Sensor systems for liquid handling systems

Abstract

A sensor system for a liquid handling system includes a liquid handling robot disposed within a housing, a module connected to the liquid handling robot or housing and configured to perform an operation within the housing, and an equipment handling module configured to provide labware into the housing. The sensor system further includes interlock sensors positioned at access panels of the housing, each configured to detect whether a respective access panel is properly installed, and sensors associated with the equipment handling module configured to detect a condition therein. A computing device is communicatively coupled to the interlock sensors and sensors, configured to receive sensor data and control operations of the liquid handling robot, module, and equipment handling module based on the received sensor data.

Description

SENSOR SYSTEMS FOR LIQUID HANDLING SYSTEMSCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to U.S. Provisional Application No. 63 / 749,228, titled "ROBOTIC LAB WARE MODULE FOR A PIPETTE SYSTEM”, filed January 24, 2025, which is hereby incorporated by reference in its entirety for all purposes.FIELD OF INVENTION

[0002] The present disclosure relates to sensor systems for liquid handling equipment, and more particularly to sensor configurations and interlock circuits for equipment handling modules that provide automated labware delivery, inventory monitoring, and verification for enclosed pipette systems and connected components.BACKGROUND

[0003] Liquid handling systems, such as pipette systems, are widely used in laboratory environments for processing samples, dispensing reagents, and performing various automated protocols. These systems typically include robotic elements, moveable stages, and selectively couplable pipettes that operate within enclosed workspaces. The enclosed nature of these systems helps isolate reactions from outside environmental factors and prevents interference with ongoing processes.

[0004] As laboratory workflows become more complex and throughput demands increase, liquid handling systems often require additional equipment and consumables during operation. Labware such as tip racks, PCR plates, deep well plates, and reagent reservoirs may need to be replenished or exchanged during extended protocols. Conventional approaches to adding equipment to a liquid handling system typically involve manual intervention, which can interrupt ongoing processes and introduce potential sources of error or contamination.

[0005] Equipment handling modules have been developed to provide automated delivery of labware into enclosed liquid handling systems. These modules may store stacks of labware and sequentially dispense individual pieces into the system workspace. However, integrating such modules with existing liquid handling systems presents various challenges related to positioning accuracy, safety considerations, and operational verification.

[0006] When equipment handling modules are connected to liquid handling systems that include ultraviolet sterilization capabilities, additional safety considerations arise. Ultravioletradiation poses potential hazards to users, and systems incorporating UV modules benefit from mechanisms that verify proper installation and sealing of all access points before UV operation is permitted.

[0007] Monitoring the status of labware within equipment handling modules presents additional considerations. Users and automated systems benefit from information regarding labware inventory levels, proper loading of equipment, and successful transfer of labware between the module and the liquid handling system. Detection of error conditions such as jams or improper transfers can help prevent damage to equipment and reduce protocol failures.

[0008] Accordingly, there exists a general interest in sensor systems and configurations that can address various aspects of equipment handling module operation, including inventory monitoring, transfer verification, safety interlocking, and error detection within liquid handling system environments.BRIEF DESCRIPTION OF FIGURES

[0009] Non-limiting and non-exhaustive examples are described with reference to the following figures.

[0010] FIG. 1 illustrates a system for a liquid handling system with sensor integration, according to at least one example.

[0011] FIG. 2 illustrates a sensor system for a liquid handling system with door sensors and interlock sensors, according to at least one example.

[0012] FIG. 3 illustrates a first portion of a door sensor with spring-loaded electrical contacts, according to at least one example.

[0013] FIG. 4 illustrates a mating door sensor configured to engage with the door sensor of FIG. 3, according to at least one example.

[0014] FIG. 5 illustrates an interlock system with a housing having access panel openings and opening sensors, according to at least one example.

[0015] FIG. 6 illustrates an equipment handling module with sensors and sensor fields of view, according to at least one example.

[0016] FIG. 7 illustrates an equipment handling module with sensor detection of labware within the equipment handling module, according to at least one example.

[0017] FIG. 8 illustrates an equipment handling module with sensor detection of labware moving along a horizontal platen into a housing of a liquid handling system, according to at least one example.

[0018] FIG. 9 illustrates an equipment handling module showing labware stacked within a vertical cabinet with sensor detection, according to at least one example.

[0019] FIG. 10 illustrates the equipment handling module of FIG. 9 with lab ware detected and moved by a labware platform, according to at least one example.

[0020] FIG. 11 illustrates the equipment handling module of FIG. 9 showing sensor detection for jam detection of labware within the equipment handling module, according to at least one example.DETAILED DESCRIPTION

[0021] The following description sets forth exemplary aspects of the present disclosure. It should be recognized, however, that such description is not intended as a limitation on the scope of the present disclosure. Rather, the description also encompasses combinations and modifications to those exemplary aspects described herein.

[0022] The present disclosure relates to sensor systems and methods for controlling operation of liquid handling systems. A liquid handling system may include a liquid handling robot disposed within a housing, where the liquid handling robot performs operations such as aspirating and dispensing liquids using pipettes. The housing may enclose a workspace in which the liquid handling robot operates, and the housing may include a plurality of access panels that provide access to the interior of the housing for maintenance, loading of equipment, or other purposes. The sensor systems described herein enable monitoring of conditions within the liquid handling system and verification of proper installation of components to ensure safe and reliable operation.

[0023] A sensor system for a liquid handling system may include a plurality of interlock sensors, one or more sensors associated with an equipment handling module, and a computing device communicatively coupled to the sensors. An interlock sensor, as used throughout the present disclosure, refers to a sensor configured to detect whether a component such as an access panel, door, or cover is properly installed or positioned to form a seal or closure at an access point of the housing. Interlock sensors may include electrical contacts, switches, reed switches, magnetic sensors, or other sensing devices that detect the presence or absence of a component at a designatedlocation. The interlock sensors may be positioned at access panels of the housing, with each interlock sensor configured to detect whether a respective access panel is properly installed.

[0024] A time-of-flight sensor, as used throughout the present disclosure, refers to an optical distance measurement sensor that determines a distance to an object by measuring the time required for a light signal to travel from the sensor to the object and return. Time-of-flight sensors may emit infrared light, laser light, or other electromagnetic radiation and may calculate distance based on the round-trip travel time of the emitted signal. Time-of-flight sensors may be used within an equipment handling module to measure distances to labware stacks, detect the presence or absence of labware at particular locations, and verify proper dispensing and transfer operations.

[0025] A computing device, as used throughout the present disclosure, refers to an electronic device comprising a processor and a memory, where the memory stores instructions that, when executed by the processor, cause the computing device to perform operations. The computing device may be communicatively coupled to the plurality of interlock sensors and the one or more sensors associated with the equipment handling module. The computing device may receive sensor data from the sensors and may control operations of the liquid handling robot, a module connected to the liquid handling robot or the housing, and the equipment handling module based on the received sensor data. The computing device may execute software or firmware that processes the sensor data and generates control signals for the various components of the liquid handling system.

[0026] A method for controlling operation of a liquid handling system may include receiving sensor data from a plurality of interlock sensors positioned at access panels of a housing of the liquid handling system. The method may further include receiving sensor data from one or more sensors associated with an equipment handling module connected to the housing. Based on the sensor data from the plurality of interlock sensors, the method may include determining whether all access panels are properly installed. Based on the sensor data from the one or more sensors associated with the equipment handling module, the method may include determining a condition within the equipment handling module, such as an inventory level of labware or whether labware has been properly dispensed. The method may further include controlling operations of a liquid handling robot disposed within the housing, a module connected to the liquid handling robot, and the equipment handling module based on the determinations.

[0027] A system may include an enclosure having a plurality of access openings, a plurality of interlock sensors positioned at the access openings, a module connected to the enclosure, oneor more sensors associated with the module, and a computing device. Each interlock sensor may be positioned at a respective access opening and may be configured to detect whether the respective access opening is sealed by an access panel, door, cover, or other component. The module may be configured to perform an operation within or in connection with the enclosure, such as ultraviolet sterilization, air filtration, or equipment handling. The computing device may receive sensor data from the plurality of interlock sensors and the one or more sensors and may prevent operation of the module when the sensor data indicates that at least one access opening is not sealed. When the sensor data indicates that all access openings are sealed, the computing device may control operation of the module based on the sensor data from the one or more sensors associated with the module.

