consumables is to be organized on the mobile monitoring device for it to become truly autonomous. Furthermore, with the disclosed mobile monitoring device there is a risk of unintended contamination of the sampling surfaces due to the rather long times of the sampling surface exposed to ambient environment in consequence of the rather complex process of handling the consumables, thus leading to false positives. It is an objective of the present application to minimize at least some of the current problems listed above in connection with environmental sampling processes.

[0017] Summary

[0018] The present inventors have now found that the above indicated objectives may be attained either individually or in any combination by the present automated environmental sampling device and the method of performing environmental sampling using the present automated environmental sampling device.

[0019] The present application therefore provides for an automated environmental sampling device comprising

[0020] (i) an air sampler base configured to removably hold a consumable for performing environmental sampling;

[0021] (ii) at least one magazine comprising plural defined storage positions, each of the storage positions configured to store plural consumables or parts of consumables, the consumables to be used in performing the environmental sampling, in an ordered arrangement; and

[0022] (iii) a gripper device configured to automatically selectively move individualized consumables or parts of consumables between the at least one magazine and the air sampler base.

[0023] The present application thus also provides for an environmental sampling method comprising the steps of providing said automated environmental sampling device and using said automated environmental sampling device for environmental sampling.

[0024] Brief description of the drawings

[0025] The present automated environmental sampling device and the respective environmental sampling method will in the following be described in more detail on the basis of preferred embodiments and variants by reference to the following exemplary, schematic, and nonlimiting drawings:

[0026] Figure 1 is a perspective view of an automated environmental sampling device according to an exemplary embodiment (without consumables). Figure 2 is a perspective view of the automated environmental sampling device according to the exemplary embodiment (with consumables and with racks for the consumables).

[0027] Figure 3 is a perspective view of the automated environmental sampling device according to the exemplary embodiment (with consumables) mounted on a mobile carrier in the example of a trolley in the form of an autonomous moving robot.

[0028] Figure 4 is a perspective view of the automated environmental sampling device according to the exemplary embodiment (with consumables) mounted on a mobile carrier in the example of another trolley that may be moved manually by an operator or by an autonomous moving robot or by a ground conveyor.

[0029] Figure 5 is a perspective view of a variant of the automated environmental sampling device according to the exemplary embodiment (with consumables and two magazines) mounted on a mobile carrier in the example of another trolley that is alternatively manually moved by an operator or by an autonomous moving robot or by a ground conveyor.

[0030] Figure 6 is a top view of the variant of the automated environmental sampling device shown in Figure 5.

[0031] Figures 7 to 28 are a sequence of perspective views of the automated environmental sampling device according to the exemplary embodiment at various stages of operation.

[0032] Detailed description

[0033] In general terms the present application relates to an automated environmental sampling device adapted to cooperate with or including a particle monitoring system where the sampling section for performing a sampling process on a sample fluid, preferably a gas, such as air, comprises a particle sampler or collector device and / or a particle counter device. The monitoring procedure and technology of the particle monitoring system is as such unaffected and will not be described in detail.

[0034] The present application in particular provides for an automated environmental sampling device comprising (i) an air sampler base configured to removably hold a consumable for performing environmental sampling, (ii) at least one magazine comprising plural defined storage positions, each of the storage positions configured to store plural consumables or parts of consumables, the consumables to be used in performing the environmental sampling, in an ordered arrangement ("magazining"), and (iii) a gripper device configured to automatically selectively move individualized consumables or parts of consumables between the at least one magazine and the air sampler base.

[0035] The present application provides for an automated environmental sampling device, preferably mounted on a mobile platform, which device comprises the magazine(s) for storing plural consumables or parts of consumables (for use in performing the environmental sampling) at least two (plural) defined storage positions in an ordered arrangement ("magazining"). The storage positions are storage locations for a number of unused ("virgin") consumables or parts of consumables and for a number of used, i.e. "tested", consumables or parts of consumables.

[0036] The gripper device is provided to automatically selectively move the individualized consumables between the magazine(s) and the air sampler base where the environmental sampling takes place. The gripper device can be called a "robotic device" as it is configured to automatically perform - in conjunction with the magazine - the motions and actions in connection with the handling of the consumables necessary to repeatedly carry out the environmental sampling processes, which have hitherto been performed by manual actions of the operators. In particular, the robotic device may perform, for example, the actions of (i) providing an "unused" sample collector (for example a Petri dish), (ii) preparing the air (particle) sampler (including, for example, placing an unused sampler sieve (sampling lid) on the sample collector), (iii) removing the "used" sample collector and top plate from the sampler and moving them to a storage location, and (iv) providing for complete traceability throughout the whole process.

