Method for handling a sample tube and handling device

Patent metadata

Field	Value
Publication number	US-10509047-B2
Application number	US-201614990854-A
Country	US
Kind code	B2
Filing date	Jan 8, 2016
Priority date	Jul 26, 2013
Publication date	Dec 17, 2019
Grant date	Dec 17, 2019

Abstract

A method and a device for handling sample tubes are presented. A position of the sample tube is identified and the sample tube is handled depending thereon.

First claim

I claim:

1. A method for automated handling of an unaligned sample tube by a gripper apparatus, wherein the unaligned sample tube is filled with liquid to be analyzed, the method comprises:
determining a position and alignment of a sample tube in a holding apparatus based on 3D spatial geometric data of the sample tube acquired by an image acquisition apparatus under control of a control apparatus; and
handling the sample tube by the gripper apparatus under control of the control apparatus, wherein the handling is based on the 3D spatial geometric sample tube position and alignment data acquired by the image acquisition apparatus and conveyed to the control apparatus and wherein upon determination by the image acquisition apparatus that the alignment of the sample tube deviates obliquely from a longitudinal bearing axis standard such that a vertical axis of the sample tube is not parallel to the longitudinal bearing axis, the control apparatus spatially manipulates the gripper apparatus based on the 3D spatial geometric sample tube position and alignment data acquired by the image acquisition apparatus so that the gripper apparatus adjusts itself spatially in order to grip the sample tube obliquely at the same non-parallel deviation from the longitudinal bearing axis standard as the sample tube.

2. The method according to claim 1 , wherein when handling the sample tube, the unaligned sample tube is moved by the gripper in terms of its location.

3. The method according to claim 2 , wherein when the unaligned sample tube is moved by the gripper in terms of its location, it is lifted.

4. The method according to claim 1 , wherein during handling, reformatting is carried out by transferring the sample tube by the gripper from a holding apparatus to a different holding apparatus.

5. The method according to claim 1 , wherein during determining the position of the sample tube, a center point of the sample tube is determined in relation to one, two or three dimensions.

6. The method according to claim 1 , wherein the image acquisition apparatus is stereo camera or a 3D camera.

7. The method according to claim 1 , wherein the determining the position is performed using a further image acquisition apparatus.

8. The method according to claim 7 , wherein the further image acquisition apparatus is a 2D camera.

9. The method according to claim 7 , wherein the further image acquisition apparatus is assembled on the gripper apparatus.

10. The method according to claim 1 , further comprising,
identifying a free position in a holding apparatus for sample tubes by the image acquisition apparatus, wherein the sample tube gripped by the gripper apparatus is subsequently set down at the free position by the gripper apparatus.

11. The method according to claim 1 , further comprising,
identifying damage of the sample tube by the image acquisition apparatus during the step of determining the position, wherein the step of handling of the sample tube is performed depending on whether damage was identified.

12. The method according to claim 1 , further comprising,
setting down the sample tube at a position from which another sample tube was previously lifted.

13. A device for handling sample tubes, the device comprising:
a gripper apparatus;
an image acquisition apparatus; and
a control apparatus for controlling the gripper apparatus depending on signals generated by the image acquisition apparatus, wherein the control apparatus comprises a processor and storage, wherein instructions are stored in the storage, and wherein the control apparatus is configured to perform the method according to claim 1 when the instructions are executed by the processor.

14. The device according to claim 13 , wherein the image acquisition apparatus comprises a stereo camera or a 3D camera arranged stationary in space, and wherein the image acquisition apparatus further comprises a 2D camera arranged at the gripper apparatus and displaced from the 3D camera.

15. The device according to claim 13 , wherein the gripper apparatus is displaceable in two dimensions by being fastened to an XY-positioner.

Assignees

• Roche Diagnostics Operations Inc

Inventors

• Pedain Christoph

Classifications

• G01N2035/0493

  Locating samples; identifying different tube sizes · CPC title

• B25J9/1612

  characterised by the hand, wrist, grip control · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• G01N35/0099 Primary

  comprising robots or similar manipulators (robots per se B25J) · CPC title

• G01N35/00584 Primary

  Control arrangements for automatic analysers · CPC title