[0028] Referring to FIG. 1, a system 100 for a liquid handling system with sensor integration is illustrated in block diagram form. The system 100 includes a liquid handling system 102, a module 104, an equipment handling module 106, and a computing device 108. The liquid handling system 102 comprises a housing that encloses a workspace containing a liquid handling robot and associated components for processing samples and dispensing liquids. The liquid handling robot may be disposed within the housing and may include a movable stage, a gantry, pipettes, and other components for aspirating and dispensing liquids. The housing of the liquid handling system 102 may include a plurality of access panels that provide access to the interior of the housing, with each access panel having an associated interlock sensor configured to detect whether the respective access panel is properly installed.

[0029] With continued reference to FIG. 1, the module 104 is connected to the liquid handling system 102 and is configured to perform an operation within the housing. In some cases, the module 104 may comprise an ultraviolet sterilization module configured to emit ultraviolet radiation within the housing for sterilization purposes. In other cases, the module 104 may comprise an air filtration module, a HEPA module, or other modules configured to treat, condition, or interact with an environment enclosed in the housing of the liquid handling system 102. The module 104 may include one or more sensors that indicate configuration, enablement, door closure status, presence, or other conditions related to the module 104. The computing device 108 may be configured to prevent operation of the module 104 and / or the liquid handling module 102, such as an ultraviolet sterilization module, when at least one of the plurality of interlock sensors indicates that a respective access panel is not properly installed.

[0030] In some examples, the module 104 may be a component of the liquid handling system 102 and is configured to perform an operation within the housing. In some cases, the module 104 may comprise an ultraviolet sterilization module configured to emit ultraviolet radiation within the housing for sterilization purposes. In other cases, the module 104 may comprise an air filtration module, a HEPA module, or other modules configured to treat, condition, or interact with an environment enclosed in the housing of the liquid handling system 102. The module 104 may include one or more sensors that indicate configuration, enablement, door closure status, presence, or other conditions related to the module 104. The computing device 108 may be configured to prevent operation of the module 104 and / or the liquid handling system 102, such as an ultraviolet sterilization module, when at least one of the plurality of interlock sensors indicates that a respective access panel is not properly installed.

[0031] Though the module 104 is shown atop the liquid handling system 102 in FIG. 1, the module 104 may also include other modules that may be added to a side, front, rear, or other location on the liquid handling system 102. For example, the module 104 may also include an incubator, a robot-to-robot connection, a plate reader, and other such modules.

[0032] The equipment handling module 106 is connected to the housing of the liquid handling system 102 and is configured to provide labware into the housing. As shown in FIG. 1, the equipment handling module 106 may include a vertical cabinet for storing stacks of labware and a horizontal platen for transporting labware into the liquid handling system 102. The equipment handling module 106 may include one or more sensors configured to detect conditions within the equipment handling module 106, such as the inventory level of labware stored within the vertical cabinet or whether labware has been properly dispensed or transferred. The sensors associated with the equipment handling module 106 may include time-of-flight sensors, optical distance measurement sensors, door sensors, or other sensing devices that provide data regarding the state of the equipment handling module 106.

[0033] The computing device 108 is communicatively coupled to the liquid handling system 102, the module 104, and the equipment handling module 106. The computing device 108 includes a processor 110 and a memory 112. The processor 110 may comprise one or more microprocessors, microcontrollers, digital signal processors, or other processing devices configured to execute instructions stored in the memory 112. The memory 112 may comprise volatile memory, nonvolatile memory, or a combination thereof, and may store instructions and data for controllingoperations of the system 100. The computing device 108 may receive sensor data from the plurality of interlock sensors positioned at access panels of the housing and from the one or more sensors associated with the equipment handling module 106.

[0034] As further shown in FIG. 1, the memory 112 includes a protocol engine 114, an equipment engine 116, and a sensor engine 118. The protocol engine 114 manages protocols specifying sequences of operations for the liquid handling robot, the module 104, and the equipment handling module 106. A protocol may specify what labware is needed for a particular sequence of operations, how much labware is required, operations for the module 104 such as when and how to treat the environment, and operations of the equipment handling module 106 such as what labware to deliver, when to deliver the labware, and how to deliver the labware. The computing device 108 may be configured to receive a protocol specifying a sequence of operations for the liquid handling robot, the module 104, and the equipment handling module 106, and to control the operations based on both the protocol and the received sensor data.

[0035] The equipment engine 116 controls the operation of the equipment handling module 106, including the movement of labware from the vertical cabinet into the liquid handling system 102. The equipment engine 116 may coordinate the Z-axis carriage and X-axis carriage of the equipment handling module 106 to separate labware from a stack and transport the labware into the housing of the liquid handling system 102. The equipment engine 116 may receive commands from the protocol engine 114 indicating when labware is needed and may control the equipment handling module 106 to provide the labware at the appropriate time during execution of a protocol.

[0036] The sensor engine 118 receives and processes sensor data from a plurality of interlock sensors, time-of-flight sensors, door sensors, and other sensors associated with the liquid handling system 102, the module 104, and the equipment handling module 106. The sensor engine 118 processes sensor data to determine conditions such as whether access panels are properly installed, the inventory level of labware within the equipment handling module 106, and whether labware has been properly dispensed or transferred. In some cases, the sensor processing may run entirely in firmware for simple software implementations, where the sensor engine 118 executes firmware instructions to process sensor data without requiring additional on-robot processing. In other cases, the sensor processing may require on-robot processing for complicated software implementations, where the sensor engine 118 coordinates with other processing components to perform more complex analysis of the sensor data.

[0037] The sensor engine 118 may also detect closure of all access panels, meaning that in some instances there may not be an equipment handling module 106 or module 104 and the sensor engine 118 may instead receive information to ensure that panels and / or doors to close off the access ports or other openings where such attachments may be added are closed with appropriate doors (e.g., such as shown and described with respect to FIGS. 2 and 5.

[0038] The computing device 108 controls operations of the liquid handling robot, the module 104, and the equipment handling module 106 based on the sensor data received and processed by the sensor engine 118. The computing device 108 may be a component of the liquid handling system 102 or may be a separate computing system in communication with the liquid handling system 102. The computing device 108 may determine, based on the sensor data from the plurality of interlock sensors, whether all access panels are properly installed. When the sensor data indicates that at least one access opening is not sealed, the computing device 108 may prevent operation of the liquid handling system 102 and / or module 104. When the sensor data indicates that all access openings are sealed, the computing device 108 may control operation of the module 104 based on the sensor data from the one or more sensors associated with the module 104. The computing device 108 may also be configured to compare the protocol requirements for labware against a detected stack height to determine if sufficient labware is available before starting the protocol, thereby enabling the system 100 to verify that adequate labware inventory exists within the equipment handling module 106 prior to initiating a sequence of operations.

[0039] Referring to FIG. 2, a sensor system 200 for a liquid handling system is illustrated, according to at least one embodiment. The sensor system 200 includes a liquid handling system 202 having a housing with multiple components for detecting proper installation and sealing of access points. A door sensor 204 may be positioned at any suitable position to detect the closure of the door such as at an upper portion of the liquid handling system 202. The door sensor 204 may also be positioned lower, such as shown in FIG. 2 herein. A module 206 is positioned at an upper portion of the liquid handling system 202 and may be configured to perform an operation within the housing, such as ultraviolet sterilization or air filtration. An equipment handling module 208 is connected to the liquid handling system 202 and includes a horizontal platen 210 extending from the equipment handling module 208 for delivering labware and equipment into the housing.

[0040] With continued reference to FIG. 2, the equipment handling module 208 includes a door 212 and a sensor 214. The door 212 provides access to an interior of the equipment handlingmodule 208 for loading labware into a vertical cabinet of the equipment handling module 208. The sensor 214 may be positioned adjacent to the door 212 and may be configured to detect whether the door 212 is open or closed. A detail portion 216 is shown in an enlarged view depicting the sensor 214 and door 212 arrangement. The detail portion 216 illustrates the configuration of sensing components associated with the door 212 of the equipment handling module 208.