[0037] In the broadest concept envisaged herein the magazine may have at least one storage position for a stack of unused consumables, from which the gripper device takes one, moves it to the sampler base where it is used, and then the consumable is directly moved to at least one other storage position for a stack of used consumables. This would allow the storage positions or even a larger number of storage positions to be fixed, without a mobile magazine described below, in an arrangement where all of them can be accessed and serviced by the gripper device. Such concept will be capable of holding enough consumables to keep an air sampler operative for an extended period of time.

[0038] The automated environmental sampling device may be used either stationary or may autonomously perform several particle counting tests at a number of pre-defined spatially separated sampling points in a cleanroom environment, i.e. be used in a non-stationary way.

[0039] The automatic movement of the gripper device in combination with the magazine(s) configured to store consumables for a number of sampling runs reduces or even avoids first of all the necessity of the human presence and thus the risk of particle contaminations introduced into the cleanroom environment and it reduces, second, the "amount" of motion and air perturbation within the cleanroom. A further aspect is that humans are released from performing the repeated routine work and are available to perform other tasks either outside or inside the cleanroom.

[0040] As the sampling device is preferably mobile, it can be moved between different sampling points in the cleanroom environment, preferably in that the automated environmental sampling device is mounted on a mobile carrier, preferably a trolley which is in turn configured to be moved manually by an operator or by an integrated or external mobile autonomous robot.

[0041] Preferably, one or more of the storage positions comprise a rack configured to accommodate, in a stacked arrangement, a number of the consumables or parts of consumables. The rack defines the precise location of the consumables and facilitates the gripping by the gripper device.

[0042] Preferably, the at least one magazine is movable, preferably is rotatable and / or is linearly movable, so as to convey each of the storage positions to a transfer position which is accessible by the gripper device to allow the gripper device to move individualized consumables or parts of consumables from or to the respective storage position. The magazine(s) may be in the form of a conveyor belt or rotating tables and the movement of the magazine acts as a supply conveyor to selectively bring the desired storage position (with unused consumables or empty to receive used consumables) to the transfer position where the gripper device can grip or release the consumables. The movement provides the possibility to accommodate a large number of consumables on a device with a relatively small footprint which reduces the need for frequent restocking or emptying and prolongs the time for autonomous operation.

[0043] Preferably, the at least one magazine comprises a lifting mechanism, for example in the form of a piston or pusher rod, that is associated to a / the transfer position (in case of a movable magazine) and / or to one or more of the storage position / positions (in case of a fixed or a movable magazine). The lifting mechanism can selectively raise or lower the consumables at a storage position that is conveyed to the transfer position to a defined level where the gripper device may selectively grip or release an individual one of the consumables from / onto a stack of consumables held in a defined orientation, for example in a rack. Such lifting mechanisms may thus be provided at each storage position on the magazine and can be moved along with the conveyance of the storage positions of the magazine (if movable). Providing the lifting mechanism fixed at the transfer position is, however, advantageous as only one lifting device is required for each magazine so that space, costs, and weight can be reduced.

[0044] Unlike using an articulated 6-axis robot that is adapted to perform 3D motions, the use of a gripper device as described herein can achieve cost reduction and added safety / less contamination due to reduced number of robot joints moving above sampling device if the gripper device comprises one or more manipulator / manipulators adapted to perform only limited defined motions and selectively grip, hold and release one of the consumables or of the parts of consumables. Such a gripper device can be tailored to perform the limited minimized motions necessary to perform the handling of the consumables during a sampling process. Thus, the particles generation and the air displacement in the cleanroom and resulting disturbance of the test results can be minimized.

[0045] Preferably, the one or more manipulator / manipulators is / are adapted to be respectively extended or retracted to change a reach of the manipulator. This modification provides the advantage that a larger number of storage positions can be reached by the manipulator(s) so that the capacity of the magazine can be increased even if the magazine is fixed. If fixed lengths are chosen from the center axis of a rotational shaft to the manipulator(s), the structure is significantly simpler but requires the transfer position (or the storage positions to be accessed) and the air sampler base to be equidistant from the center axis.

[0046] Preferably, the one or more manipulator / manipulators is / are adapted to be respectively rotated between the magazine (i.e. several storage positions in case of a fixed magazine or the transfer position in case of a mobile magazine) and the air sampler base.

[0047] Further, the one or more manipulator / manipulators preferably is / are adapted to be lifted and lowered, for example at the transfer position and at the air sampler base, or generally at each storage position in order to target a particular position or level of the stack where an uppermost consumable is located or is to be placed or to push a consumable into the manipulator. The lifting / lowering of the manipulator(s) can be combined with or replaced by the action of raising or lowering the consumables at a storage position of the magazine with the lifting mechanism. These basic movements should be sufficient to effect the handling of the consumables with a view to reducing the generation of particles and the displacement of air.

[0048] Preferably, at least two manipulators are provided at radial positions of a rotational shaft, which radial positions are aligned with the transfer position, in case of a mobile magazine, or with several storage positions in case of a fixed magazine, and the air sampler base at several rotational positions of the rotational shaft. While the two (or more) manipulators may be arranged at any desired radial positions that are aligned with the transfer position or storage positions at the magazine and the air sampler base, a particularly effective arrangement is where two manipulators are arranged at opposite radial positions (displaced by 180°) such that gripping / releasing of two consumables at the transfer position and at the air sampler base can be simultaneously performed at a maximum distance from each other.

[0049] Preferably, the gripper device comprises or is functionally associated with a camera configured to image the consumable or part of the consumable to be gripped at the transfer position. The provision of a camera provides the possibility to confirm the accuracy of the physical handling process and provide for adjustments if needed and / or may be used to confirm that the correct consumable is handled at a specific step in the process. The images generated by the camera may be stored and evaluated for a complete traceability of the process.

[0050] The automated environmental sampling device may be designed as an "add on" or function extender for an existing air sampling unit and / or particle counter unit that automates the handling of the consumables for these units, or may include the air sampling unit associated to the air sampler base and, preferably, a particle counter unit separate from the air sampling unit to provide a device that is capable of performing the entire sampling process. Preferably, the air sampling unit and the particle counter unit, if provided, are accommodated in a common housing below the air sampler base, the at least one magazine and the gripper device to provide a compact device including all the functions for performing the sampling process and leaving the magazine(s) easily accessible at the top for restocking and removal of the consumables. The housing may also accommodate a controller for controlling all the components of the sampling device. Preferably, the sampling device may further comprise a device for reading digital information on the consumables and / or from an / the air sampling device, if provided, and / or from a / the particle counter, if provided, and transmitting data including the information to a memory and / or computer. Thus, the data may be stored and evaluated for a complete traceability of the process.

[0051] Preferably, the automated environmental sampling device is mounted on a self- supporting platform and is preferably capable of operating autonomously and mobile. In this way the sampling device can be easily handled as a unit and transferred to and from a cleanroom environment for restocking and removal of the consumables.

[0052] The consumables that are typically handled by the sampling device comprise (but are not limited to) sample collectors, preferably Petri-dishes, air sampler sieves, and parts of consumables comprising removable lids of the sample collectors, preferably the Petri- dishes, dust covers, and filters.

[0053] The present automated environmental sampling device may be used in environmental sampling. Thus, a method for environmental sampling comprises the steps of providing the automated environmental sampling device as defined herein, and then using said automated environmental sampling device in environmental sampling.

[0054] The present automated environmental sampling device 1 shown inter alia in Figures 1 and 2 is a preferably autonomously operative unitforautomation ofa numberof repeated environmental sampling operations (air sampling processes) in a cleanroom environment, preferably at different points in the cleanroom environment.

[0055] The automated environmental sampling device 1 comprises a preferably self-supporting platform 2 supporting the components of the device such that the device can be transferred as a unit and can operate as an autonomous unit.

[0056] A magazine 3 for storing plural consumables (which consumables are typically required for performing the environmental sampling process as described above) at plural defined storage positions 3a in an ordered arrangement, for example in a stack (i.e. for "magazining" the consumables) is provided on the platform 2. In the present embodiment the magazine comprises a rotating table 3b with plural storage positions 3a distributed about its circumference. By rotating the table 3b around a central rotational axis, each storage position 3a can be selectively positioned at a transfer position 7 at the magazine 3 where the consumables can be accessed to be removed from a storage position and put back to a storage position by means of a handling device or gripper device 6 described later.

[0057] The storage positions 3a can respectively hold a rack 4 configured to hold a number of pieces of consumables needed to perform the air sampling tests. The racks 4 can be formed by a number of upright posts as shown in Figure 2 (the racks are not shown in Figure 1) but the arrangement and shape of the racks is not limited to this example and is rather dependent from the specific shape of the consumables to be held. The storage positions 3a may thus include one or more racks 4a accommodating a vertical stack of sample collectors before air impaction (i.e. unused ("virgin") Petri dishes), one or more initially empty racks 4b for receiving and holding a stack of the sample collectors after air impaction (i.e. used ("tested") Petri dishes), one or more racks 4c accommodating a stack of unused sampler sieves (sampling lids) and, if desired, a dust cover, and one or more initially empty racks 4d for receiving and holding the sampler sieves after air sampling. As the magazine 3 can be rotated the distribution and assignment of the storage positions is not specifically limited. Also, the number of the storage positions provided on a magazine depends on the required storage capacity and the size of the consumables and determines the size of the magazine.