[0041] As further shown in FIG. 2, the detail portion 216 shows the door 212 with a door latch 218, a door sensor trigger 220, and a door sensor 222 configured to detect whether the door 212 is open or closed through various contact or non-contact sensing methods. In some examples the door sensor trigger 220 and the door sensor 222 may switch positions from what is shown in FIG.2 with the door sensor 222 on the door and the door sensor trigger 220 on the cabinet. The door latch 218 may secure the door 212 in a closed position. The door sensor 222 may comprise a reed switch and the door sensor trigger 220 may include a magnet positioned to trigger the reed switch when the door 212 is closed. The reed switch may be part of an interlock circuit that controls operation of the module 206, such as an ultraviolet sterilization module. When the door 212 is closed, the magnet may be positioned adjacent to the reed switch, causing the reed switch to close and complete the interlock circuit.

[0042] The door sensor 222 may comprise a two-stage mechanism with a spring-loaded plunger and a mechanical switch to detect door closure such as the components shown and described in FIGS. 3 and 4. The two-stage mechanism may allow detection of door closure without requiring accurate length adjustment of the door 212 relative to the equipment handling module 208. The spring-loaded plunger of the door sensor 222 may be pushed when the door 212 is closed, and the mechanical switch may be triggered when the spring-loaded plunger is depressed beyond a threshold distance by contact with a plate of the door sensor trigger 220. The two-stage configuration may accommodate variations in door positioning while still providing reliable detection of door closure. In some cases, the equipment handling module 208 may include both the reed switch with magnet for ultraviolet safety interlock and the separate mechanical switch for door position detection, providing redundant sensing of door closure status.

[0043] The liquid handling system 202 includes a housing panel 224 having multiple access doors 226 that may be arranged in a row. Each access door 226 may have an associated door sensor 228 positioned to detect whether the respective access door 226 is properly installed. The door sensors 228 may be arranged in series to detect if one or more access doors 226 are open orimproperly installed. In other cases, the door sensors 228 may be arranged in parallel to provide individual detection of each access door 226. The door sensors 228 may form part of an interlock system that detects proper installation of the access doors 226 on the housing panel 224.

[0044] The computing device 108 may be communicatively coupled to the door sensors 220, 222, and 228 and may receive sensor data indicating whether the door 212 and the access doors 226 are open or closed. The computing device 108 may be configured to prevent operation of the liquid handling system 202 and / or the module 206 when the door sensor 220 or the door sensor 222 indicates that the door 212 is open. When the door sensors 220 and 222 indicate that the door 212 is closed and the door sensors 228 indicate that all access doors 226 are properly installed, the computing device 108 may permit operation of the module 206. The one or more sensors associated with the module 208 may comprise at least one of a time-of-flight sensor configured to detect a distance to an object within the module 208, a reed switch configured to detect a presence of an object, or a door sensor configured to detect whether a door of the module 208 is open or closed.

[0045] Referring to FIGS. 3-5, a door sensor 300 and associated components for forming an interlock system are illustrated, according to at least one embodiment. FIG. 3 depicts the door sensor 300 comprising a body 302 having an elongated shape. The body 302 includes a ridge 304 extending along a lower portion of the body 302 for mounting purposes. The ridge 304 may be configured to engage with a corresponding slot or channel in a frame of the housing to secure the door sensor 300 in position. A plurality of contacts 306 are positioned on a back side of the body 302 for providing electrical connections to other sensors and to the computing device 108. The contacts 306 may enable the door sensor 300 to be connected in series with other door sensors to form a continuous interlock circuit.

[0046] With continued reference to FIG. 3, a plurality of spring-loaded electrical contacts 308 extend upward from the body 302. Each spring-loaded electrical contact 308 is configured to engage with corresponding contacts on a mating component when the door sensor 300 is mated with the mating component. The spring-loaded electrical contacts 308 may comprise pogo pins or similar spring-biased conductive elements that maintain electrical contact when compressed against a mating surface. The spring loading of the electrical contacts 308 allows the contacts to accommodate variations in positioning while maintaining reliable electrical connection. The body 302 further includes a recess 310 at one end of the body 302. A first contact portion 312, a secondcontact portion 314, and a third contact portion 316 are arranged in a stacked configuration adjacent to the recess 310. In some cases, the first contact portion 312, the second contact portion 314, and the third contact portion 316 may be telescoping and may stack or retreat into the recess 310.

[0047] FIG. 4 depicts a mating door sensor 400 configured to engage with the door sensor 300. The mating door sensor 400 comprises a body 402 having an elongated shape corresponding to the body 302 of the door sensor 300. The body 402 includes a ridge 404 extending along a lower portion of the body 402 for mounting purposes. A plurality of contacts 406 are positioned on a back side of the body 402 for connecting to other sensors and to the computing device 108. A plurality of contacts 408 are positioned along an upper surface of the body 402. The contacts 408 are configured to receive and engage with the spring-loaded electrical contacts 308 of the door sensor 300 when the door sensor 300 and the mating door sensor 400 are mated together. When the spring-loaded electrical contacts 308 engage with the contacts 408, an electrical circuit is completed between the door sensor 300 and the mating door sensor 400.

[0048] Referring to FIG. 5, an interlock system 500 is illustrated comprising a housing 502 having a plurality of access panel openings 504 arranged in a row. Each access panel opening 504 is configured to receive an access panel 506. The access panels 506 may be removable panels that provide access to an interior of the housing 502 for maintenance, loading of equipment, or other purposes. A plurality of opening sensors 508 are positioned at each access panel opening 504. Each opening sensor 508 is configured to detect whether a respective access panel 506 is properly installed in the corresponding access panel opening 504. A panel sensor 510 is shown in FIG. 5, illustrating the configuration of sensor components associated with an individual access panel 506.

[0049] The interlock system 500 enables detection of proper installation of all access panels 506 to form a continuous interlock circuit when all access panels 506 are properly installed in their respective access panel openings 504. The opening sensors 508 are electrically connected in series such that the opening sensors 508 form a continuous circuit when each access panel 506 is installed in the corresponding access panel opening 504. The continuous interlock circuit may be a safety circuit that is separate from other electronics of the liquid handling system 202. The reed switch described with respect to the door sensor 220 and the spring-loaded electrical contacts 308 may form one continuous circuit that breaks if any component is removed. When an access panel 506is removed from an access panel opening 504, the continuous interlock circuit is interrupted, and the computing device 108 may detect the interruption.

[0050] The plurality of interlock sensors, including the opening sensors 508, comprise electrical contacts positioned between the access panels 506 and a frame of the housing 502. The electrical contacts are configured to form the continuous interlock circuit when all access panels 506 are properly installed. The electrical contacts may comprise spring-loaded electrical contacts, such as the spring-loaded electrical contacts 308, that maintain reliable electrical connection when the access panels 506 are installed. When the module 104 comprises an ultraviolet sterilization module configured to emit ultraviolet radiation within the housing, the computing device 108 may be configured to prevent emission of ultraviolet radiation when the sensor data from the plurality of interlock sensors indicates that at least one access panel opening 504 is not sealed. The computing device 108 may detect an interruption in the continuous interlock circuit to determine that at least one access panel opening 504 is not sealed by a corresponding access panel 506 or by equipment properly installed into the access panel opening 504. Though a door sensor is included on examples of some modules that may attach to access panel opening 504, such as shown and described with respect to FIG. 2, the sensor circuit may use the door sensor or an access panel 506 that closes the access panel opening 504 to indicate closure of the access panel opening 504.

[0051] Referring to FIG. 6, an equipment handling module 600 with sensors and sensor fields of view is illustrated, according to at least one embodiment. The equipment handling module 600 includes a vertical cabinet 602 configured to store a stack of labware. The vertical cabinet 602 extends upward from a lower portion of the equipment handling module 600 and provides an enclosed space for holding multiple pieces of labware in a stacked arrangement. A sensor 604 is mounted at or near a top of the vertical cabinet 602. The sensor 604 may comprise a time-of-flight sensor or other optical distance measurement sensor configured to measure a distance to labware stored within the vertical cabinet 602. The sensor 604 has a field of view 606 that extends downward into an interior of the vertical cabinet 602, enabling the sensor 604 to detect the presence of labware in the vertical cabinet 602 and to measure a distance to a top surface of a labware stack.

[0052] With continued reference to FIG. 6, the sensor 604 mounted within the vertical cabinet 602 is configured to measure a distance to a stack of labware stored within the vertical cabinet 602. The height of the vertical cabinet 602 is known as part of a machine configuration, and by subtracting the measured distance from the known height, a height of the labware stack may bedetermined. The sensor 604 positioned along a Z-axis of the equipment handling module 600 enables detection of the presence of lab ware in the vertical cabinet 602 and provides data that may be used to determine an inventory level of labware within the equipment handling module 600. The computing device 108 may receive sensor data from the sensor 604 and may determine a condition within the equipment handling module 600 based on the sensor data, such as whether the labware stack height is below a threshold level.

[0053] The equipment handling module 600 further includes a horizontal platen 608 extending from a bottom portion of the vertical cabinet 602. The horizontal platen 608 provides a base structure for the equipment handling module 600 and defines a pathway for transporting labware along an X-axis direction into and out of an enclosure of the liquid handling system 102. A labware shuttle 610 is positioned on the horizontal platen 608 and is configured to transport labware along the X-axis direction. The labware shuttle 610 may receive labware from the vertical cabinet 602 and may carry the labware from the equipment handling module 600 into the housing of the liquid handling system 102 for use by the liquid handling robot.

[0054] As further shown in FIG. 6, a sensor 612 is positioned adjacent to the horizontal platen 608 and is oriented along the X-axis direction of the equipment handling module 600. The sensor 612 may comprise a time-of-flight sensor or other optical distance measurement sensor configured to detect whether labware has been properly dispensed from the vertical cabinet 602 onto the labware shuttle 610. The sensor 612 has a field of view 614 that extends along a path of the labware shuttle 610, enabling the sensor 612 to detect the presence or absence of labware on the labware shuttle 610 as the labware shuttle 610 moves along the horizontal platen 608. The sensor 612 positioned along the X-axis enables detection of the presence of labware on the horizontal platen 608 and provides data that may be used to verify proper dispensing and transfer operations within the equipment handling module 600.

[0055] The sensors 604 and 612 may comprise time-of-flight sensors, optical distance measurement sensors, or other sensing devices configured to detect labware positions and verify proper dispensing and transfer operations within the equipment handling module 600. The one or more sensors associated with the equipment handling module 600 are configured to detect a condition within the equipment handling module 600, such as the inventory level of labware stored within the vertical cabinet 602 or whether labware has been properly dispensed from the vertical cabinet 602 onto the labware shuttle 610. The computing device 108 may receive sensor data fromthe sensors 604 and 612 and may control operations of the equipment handling module 600 based on the received sensor data. The equipment handling module 600 is compatible with standard SBS format labware having dimensions of 127.75 mm by 85.75 mm, enabling the equipment handling module 600 to handle a variety of labware types including tip racks, PCR plates, deep well plates, and reagent reservoirs that conform to the SBS format standard.

[0056] Referring to FIGS. 7-8, an equipment handling module 700 and an equipment handling module 800 are illustrated in two different operational states, showing sensor detection of labware within a vertical cabinet. FIG. 7 illustrates the equipment handling module 700 comprising a vertical cabinet 702 and a horizontal platen 704. The vertical cabinet 702 extends upward from the horizontal platen 704 and provides an enclosed space for storing labware in a stacked arrangement. A labware platform 706 is positioned within the vertical cabinet 702 and supports a stack of labware 708. The labware platform 706 may be configured to move along a Z-axis direction to raise and lower the stack of labware 708 within the vertical cabinet 702. A sensor 710 is mounted at an upper portion of the vertical cabinet 702 and is oriented to detect conditions within the vertical cabinet 702.

[0057] With continued reference to FIG. 7, the sensor 710 generates a sensor detection 712 directed downward toward the stack of labware 708 within the vertical cabinet 702. The sensor 710 may comprise a time-of-flight sensor configured to measure a distance to the stack of labware 708 stored within the vertical cabinet 702. The sensor detection 712 enables measurement of a distance from the sensor 710 to a top surface of the stack of labware 708. The computing device 108 may receive sensor data from the sensor 710 and may determine a height of the stack of labware 708 based on the measured distance. The height of the stack of labware 708 may be calculated based on the measured distance and a known height of the vertical cabinet 702, where the known height of the vertical cabinet 702 is stored as part of a machine configuration.

[0058] The computing device 108 may be configured to determine the number of labware items in the stack by dividing the calculated stack height by a predefined labware height stored in software. The height of each labware type may be defined in software, and the computing device 108 may calculate the quantity of labware remaining within the equipment handling module 700 by dividing the determined stack height by the predefined labware height. The computing device 108 may provide labware count accuracy within plus or minus one lab ware item, enabling the system 100 to provide an estimate of the number of lab ware items remaining in the stack. In somecases, the computing device 108 may generate an alert when the height of the stack of labware 708 is below a threshold level, notifying a user that labware supplies are running low and may need to be replenished.

[0059] FIG. 8 illustrates the equipment handling module 800 comprising a vertical cabinet 802 and a horizontal platen 804. A labware platform 806 is positioned within the equipment handling module 800 and supports labware 808. A sensor 810 is mounted at a side portion near the bottom of the vertical cabinet 802 and is oriented to detect labware on the labware platform 806. The sensor 810 generates a sensor detection 812 directed toward the labware platform 806 and / or any labware 808 positioned thereon. The equipment handling module 800 is shown in a configuration where the labware 808 has not been lowered (or has already been delivered and has been removed from the labware platform 806) from the vertical cabinet 802, with the sensor detection 812 measuring the distance to the labware platform 806 and / or labware situated thereon (if any). The sensor 810 and the sensor detection 812 enable monitoring of labware during loading into the housing of the liquid handling system 102.

[0060] A method for controlling operation of a liquid handling system may include measuring, using a time-of-flight sensor such as the sensor 710 or the sensor 810, a distance to lab ware either stored within a vertical cabinet of the equipment handling module or positioned on a labware platform. The method may further include calculating a height of the of labware within the vertical cabinet based on the measured distance and a known height of the vertical cabinet. The method may include determining whether the height of the stack of labware is below a threshold level. When the height of the stack of labware is below the threshold level, the method may further include generating an alert to a user. The alert may be displayed on a display device associated with the equipment handling module 700 or the liquid handling system 102, notifying the user that labware supplies are low and may need to be replenished before starting or continuing a protocol. Similarly, the sensor 810 may detect when labware is not present on the labware platform 806, which may indicate a jam in the vertical cabinet 802 that is preventing labware from lowering and an alert may be generated.

[0061] The sensor system 200 may use predefined baseline data based on a sample of validation units without requiring unit-specific calibration. The predefined baseline data may be generated during manufacturing or validation of the equipment handling module 700 or the equipment handling module 800 and may be stored in the memory 112 of the computing device108. The use of predefined baseline data enables the sensor system 200 to operate without requiring calibration for each individual unit, reducing setup time and complexity for users. In some cases, the sensor system 200 may operate independently of labware type for simple software implementations, where the sensor 710 or the sensor 810 detects whether labware is present or absent without requiring specification of the particular labware type. In other cases, more complicated software implementations may require labware type to be defined and may use labware-specific baseline data for more accurate inventory counting.

[0062] The computing device 108 may be configured to validate labware type by checking whether a stack height of the labware 708 is a multiple of an expected labware height. The height of each labware type may be defined in software and stored in the memory 112 of the computing device 108. For example, if a particular lab ware type has a height of 10 units, the stack height of the labware 708 within the vertical cabinet 702 may be expected to be 10, 20, 30, or another multiple of 10 units. When the computing device 108 determines that the stack height is not a multiple of the expected labware height, the computing device 108 may generate an alert indicating that incorrect labware may be loaded in the vertical cabinet 702. The validation of labware type by checking stack height multiples enables the sensor system 200 to detect when a user has accidentally loaded an incorrect labware type into the equipment handling module 700.