[0058] In the embodiment the rack 4 is formed by a number of vertical upright posts surrounding the respective storage positions and forcing the consumables to be stacked one adjacent to and above the other in the defined orientation. The term "rack" is, however, to be understood as a term describing mechanical means for holding a number of the respective consumables in a defined ordered arrangement, i.e. in a stack or a row, either vertically or horizontally, with vertically being preferred, and allowing them to be removed from an end of the stack (at the top or a lateral end) or added to the end of the stack in an individualized manner by means of a manipulator of the gripper device 6 as described below. The rack 4 can be an element fixedly or removably provided separately at each of the storage positions 3a of the magazine or plural racks can be combined in a larger unit that can be attached or removed from the magazine 3 so as to correspond to plural storage positions. The rack may thus be a part of a separately prepared unit in the form of a cradle that receives a number of consumables in defined orientations and that can be loaded on or removed from a storage position of the magazine as a unit. This facilitates the exchange of a number of the consumables for a specific test run and maintains the consumables, in particular the impacted sample collectors, in a collocation for further processing and evaluation.

[0059] While a movable magazine is described for the purposes of illustration and is advantageous as it maximizes the loading capacity, a fixed magazine (that has the storage positions at fixed positions) is feasible as well provided the gripper device can access the various storage positions within its reach.

[0060] The platform 2 further includes an air sampler base 5 configured to removably hold the consumables for performing the environmental sampling test, and a gripper device 6 configured to automatically selectively move individualized consumables between the transfer position 7 and the air sampler base 5. Although not shown, the air sampler base 5 may be in communication with a vacuum pump and air sampling unit to forcedly draw the air towards the sample collector as is known in the art in principle. In the present embodiment such functional units may be arranged in a dedicated housing 20 below the platform 2.

[0061] The magazine 3, in the example the rotating table 3b, can be moved, i.e. rotated, to selectively move each of the storage positions 3a to the transfer position 7.

[0062] The magazine 3 may, however, be of a configuration in which the table is linearly movable or can reciprocate or may comprise a track, a belt conveyor or a chain conveyor defining a 2-dimensional path along which plural storage positions of the magazine, if desired on carriages movable along the path, can be moved so as to selectively convey each of the storage positions to (and away from) the transfer position 7. The present sampling device 1 may also comprise two or more separate magazines that are movable independent from each other. A variant of the present sampling device 1 with two rotary magazines 3 is shown in Figures 5 and 6, wherein the gripper device in this case is adapted to move between the transfer positions of each magazine and the air sampler base 5. In such a setup the sample collectors before air impaction (i.e. unused ("virgin") Petri dishes) can be provided in the racks of the storage positions of one magazine and the sample collectors after air impaction (i.e. used ("tested") Petri dishes) can be received at the initially empty storage positions of the other magazine.

[0063] The gripper device 6, which can be generally understood as a handling device for the consumables replacing the previously manual handling in connection with the sampling process, could comprise a universal articulated 6-axis robot, preferably programmed and adapted to perform 3D motions of one or more manipulator / manipulators in a working space. In this configuration the gripper device can be freely programmed to move and transfer consumables between the transfer position and the air sampler base. Due to the large moving range and degrees of freedom of such robot to move, the transfer position does not necessarily have to be provided at a defined or fixed position in the device but the storage positions of the magazine can be relatively freely accessed as long as they are in the moving range of the robot (gripper device). In such a case the magazine must not necessarily be configured to move the storage positions to and away from a specific transfer position.

[0064] In an alternative and preferred arrangement as shown in the exemplary embodiment the gripper device 6 has reduced axes of freedom and comprises one or more manipulator / manipulators 13 adapted to perform limited pre-defined motions in a working space to transfer the consumables between the defined transfer position 7 and the air sampler base 5. Such variant can be tailored and dedicated to automating the limited motions of the process and can perform them quickly and reliably and is less costly and complex to set up or to maintain. In addition the use of such a gripper device with a reduced degree of freedom as compared to a 6-axis robot also leads to a reduction in footprint required for the present automated environmental sampling device as well as a reduced risk of the arm of such a 6-axis robot unexpectedly reaching beyond the perimeter of the device itself, thereby creating potential risks of damaging equipment or colliding with personnel.