[0063] The computing device 108 may be configured to detect incorrect labware by comparing a change in stack height after dispensing a labware item against an expected height decrease. After the bottom labware 708 is dispensed from the vertical cabinet 702, the stack height of the remaining labware 708 may decrease by the height of one labware item. The computing device 108 may measure the stack height before and after dispensing the bottom labware 708 and may calculate the change in stack height. When the change in stack height does not match the expected height decrease for the specified labware type, the computing device 108 may determine that incorrect labware is loaded in the vertical cabinet 702. The comparison of actual height change against expected height change provides an additional method for validating that the correct labware type is loaded in the equipment handling module 700.

[0064] The sensor system 200 may require labware type definition and unit-specific calibration for complicated software implementations. In complicated software implementations, the labware type may need to be defined by a user or by the protocol engine 114 before the equipment handling module 700 begins dispensing labware. The computing device 108 may use labware-specificbaseline data that is calibrated for each individual unit of the equipment handling module 700. The unit-specific calibration may account for variations in sensor positioning, vertical cabinet dimensions, or other factors that may affect the accuracy of stack height measurements. The complicated software implementations may enable more accurate labware counting and validation compared to simple software implementations that operate without unit-specific calibration.

[0065] Referring to FIGS. 9-10, an equipment handling module 900 is illustrated showing labware stacked within a vertical cabinet 902, according to at least one embodiment. The equipment handling module 900 includes the vertical cabinet 902 configured to store a stack of labware 908. The vertical cabinet 902 extends upward from a horizontal platen 904 that provides a base structure for the equipment handling module 900. A labware platform 906 is positioned at a lower portion of the vertical cabinet 902 and is configured to support and transport labware along a horizontal axis. Multiple pieces of labware 908 are shown stacked vertically within the vertical cabinet 902, with a bottom labware 908A positioned at a lowest position in the stack. The bottom labware 908A rests on or adjacent to the labware platform 906 and is configured to be separated from a remainder of the stack for transport into the liquid handling system 102.

[0066] With continued reference to FIGS. 9-10, a sensor 910 is positioned within the equipment handling module 900 and is oriented to detect conditions along a horizontal axis extending from the vertical cabinet 902. The sensor 910 may comprise a time-of-flight sensor or other optical distance measurement sensor configured to detect whether labware has been properly dispensed from the vertical cabinet 902 onto the labware platform 906. The sensor 910 generates a sensor detection 912 field that extends horizontally across a path where labware travels when being dispensed from the vertical cabinet 902 onto the labware platform 906. The sensor detection 912 enables the equipment handling module 900 to verify whether labware has been properly dispensed from the vertical cabinet 902 and to detect potential jam conditions or transfer errors during operation. FIG. 9 shows the bottom labware 908A being detected as the bottom labware 908A reaches the labware platform 906 to be moved into the housing of the liquid handling system 102.

[0067] As further shown in FIG. 10, the bottom labware 908 A is moved by the labware platform 906 along the horizontal platen 904 toward the housing of the liquid handling system 102. The sensor 910 continues to generate the sensor detection 912 to monitor the movement of the bottom labware 908A with the labware platform 906 into the housing. When the labwareplatform 906 moves the bottom labware 908A out of the vertical cabinet 902 onto the horizontal platen 904, the bottom labware 908A blocks the sensor detection 912 from the sensor 910. The computing device 108 may receive sensor data from the sensor 910 and may determine whether the bottom labware 908A has been properly dispensed based on whether the sensor detection 912 detects the presence of the bottom labware 908A on the labware platform 906.

[0068] Referring to FIG. 11, the equipment handling module 900 is illustrated showing sensor detection within the vertical cabinet 902 and provides an example of jam detection of labware within the equipment handling module 900. The equipment handling module 900 includes the vertical cabinet 902 positioned above the horizontal platen 904. The vertical cabinet 902 is configured to store the stack of labware 908 in a vertical arrangement. The labware platform 906 is positioned at the lower portion of the vertical cabinet 902 adjacent to the horizontal platen 904. The stack of labware 908 includes multiple pieces of labware arranged vertically, with the bottom labware 908A positioned at the lowest position of the stack.

[0069] With continued reference to FIG. 11, the sensor 910 is mounted within the equipment handling module 900 and is oriented to detect the presence and position of labware as labware moves along the horizontal platen 904. The sensor 910 generates the sensor detection 912 that extends toward an interior of the housing of the liquid handling system 102, enabling measurement of a distance to the labware stack and detection of labware presence along the X-axis path. The sensor detection 912 allows the sensor system 200 to monitor the movement of lab ware and ensure that the bottom labware 908A is moved with the labware platform 906 along the horizontal platen 904. The horizontal platen 904 extends from a bottom of the vertical cabinet 902 and provides a pathway for transferring labware from the equipment handling module 900 into an associated liquid handling system.

[0070] The sensor system 200 is configured to detect labware jams when the sensor 910 along the X-axis does not detect labware that should have been moved out of the vertical cabinet 902. When the labware platform 906 is commanded to move the bottom labware 908A out of the vertical cabinet 902 onto the horizontal platen 904, the sensor 910 may monitor the sensor detection 912 to verify that the bottom labware 908A has moved into the path of the sensor detection 912. In some cases, the bottom labware 908A may become jammed within the vertical cabinet 902 and may fail to move onto the labware platform 906 as expected. When the sensor 910 does not detect the presence of labware in the sensor detection 912 field after the labware platform906 has moved to a position where labware should be present, the computing device 108 may determine that a jam condition has occurred within the equipment handling module 900.

[0071] As further shown in FIG. 11, the sensor 910 positioned along the X-axis of the equipment handling module 900 is configured to validate gripper transfers by detecting whether labware is present after a gripper was supposed to transfer the labware. A gripper of the liquid handling system 102 may be configured to grasp labware from the labware platform 906 and transfer the labware to another location within the housing of the liquid handling system 102. After the gripper performs a transfer operation, the sensor 910 may generate the sensor detection 912 to verify whether the labware has been removed from the labware platform 906. When the gripper properly transfers the labware, the sensor 910 may detect an absence of lab ware in the sensor detection 912 field, indicating that the transfer was successful.

[0072] In some cases, the gripper may fail to properly grasp or transfer the labware from the labware platform 906. When the gripper fails to transfer the labware, the labware may remain on the labware platform 906 after the gripper was supposed to have removed the labware. The sensor 910 may detect the presence of labware in the sensor detection 912 field after the gripper transfer operation was supposed to have completed. The computing device 108 may receive sensor data from the sensor 910 and may determine that the gripper transfer failed based on the continued presence of labware detected by the sensor 910. The computing device 108 may generate an alert indicating that the gripper transfer failed, and the computing device 108 may pause or cancel a protocol until the transfer error is resolved.

[0073] The sensor 910 may also detect conditions where the gripper did not properly grasp the labware or where the labware was moved to an incorrect position on the labware platform 906. In some cases, the gripper may partially grasp the labware and may release the labware before completing the transfer, causing the labware to fall back onto the labware platform 906 or onto the horizontal platen 904. The sensor 910 may detect the presence of labware in an unexpected position along the X-axis path, and the computing device 108 may determine that an error has occurred based on the sensor data from the sensor 910. The detection of labware in unexpected positions enables the sensor system 200 to identify transfer errors and jam conditions that may interfere with continued operation of the equipment handling module 900.

[0074] A number of implementations have been described. Nevertheless, it will be understood that various modifications may be made without departing from the spirit and scope of the disclosure. Accordingly, other implementations are within the scope of the following claims.EXAMPLE CLAUSES

[0075] A. A sensor system for a liquid handling system, comprising: a liquid handling robot disposed within a housing; a module connected to the liquid handling robot or the housing and configured to perform an operation within the housing; an equipment handling module connected to the housing and configured to provide labware into the housing; a plurality of interlock sensors positioned at access panels of the housing, each interlock sensor configured to detect whether a respective access panel is properly installed; one or more sensors associated with the equipment handling module and configured to detect a condition within the equipment handling module; and a computing device communicatively coupled to the plurality of interlock sensors and the one or more sensors and configured to: receive sensor data from the plurality of interlock sensors and the one or more sensors; and control operations of the liquid handling robot, the module, and the equipment handling module based on the received sensor data.

[0076] B The sensor system of paragraph A, wherein the module comprises an ultraviolet sterilization module configured to emit ultraviolet radiation within the housing.

[0077] C. The sensor system of paragraph B, wherein the computing device is configured to prevent operation of the ultraviolet sterilization module when at least one of the plurality of interlock sensors indicates that a respective access panel is not properly installed.