[0065] The manipulator / manipulators 13 is / are in any case adapted to selectively hold and release (i.e. "grip, hold and release") a respective one of the consumables or a part thereof. Manipulators for this purpose are known per se and are configured and mechanically adapted to the geometry of the particular pieces they are to engage with and disengage from. If plural manipulators are provided, several consumables can be handled and transferred at the same time. The use of plural manipulators also provides the advantage that a particular consumable or part thereof (i.e. the sampling sieve as described below in connection with an exemplary process) can be temporarily "stored" at one manipulator to be used for a further test while another manipulator handles a consumable (i.e. the sample collector of a preceding test and a sample collector of a subsequent test). In this way the process can be accelerated because the sampling sieve does not have to be temporarily positioned in the magazine or at a separate storage position in the meantime. In the most general setup a single manipulator may be sufficient. In the exemplary embodiment, the one or more manipulator / manipulators 13 is / are respectively provided at an end of an arm 13a protruding from a central rotational axis that is perpendicular to a horizontal base plane of the platform 2 so that the arms and with them the manipulator(s) are adapted to be respectively rotated about the rotational axis between the transfer position 7 and the air sampler base 5. Further, the one or more manipulator / manipulators are adapted to be raised and lowered, at least at the transfer position 7 and at the air sampler base 5 in order to access and grip / release an individual consumable at the upper end of a stack. The arms may be expandable and retractable (by pivoting or telescopic motion, for example) in order to change the reach of the manipulators.

[0066] Even more specifically, the two manipulators 13 are provided on a supporting bridge 12 at radial opposite positions spaced apart from a central rotational shaft 11 defining the rotational axis, which radial positions are determined so as to be aligned with the transfer position 7 and the air sampler base 5 at one defined rotational position of the shaft so that a consumable can be gripped by one manipulator 13 at the transfer position 7 and conveyed to the air sampler base 5 where it is released, and vice versa. If both manipulators are used at the same time, two consumables can be simultaneously handled. In that the bridge 12 can be selectively axially moved in the direction of the rotational axis of the rotational shaft 11 perpendicular to the plane of the platform 2, the manipulators can be simultaneously raised and lowered as described above.

[0067] The magazine 3 may comprise a lifting mechanism (not shown) associated to the transfer position 7 and / or one or more or each of the storage position / positions. Thus, the stack of consumables at the transfer position (or at the particular storage position) may be raised or lowered so as to bring the uppermost consumable within the reach of the manipulator of the gripper device or make way for receiving a further consumable at the top of the stack and / or to push a consumable into the manipulator. Such lifting mechanism may be implemented, for example, in the form of an actively operatable (i.e. by pneumatic, hydraulic or electrical force) piston, or in the form of a passive spring that constantly biases the stack towards an end position but can be compressed downward by the force of the gripper device in order to allow adding a consumable at the end of the stack. In this case the motion range of the stack due to the bias of the spring may be restricted by a stopper. The gripper device 6 may comprise or may be functionally associated to a camera 8 configured to image the consumable to be gripped at the transfer position. Thus, the device can check the conformity of the sample collector (Petri dish) before conveying it to the air sampler base 5. The camera 8 may be fixedly provided on the platform 2 or may be mounted at the bridge 12, arms 13a or near the manipulator(s) 13.

[0068] Further, the sampling device 1 may comprise a device for reading digitalized information 9 (i.e. a vision module like a camera or a RFID module) on or from the consumables and either transmitting the information to an external computer or storing the information internally on a suitable storage device. The transmission of this data / information may be made through a wireless data transmission protocol (WLAN) or the data / information may be temporarily stored in a memory on the device and transmitted or read out at a point of time when the consumables are exchanged from the magazine. The data / information may be used to implement a traceability control of all the consumables loaded on the device for a specific sampling operation. The vision module 9 may be located facing the transfer position or may be located at any other position to which the storage positions 3a of the magazine may be indexed.

[0069] The device may also include means for writing data / information (i.e. related to the circumstances of a sampling test done with the consumable like date and time, point in the cleanroom, temperature, etc.) to the consumables if they are provided with suitable storage means or memory, or may directly transmit this information to the external computer through a wireless data transmission protocol (WLAN) as well.

[0070] Finally, the platform 2 may further include a sampling cone 10 for communicating with a particle counter unit (not shown) that can be used and operated in parallel with and independently from the air sampler unit to obtain additional data / information at a particular point in the cleanroom environment. The particle counter unit may be provided in the dedicated housing 20 below the platform 2.

[0071] The automated environmental sampling device 1 due to the integration of its components on the mobile platform may be implemented as a unit which can be mounted on a mobile carrier 30 as shown in Figures 3 to 5, preferably a trolley on wheels or casters 32 configured to be moved manually by an operator or by an integrated or external autonomously moving robot 31, to various pre-defined sampling points or locations in a cleanroom environment. The functions of the mobile monitoring device described in WO 2021 / 091861 Al for travelling to predefined points may be implemented in such a mobile carrier 30. The moving robot 31 can be programmed to move along a pre-defined route and in a pre-defined speed in order to limit and / or control air displacement in the cleanroom environment.

[0072] Although not shown, the automated environmental sampling device may be provided with a controller for controlling the various operations of the magazine and the gripper device and for controlling the detection and exchange of data / information during the process. The controller may be provided in a separate section of the platform 2 or in the housing 20 below the platform 2. The function of the controller or at least a part of it may also be implemented in an external controller that communicates with a receiver / sender on the side of the sampling device.

[0073] The automated environmental sampling device may be provided with its own energy source, for example in form of rechargeable batteries, or may obtain the required energy from the mobile carrier. When the automated environmental sampling device obtains the required energy from the mobile carrier, the mobile carrier is provided with its own energy source, for example in form of rechargeable batteries.

[0074] The automated environmental sampling device will thus be able to autonomously perform several monitoring tests (air sampling and / or particle counting) at different spaced apart sampling points defined in a cleanroom environment.

[0075] The following is a detailed description of the typical steps of the automated process of environmental sampling using the automated environmental sampling device as defined herein and the steps are shown in Figures 7 to 28. In this process description is made of a testing routine where two tests (with different sample collectors) are performed at the same sampling point, i.e. the sampling sieve is used for the two consecutive tests at this point. It is, of course, possible to perform more than two tests at a selected point or only a single test, wherein, in the latter case, the sampling sieve is not re-used but transferred to a storing position after use. It is also remarked that the use of a dust cover will further help in reducing any false positives by shielding the sampling sieve from any contaminants potentially present in the atmosphere.

[0076] Such automated process of environmental monitoring tests using the present automated environmental sampling device may comprise following steps, preferably in sequence:

[0077] A) To start the automated air monitoring process, the consumables (sample collectors / Petri dishes, air sampling sieves, and dust covers) are placed on the respective storage positions 3a / racks 4 of the magazine 3 (rotating table 3b) - see Figure 7.

[0078] B) The vision module 9, if necessary with the help of the piston (not shown) located at the transfer position 7, can scan a data matrix on each consumable (Petri dish, dust cover, air sampling sieve) of the magazine 3 before its use in order to ensure the traceability of the tests. The data is evaluated in a controller and stored (as described above either internally or externally). The piston is able to vertically translate and potentially even rotate the stack in order to scan the data matrix of the different consumables within the stack if the field of vision of the vision module 9 cannot scan the entire stack all at once. The magazine may be rotated stepwise to sequentially bring all storage positions 3a (or at least those carrying consumables or parts of consumables) to the transfer position 7 within the field of sight of the vision module 9 - see Figures 8 and 9.

[0079] C) The magazine 3 (rotating table 3b) is operated to convey the storage position 3a with the stack of unused sample collectors (Petri dishes) to the transfer position 7 where the piston pushes the stack upwards in order to thereby push the uppermost (first) sample collector into the manipulator 13 of the gripper device 6 - see Figure 10.

[0080] D) The manipulator 13 of the gripper device 6 grips the uppermost sample collector 15 and translates upward - see Figure 11.

[0081] E) The gripper device 6 rotates to translate the sample collector 15 to the air sampler base 5 and align it with the axis thereof - see Figure 12.

[0082] F) The magazine 3 (rotating table 3a) is operated in order to move the storage position 3a provided with the stack of unused air sampler sieves to the transfer position 7 (i.e. in the example of Figure 7 this means rotating counterclockwise). The gripper device 6 translates downward and the manipulator 13 places the sample collector

[0083] 15 onto the air sampler base 5 - see Figure 13.

[0084] G) The piston at the transfer position 7 pushes the stack of unused air sampler sieves 17 upward and thus brings the uppermost (first) air sampler sieve with a dust cover

[0085] 16 upwards into the manipulator 13 of the gripper device 6. The manipulator grips the air sampling sieve 17 and the dust cover 16 - see Figure 14.

[0086] H) The manipulator 13 of the gripper device 6 above the air sampler base 5 grips the cover / lid 18 of the sample collector (while the sample collector 15 remains at the air sampler base 5), translates up and rotates - see Figure 15.

[0087] I) The gripper device 6 rotates to move the manipulator 13 with the air sampler sieve

[0088] 17 and the dust cover 16 above the air sampler base 5, and then the manipulator 13 places the air sampler sieve 17 and the dust cover 16 onto the air sampler base 5 - see Figure 16.