[0078] D The sensor system of any of paragraphs A-C, wherein the plurality of interlock sensors comprise electrical contacts positioned between the access panels and a frame of the housing, the electrical contacts configured to form a continuous interlock circuit when all access panels are properly installed.

[0079] E. The sensor system of paragraph D, wherein the electrical contacts comprise spring-loaded electrical contacts.

[0080] F. The sensor system of any of paragraphs A-E, wherein the one or more sensors associated with the equipment handling module comprise a time-of-flight sensor mounted within a vertical cabinet of the equipment handling module and configured to measure a distance to a stack of labware stored within the vertical cabinet.

[0081] G. The sensor system of paragraph F, wherein the computing device is configured to: determine a height of the stack of labware based on the measured distance; and generate an alert when the height of the stack of labware is below a threshold level.

[0082] H. The sensor system of any of paragraphs A-G, wherein the one or more sensors associated with the equipment handling module comprise a time-of-flight sensor oriented along an X-axis of the equipment handling module and configured to detect whether lab ware has been properly dispensed from a vertical cabinet onto an X-axis carriage.

[0083] I. The sensor system of any of paragraphs A-H, wherein the equipment handling module comprises a door and a door sensor configured to detect whether the door is open or closed, and wherein the computing device is configured to prevent operation of the module when the door sensor indicates that the door is open.

[0084] J The sensor system of paragraph I, wherein the door sensor comprises a reed switch and a magnet positioned to trigger the reed switch when the door is closed.

[0085] K. The sensor system of any of paragraphs A-J, wherein the computing device is configured to receive a protocol specifying a sequence of operations for the liquid handling robot, the module, and the equipment handling module, and to control the operations based on both the protocol and the received sensor data.

[0086] L. A method for controlling operation of a liquid handling system, the method comprising: receiving, by a computing device, sensor data from a plurality of interlock sensors positioned at access panels of a housing of the liquid handling system, each interlock sensor configured to detect whether a respective access panel is properly installed; receiving, by the computing device, sensor data from one or more sensors associated with an equipment handling module connected to the housing; determining, by the computing device, based on the sensor data from the plurality of interlock sensors, whether all access panels are properly installed; determining, by the computing device, based on the sensor data from the one or more sensors, a condition within the equipment handling module; and controlling, by the computing device, operations of a liquid handling robot disposed within the housing, a module connected to the liquid handling robot, and the equipment handling module based on the determinations.

[0087] M. The method of paragraph L, wherein the module comprises an ultraviolet sterilization module, and wherein controlling operations comprises preventing operation of theultraviolet sterilization module when the determination indicates that at least one access panel is not properly installed.

[0088] N. The method of paragraph L or M, wherein determining the condition within the equipment handling module comprises: measuring, using a time-of-flight sensor, a distance to a stack of labware stored within a vertical cabinet of the equipment handling module; calculating a height of the stack of labware based on the measured distance and a known height of the vertical cabinet; and determining whether the height of the stack of labware is below a threshold level.

[0089] O. The method of paragraph N, further comprising generating an alert to a user when the height of the stack of labware is below the threshold level.

[0090] P The method of any of paragraphs L-O, further comprising: receiving, by the computing device, a protocol specifying a sequence of operations for the liquid handling robot, the module, and the equipment handling module; and controlling the operations based on both the protocol and the received sensor data.

[0091] Q. A system comprising: an enclosure having a plurality of access openings; one or more interlock sensors, each interlock sensor positioned at a respective access opening and configured to detect whether the respective access opening is sealed; a module connected to the enclosure and configured to perform an operation; one or more sensors associated with the module and configured to detect a condition related to the module; and a computing device communicatively coupled to the one or more interlock sensors and the one or more sensors, the computing device configured to: receive sensor data from the one or more interlock sensors and the one or more sensors; prevent operation of the module when the sensor data from the one or more interlock sensors indicates that at least one access opening is not sealed; and control operation of the module based on the sensor data from the one or more sensors when the sensor data from the one or more interlock sensors indicates that all access openings are sealed.

[0092] R. The system of paragraph Q, wherein the module comprises an ultraviolet sterilization module configured to emit ultraviolet radiation within the enclosure, and wherein the computing device is configured to prevent emission of ultraviolet radiation when the sensor data from the plurality of interlock sensors indicates that at least one access opening is not sealed.

[0093] S The system of paragraph R, wherein the plurality of interlock sensors comprise spring-loaded electrical contacts configured to form a continuous interlock circuit when all accessopenings are sealed, and wherein the computing device is configured to detect an interruption in the continuous interlock circuit to determine that at least one access opening is not sealed.

[0094] T. The system of any of paragraphs Q-S, wherein the one or more sensors associated with the module comprise at least one of a time-of-flight sensor configured to detect a distance to an object within the module, a reed switch configured to detect a presence of an object, or a door sensor configured to detect whether a door of the module is open or closed.

[0095] U. A sensor system comprising: a liquid handling robot disposed within a housing, the housing having a plurality of access panels; a plurality of interlock sensors electrically connected in series to form a continuous interlock circuit, wherein at least one interlock sensor is positioned at a respective access panel and configured to interrupt the continuous interlock circuit when the respective access panel is removed; a module configured to be installed at a location of one of the plurality of access panels; and a computing device communicatively coupled to the plurality of interlock sensors and configured to prevent operation of a feature of the liquid handling robot that could cause human harm when the continuous interlock circuit is interrupted.

[0096] V. A sensor system for an equipment handling module, comprising: a vertical cabinet configured to store a stack of labware; a Z-axis sensor mounted at an upper portion of the vertical cabinet and oriented along a Z-axis of the equipment handling module, the Z-axis sensor configured to measure a distance to the stack of labware stored within the vertical cabinet; and a computing device communicatively coupled to the Z-axis sensor and configured to: receive sensor data from the Z-axis sensor; determine a height of the stack of labware based on the measured distance and a known height of the vertical cabinet; and determine an inventory level of labware within the equipment handling module based on the determined height.

[0097] W. The sensor system of paragraph V, further comprising: a horizontal platen extending from a bottom portion of the vertical cabinet; and an X-axis sensor positioned adjacent to the horizontal platen and oriented along an X-axis of the equipment handling module, the X-axis sensor configured to detect whether labware has been properly dispensed from the vertical cabinet onto the horizontal platen.

[0098] X. The sensor system of paragraph W, wherein the computing device is configured to detect a jam condition when the X-axis sensor does not detect labware that should have been moved out of the vertical cabinet.

[0099] Y The sensor system of any of paragraphs V-X, further comprising: a housing enclosing a liquid handling robot; a plurality of interlock sensors positioned at access panels of the housing, each interlock sensor configured to detect whether a respective access panel is properly installed; and wherein the computing device is communicatively coupled to the plurality of interlock sensors and configured to prevent operation of a module connected to the housing when at least one of the plurality of interlock sensors indicates that a respective access panel is not properly installed.

[0100] Z. The sensor system of paragraph Y, wherein the plurality of interlock sensors comprise electrical contacts configured to form a continuous interlock circuit when all access panels are properly installed.

[0101] AA. The sensor system of any of paragraphs V-Z, further comprising: a horizontal platen extending from a bottom portion of the vertical cabinet; an X-axis sensor positioned adjacent to the horizontal platen and oriented along an X-axis of the equipment handling module, the X-axis sensor configured to detect whether labware has been properly dispensed from the vertical cabinet onto the horizontal platen; a housing enclosing a liquid handling robot; and a plurality of interlock sensors positioned at access panels of the housing, each interlock sensor configured to detect whether a respective access panel is properly installed.

[0102] AB. A sensor system for an equipment handling module, comprising: a vertical cabinet configured to store labware; a horizontal platen extending from a bottom portion of the vertical cabinet; a labware platform configured to transport labware along the horizontal platen; an X-axis sensor positioned adjacent to the horizontal platen and oriented along an X-axis of the equipment handling module, the X-axis sensor configured to detect a presence or absence of labware on the labware platform; and a computing device communicatively coupled to the X-axis sensor and configured to: receive sensor data from the X-axis sensor; and determine whether labware has been properly dispensed from the vertical cabinet onto the labware platform based on the sensor data.