[0089] J) The gripper device 6 and with it the manipulator 13 translates upward, grips the dust cover 16 only, and rotates to remove the dust cover 16 and put it on the uppermost one of the unused air sampler sieves 17 at the transfer position 7 - see Figure 17.

[0090] K) The gripper device 6 rotates into a neutral position to avoid disturbing the air sampling process at the air sampler base 5 (the lid / cover 18 of the sample collector remains gripped by the manipulator 13) - see Figure 18.

[0091] L) The automated sampling device 1 can now perform the (first) air sampling test by aspiring air through the air sampling sieve 17 in order to impact the air, particularly any particles comprised in the air, onto the surface (in case of a Petri-dish, onto the surface of the growth medium) of the sample collector 15 - see Figure 19.

[0092] M) Once the air sampling process is complete, the gripper device 6 rotates to place the free manipulator above the air sampler base 5 and translates downward in order to grip the used air sampling sieve 17 - see Figure 20.

[0093] N) The gripper device 6 translates upward and rotates in order to move the used air sampling sieve 17 to the transfer position 7. After that the gripper device 6 translates downward in order to put the previously removed lid / cover 18 of the impacted sample collector above the (still open) sample collector 15 in order to close it - see Figure 21.

[0094] O) The manipulator 13 of the gripper device 6 grips the impacted sample collector 15 with its lid / cover 18 and translates up with it - see Figure 22.

[0095] P) The gripper device rotates to move the impacted sample collector 15 to the transfer position 7 and the magazine 3 is operated in order to move the storage position 3a for used sample collectors to the transfer position 7, too. The piston moves upward to receive the impacted sample collector 15. At the same time the previously used air sampler sieve 17 is still held in the manipulator 13 of the gripper device 3 - see Figure 23.

[0096] Q) The manipulator 13 of the gripper device 6 releases the sample collector 15 and the piston translates downward in order to store the impacted sample collector 15 in the rack 4 at the intended storage position - see Figure 24.

[0097] R) The automated sampling device repeats the steps necessary to fetch another unused / second sample collector 15 containing a new / different media, perform a second air sampling test and return the used second sample collector 15 containing a new / different media - see Figure 25. S) After the two air sampling tests at the same sampling point have been performed, the gripper device 6 moves the manipulator with the used air sampling sieve 17 to the transfer position 7, the magazine 3 (rotating table 3b) is operated in order to move the storage position 3a for used air sampling sieves 17 to the transfer position 7, and the used air sampling sieve 17 is placed into the rack 4 with the help of the piston. After that the gripper device 6 stores the impacted (second) sample collector 15 at the storage position 3a for impacted sample collectors at the transfer position 7.

[0098] The mobile robot can now automatically move (or the trolley with the sampling device can be manually moved) to another sampling point in the cleanroom environment and repeat the steps 2 to 19 in order to perform air sampling tests in several points of the cleanroom environment according to a predefined sampling plan - see Figures 26 and 27.

[0099] T) In addition to the air sampling, if desired simultaneously therewith, the automated sampling device 1 can perform particle counting with an integrate particle counter unit by introducing the air through the sampling cone 10 - see Figure 28.

[0100] It is noted that when not performing a sampling the air sampler base 5 may be protected by a dust cover, which has to be removed before the sample collector 15 is translated to the air sampler base (see step E). Equally, once sampling has been finished, a dust cover may then again be placed onto air sampler base 5.

[0101] Though the automated process of environmental monitoring has been described for two air sampling test at the same air sampling point (see step R), it is, of course, possible to only perform a single air sampling test at a specific sampling point, i.e. by jumping from step Q directly to step S, and leaving out step R.

[0102] It is also noted that though the description generally refers to the use of the present automated sampling device in a clean room, the present automated sampling device may also be used in other environments that are less atmosphere- and contaminant- controlled. As non-limiting examples of such other environments mention may be made of production areas in general, which may require a certain level of cleanliness and reduced contaminant levels, or also environments wherein it is important to continuously obtain information on the level(s) of hazardous substances. Reference sign list

[0103] 1 environmental sampling device

[0104] 2 platform

[0105] 3 magazine

[0106] 3a storage position

[0107] 3b rotating table

[0108] 4,4a-e rack

[0109] 5 air sampler base

[0110] 6 gripper device

[0111] 7 transfer position

[0112] 8 camera

[0113] 9 device for reading digitalized information (vision module)

[0114] 10 sampling cone

[0115] 11 rotational shaft

[0116] 12 bridge

[0117] 13 manipulator

[0118] 13a arm

[0119] 14 dust cover

[0120] 15 sample collector / Petri dish

[0121] 16 dust cover

[0122] 17 air sampler sieve

[0123] 18 lid / cover of sample collector / Petri dish

[0124] 20 housing

[0125] 30 mobile carrier

[0126] 31 moving robot

[0127] 32 wheels or casters

Claims

Claims1. An automated environmental sampling device (1) comprising(i) an air sampler base (5) configured to removably hold a consumable for performing environmental sampling;(ii) at least one magazine (3) comprising plural defined storage positions (3a), each of the storage positions (3a) configured to store plural consumables or parts of consumables, the consumables to be used in performing the environmental sampling, in an ordered arrangement; and(iii) a gripper device (6) configured to automatically selectively move individualized consumables or parts of consumables between the at least one magazine (3) and the air sampler base (5).

2. The automated environmental sampling device (1) according to claim 1, wherein one or more of the storage positions (3a) comprise a rack (4) configured to accommodate, in a stacked arrangement, a number of the consumables or parts of consumables.

3. The automated environmental sampling device (1) according to claim 1 or 2, wherein the at least one magazine (3) is movable, preferably is rotatable and / or is linearly movable, so as to convey each of the storage positions (3a) to a transfer position (7) which is accessible by the gripper device (6) to allow the gripper device (6) to move individualized consumables or parts of consumables from or to the respective storage position.

4. The automated environmental sampling device (1) according to any one of claims 1 to 3, wherein the at least one magazine (3) comprises a lifting mechanism, preferably in the form of a piston, that is associated to a / the transfer position (7) in case of a movable magazine (3), and / or to one or more of the storage position / positions (3a) in case of a fixed or a movable magazine (3).

5. The automated environmental sampling device (1) according to any one of claims 1 to 4, wherein the gripper device (6) comprises one or more manipulator / manipulators (13) adapted to perform defined motions and selectively grip, hold and release one of the consumables or of the parts of consumables.

6. The automated environmental sampling device (1) according to claim 5, wherein the one or more manipulator / manipulators (13) is / are adapted to be respectively extended or retracted to change a reach.

7. The automated environmental sampling device (1) according to claim 5 or 6, wherein the one or more manipulator / manipulators (13) is / are adapted to be respectively rotated between the magazine (3) and the air sampler base (5).

8. The automated environmental sampling device (1) according to claim 7, wherein the one or more manipulator / manipulators (13) is / are adapted to be lifted and lowered.

9. The automated environmental sampling device (1) according to claim 7 or 8, wherein at least two manipulators (13) are provided at radial positions of a rotational shaft (11), which radial positions are aligned with the transfer position (7), in case of a mobile magazine (3), or with several storage positions in case of a fixed magazine, and the air sampler base (5) at selected rotational positions of the rotational shaft (11).

10. The automated environmental sampling device (1) according to any one of claims 1 to 9, wherein the gripper device (6) comprises or is functionally associated with a camera (8) configured to image the consumable or part of consumable to be gripped at the transfer position (7).

11. The automated environmental sampling device (1) according to any one of claims 1 to 10, further comprising a device for reading digital information (9) on the consumables and / or from an / the air sampling unit, if provided, and / or from a / the particle counter unit, if provided, and transmitting data including the information to a memory and / or computer.

12. The automated environmental sampling device (1) according to any one of claims 1 to 11, further comprising an air sampling unit associated to the air sampler base (5) and, preferably, a particle counter unit separate from the air sampling unit, the air sampling unit and the particle counter unit, if provided, being accommodated in a housing (20) below the air sampler base (5) and / or the at least one magazine (3) and / or the gripper device (6).

13. The automated environmental sampling device (1) according to any one of claims 1 to 12, wherein the automated environmental sampling device (1) is mounted on a self-supporting platform (2) and is preferably capable of operating autonomously and mobile.

14. The automated environmental sampling device (1) according to claim 13, wherein the automated environmental sampling device (1) is mounted on a mobile carrier (30), preferably a trolley configured to be moved manually by an operator or by an integrated or external mobile autonomous robot (31).

15. The automated environmental sampling device (1) according to any one of claims 1 to 14, wherein the consumables comprise sample collectors (15), preferably Petri- dishes, air sampler sieves (17) and the parts of consumables comprise removable lids (18) of the sample collectors (15), preferably the Petri-dishes, dust covers (16) and filters.

16. Method for environmental sampling comprising the steps of providing the automated environmental sampling device (1) of claims 1 to 15, and then using the automated environmental sampling device (1) in environmental sampling.

Images