[0103] AC. The sensor system of paragraph AB, further comprising: a Z-axis sensor mounted at an upper portion of the vertical cabinet and oriented along a Z-axis of the equipment handling module, the Z-axis sensor configured to measure a distance to a stack of labware stored within the vertical cabinet; wherein the computing device is configured to determine a height of the stack of labware based on the measured distance.

[0104] AD. The sensor system of paragraph AC, wherein the computing device is configured to validate labware type by checking whether a stack height of the labware is a multiple of an expected labware height.

[0105] AE. The sensor system of any of paragraphs AB-AD, further comprising: a housing enclosing a liquid handling robot; a plurality of interlock sensors positioned at access panels of the housing, each interlock sensor configured to detect whether a respective access panel is properly installed; and wherein the computing device is communicatively coupled to the plurality of interlock sensors and configured to receive sensor data indicating whether all access panels are properly installed.

[0106] AF. The sensor system of paragraph AE, wherein the plurality of interlock sensors comprise spring-loaded electrical contacts configured to form a continuous interlock circuit when all access panels are properly installed.

[0107] AG. The sensor system of any of paragraphs AB-AF, wherein the computing device is configured to validate gripper transfers by detecting whether labware is present on the labware platform after a gripper was supposed to transfer the labware.

[0108] AH. The sensor system of any of paragraphs AB-AG, further comprising: a Z-axis sensor mounted at an upper portion of the vertical cabinet and oriented along a Z-axis of the equipment handling module, the Z-axis sensor configured to measure a distance to a stack of labware stored within the vertical cabinet; a housing enclosing a liquid handling robot; and a plurality of interlock sensors positioned at access panels of the housing, each interlock sensor configured to detect whether a respective access panel is properly installed.

[0109] Al. A sensor system for a liquid handling system, comprising: a housing enclosing a liquid handling robot, the housing having a plurality of access panels; a plurality of interlock sensors, each interlock sensor positioned at a respective access panel and configured to detect whether the respective access panel is properly installed, the plurality of interlock sensors electrically connected in series to form a continuous interlock circuit; a module connected to the housing and configured to perform an operation within the housing; and a computing device communicatively coupled to the plurality of interlock sensors and configured to: receive sensor data from the plurality of interlock sensors; detect an interruption in the continuous interlock circuit; and prevent operation of the module when the interruption is detected.

[0110] AJ. The sensor system of paragraph Al, further comprising: an equipment handling module connected to the housing; and a Z-axis sensor mounted within a vertical cabinet of the equipment handling module and configured to measure a distance to a stack of labware stored within the vertical cabinet; wherein the computing device is configured to determine an inventory level of labware within the equipment handling module based on sensor data from the Z-axis sensor.[OHl] AK. The sensor system of paragraph AJ, wherein the computing device is configured to generate an alert when a height of the stack of labware is below a threshold level.

[0112] AL. The sensor system of any of paragraphs AI-AK, further comprising: an equipment handling module connected to the housing; a horizontal platen extending from the equipment handling module; and an X-axis sensor positioned adjacent to the horizontal platen and oriented along an X-axis of the equipment handling module, the X-axis sensor configured to detect whether labware has been properly dispensed onto the horizontal platen.

[0113] AM. The sensor system of paragraph AL, wherein the computing device is configured to detect a jam condition based on sensor data from the X-axis sensor.

[0114] AN. The sensor system of any of paragraphs AI-AM, wherein the module comprises an ultraviolet sterilization module configured to emit ultraviolet radiation within the housing.

[0115] AO. The sensor system of any of paragraphs AI-AN, further comprising: an equipment handling module connected to the housing; a Z-axis sensor mounted within a vertical cabinet of the equipment handling module and configured to measure a distance to a stack of labware stored within the vertical cabinet; a horizontal platen extending from the equipment handling module; and an X-axis sensor positioned adjacent to the horizontal platen and oriented along an X-axis of the equipment handling module, the X-axis sensor configured to detect whether labware has been properly dispensed onto the horizontal platen.

Claims

1. CLAIMS1. A sensor system for a liquid handling system, comprising:a liquid handling robot disposed within a housing;a module connected to the liquid handling robot or the housing and configured to perform an operation within the housing;an equipment handling module connected to the housing and configured to provide labware into the housing;a plurality of interlock sensors positioned at access panels of the housing, each interlock sensor configured to detect whether a respective access panel is properly installed;one or more sensors associated with the equipment handling module and configured to detect a condition within the equipment handling module; anda computing device communicatively coupled to the plurality of interlock sensors and the one or more sensors and configured to:receive sensor data from the plurality of interlock sensors and the one or more sensors; andcontrol operations of the liquid handling robot, the module, and the equipment handling module based on the received sensor data.

2. The sensor system of claim 1, wherein the module comprises an ultraviolet sterilization module configured to emit ultraviolet radiation within the housing.

3. The sensor system of claim 2, wherein the computing device is configured to prevent operation of the ultraviolet sterilization module when at least one of the plurality of interlock sensors indicates that a respective access panel is not properly installed.

4. The sensor system of claim 1, wherein the plurality of interlock sensors comprise electrical contacts positioned between the access panels and a frame of the housing, the electrical contacts configured to form a continuous interlock circuit when all access panels are properly installed.

5. The sensor system of claim 4, wherein the electrical contacts comprise spring-loaded electrical contacts.

6. The sensor system of claim 1, wherein the one or more sensors associated with the equipment handling module comprise a time-of-flight sensor mounted within a vertical cabinet ofthe equipment handling module and configured to measure a distance to a stack of labware stored within the vertical cabinet.

7. The sensor system of claim 6, wherein the computing device is configured to: determine a height of the stack of labware based on the measured distance; and generate an alert when the height of the stack of labware is below a threshold level.

8. The sensor system of claim 1, wherein the one or more sensors associated with the equipment handling module comprise a time-of-flight sensor oriented along an X-axis of the equipment handling module and configured to detect whether labware has been properly dispensed from a vertical cabinet onto an X-axis carriage.

9. The sensor system of claim 1, wherein the equipment handling module comprises a door and a door sensor configured to detect whether the door is open or closed, and wherein the computing device is configured to prevent operation of the module when the door sensor indicates that the door is open.

10. The sensor system of claim 9, wherein the door sensor comprises a reed switch and a magnet positioned to trigger the reed switch when the door is closed.

11. The sensor system of any of claims 1-10, wherein the computing device is configured to receive a protocol specifying a sequence of operations for the liquid handling robot, the module, and the equipment handling module, and to control the operations based on both the protocol and the received sensor data.

12. A method for controlling operation of a liquid handling system, the method comprising:receiving, by a computing device, sensor data from a plurality of interlock sensors positioned at access panels of a housing of the liquid handling system, each interlock sensor configured to detect whether a respective access panel is properly installed;receiving, by the computing device, sensor data from one or more sensors associated with an equipment handling module connected to the housing;determining, by the computing device, based on the sensor data from the plurality of interlock sensors, whether all access panels are properly installed;determining, by the computing device, based on the sensor data from the one or more sensors, a condition within the equipment handling module; andcontrolling, by the computing device, operations of a liquid handling robot disposed within the housing, a module connected to the liquid handling robot, and the equipment handling module based on the determinations.

13. The method of claim 12, wherein the module comprises an ultraviolet sterilization module, and wherein controlling operations comprises preventing operation of the ultraviolet sterilization module when the determination indicates that at least one access panel is not properly installed.

14. The method of claim 12, wherein determining the condition within the equipment handling module comprises:measuring, using a time-of-flight sensor, a distance to a stack of labware stored within a vertical cabinet of the equipment handling module;calculating a height of the stack of labware based on the measured distance and a known height of the vertical cabinet; anddetermining whether the height of the stack of labware is below a threshold level.

15. The method of claim 14, further comprising generating an alert to a user when the height of the stack of labware is below the threshold level.

16. The method of any of claims 12-15, further comprising:receiving, by the computing device, a protocol specifying a sequence of operations for the liquid handling robot, the module, and the equipment handling module; andcontrolling the operations based on both the protocol and the received sensor data.

17. A system comprising:an enclosure having a plurality of access openings;one or more interlock sensors, each interlock sensor positioned at a respective access opening and configured to detect whether the respective access opening is sealed;a module connected to the enclosure and configured to perform an operation;one or more sensors associated with the module and configured to detect a condition related to the module; anda computing device communicatively coupled to the one or more interlock sensors and the one or more sensors, the computing device configured to:receive sensor data from the one or more interlock sensors and the one or more sensors;prevent operation of the module when the sensor data from the one or more interlock sensors indicates that at least one access opening is not sealed; andcontrol operation of the module based on the sensor data from the one or more sensors when the sensor data from the one or more interlock sensors indicates that all access openings are sealed.

18. The system of claim 17, wherein the module comprises an ultraviolet sterilization module configured to emit ultraviolet radiation within the enclosure, and wherein the computing device is configured to prevent emission of ultraviolet radiation when the sensor data from the plurality of interlock sensors indicates that at least one access opening is not sealed.

19. The system of claim 18, wherein the plurality of interlock sensors comprise spring-loaded electrical contacts configured to form a continuous interlock circuit when all access openings are sealed, and wherein the computing device is configured to detect an interruption in the continuous interlock circuit to determine that at least one access opening is not sealed.

20. The system of claim 17, wherein the one or more sensors associated with the module comprise at least one of a time-of-flight sensor configured to detect a distance to an object within the module, a reed switch configured to detect a presence of an object, or a door sensor configured to detect whether a door of the module is open or closed.

21. A sensor system comprising:a liquid handling robot disposed within a housing, the housing having a plurality of access panels;a plurality of interlock sensors electrically connected in series to form a continuous interlock circuit, wherein at least one interlock sensor is positioned at a respective access panel and configured to interrupt the continuous interlock circuit when the respective access panel is removed;a module configured to be installed at a location of one of the plurality of access panels; anda computing device communicatively coupled to the plurality of interlock sensors and configured to prevent operation of a feature of the liquid handling robot that could cause human harm when the continuous interlock circuit is interrupted.

22. A sensor system for an equipment handling module, comprising:a vertical cabinet configured to store a stack of labware;a Z-axis sensor mounted at an upper portion of the vertical cabinet and oriented along a Z-axis of the equipment handling module, the Z-axis sensor configured to measure a distance to the stack of labware stored within the vertical cabinet; anda computing device communicatively coupled to the Z-axis sensor and configured to: receive sensor data from the Z-axis sensor;determine a height of the stack of labware based on the measured distance and a known height of the vertical cabinet; anddetermine an inventory level of labware within the equipment handling module based on the determined height.

23. The sensor system of claim 22, further comprising:a horizontal platen extending from a bottom portion of the vertical cabinet; and an X-axis sensor positioned adjacent to the horizontal platen and oriented along an X-axis of the equipment handling module, the X-axis sensor configured to detect whether labware has been properly dispensed from the vertical cabinet onto the horizontal platen.

24. The sensor system of claim 23, wherein the computing device is configured to detect a jam condition when the X-axis sensor does not detect labware that should have been moved out of the vertical cabinet.

25. The sensor system of claim 22, further comprising:a housing enclosing a liquid handling robot;a plurality of interlock sensors positioned at access panels of the housing, each interlock sensor configured to detect whether a respective access panel is properly installed; and wherein the computing device is communicatively coupled to the plurality of interlock sensors and configured to prevent operation of a module connected to the housing when at least one of the plurality of interlock sensors indicates that a respective access panel is not properly installed.

26. The sensor system of claim 25, wherein the plurality of interlock sensors comprise electrical contacts configured to form a continuous interlock circuit when all access panels are properly installed.

27. The sensor system of claim 22, further comprising:a horizontal platen extending from a bottom portion of the vertical cabinet;an X-axis sensor positioned adjacent to the horizontal platen and oriented along an X-axis of the equipment handling module, the X-axis sensor configured to detect whether labware has been properly dispensed from the vertical cabinet onto the horizontal platen;a housing enclosing a liquid handling robot; anda plurality of interlock sensors positioned at access panels of the housing, each interlock sensor configured to detect whether a respective access panel is properly installed.

28. A sensor system for an equipment handling module, comprising:a vertical cabinet configured to store labware;a horizontal platen extending from a bottom portion of the vertical cabinet;a labware platform configured to transport labware along the horizontal platen;an X-axis sensor positioned adjacent to the horizontal platen and oriented along an X-axis of the equipment handling module, the X-axis sensor configured to detect a presence or absence of labware on the labware platform; anda computing device communicatively coupled to the X-axis sensor and configured to: receive sensor data from the X-axis sensor; anddetermine whether labware has been properly dispensed from the vertical cabinet onto the labware platform based on the sensor data.

29. The sensor system of claim 28, further comprising:a Z-axis sensor mounted at an upper portion of the vertical cabinet and oriented along a Z-axis of the equipment handling module, the Z-axis sensor configured to measure a distance to a stack of labware stored within the vertical cabinet;wherein the computing device is configured to determine a height of the stack of labware based on the measured distance.

30. The sensor system of claim 29, wherein the computing device is configured to validate labware type by checking whether a stack height of the labware is a multiple of an expected labware height.

31. The sensor system of claim 28, further comprising:a housing enclosing a liquid handling robot;a plurality of interlock sensors positioned at access panels of the housing, each interlock sensor configured to detect whether a respective access panel is properly installed; andwherein the computing device is communicatively coupled to the plurality of interlock sensors and configured to receive sensor data indicating whether all access panels are properly installed.

32. The sensor system of claim 31, wherein the plurality of interlock sensors comprise spring-loaded electrical contacts configured to form a continuous interlock circuit when all access panels are properly installed.

33. The sensor system of claim 28, wherein the computing device is configured to validate gripper transfers by detecting whether labware is present on the labware platform after a gripper was supposed to transfer the labware.

34. The sensor system of claim 28, further comprising:a Z-axis sensor mounted at an upper portion of the vertical cabinet and oriented along a Z-axis of the equipment handling module, the Z-axis sensor configured to measure a distance to a stack of labware stored within the vertical cabinet;a housing enclosing a liquid handling robot; anda plurality of interlock sensors positioned at access panels of the housing, each interlock sensor configured to detect whether a respective access panel is properly installed.

35. A sensor system for a liquid handling system, comprising:a housing enclosing a liquid handling robot, the housing having a plurality of access panels; a plurality of interlock sensors, each interlock sensor positioned at a respective access panel and configured to detect whether the respective access panel is properly installed, the plurality of interlock sensors electrically connected in series to form a continuous interlock circuit;a module connected to the housing and configured to perform an operation within the housing; anda computing device communicatively coupled to the plurality of interlock sensors and configured to:receive sensor data from the plurality of interlock sensors;detect an interruption in the continuous interlock circuit; andprevent operation of the module when the interruption is detected.

36. The sensor system of claim 35, further comprising:an equipment handling module connected to the housing; anda Z-axis sensor mounted within a vertical cabinet of the equipment handling module and configured to measure a distance to a stack of labware stored within the vertical cabinet;wherein the computing device is configured to determine an inventory level of labware within the equipment handling module based on sensor data from the Z-axis sensor.

37. The sensor system of claim 36, wherein the computing device is configured to generate an alert when a height of the stack of labware is below a threshold level.

38. The sensor system of claim 35, further comprising:an equipment handling module connected to the housing;a horizontal platen extending from the equipment handling module; andan X-axis sensor positioned adjacent to the horizontal platen and oriented along an X-axis of the equipment handling module, the X-axis sensor configured to detect whether labware has been properly dispensed onto the horizontal platen.

39. The sensor system of claim 38, wherein the computing device is configured to detect a jam condition based on sensor data from the X-axis sensor.

40. The sensor system of claim 35, wherein the module comprises an ultraviolet sterilization module configured to emit ultraviolet radiation within the housing.

41. The sensor system of claim 35, further comprising:an equipment handling module connected to the housing;a Z-axis sensor mounted within a vertical cabinet of the equipment handling module and configured to measure a distance to a stack of labware stored within the vertical cabinet;a horizontal platen extending from the equipment handling module; andan X-axis sensor positioned adjacent to the horizontal platen and oriented along an X-axis of the equipment handling module, the X-axis sensor configured to detect whether labware has been properly dispensed onto the horizontal platen.

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