Module for an automated laboratory system
A module for an automated laboratory system is disclosed. The module comprises a module connector configured to releasably connect to a component of the automated laboratory system, a detector at least configured to detect at least one component marker located at the component so as to obtain position data of the module indicating an actual position of the module, a processor configured to calculate a position deviation of the module from a target position defined by the component based on the position data and to calculate position alignment data based on the position deviation, and a alignment device configured to align the module to the target position based on the position alignment data. Further, an automated laboratory system and a method for aligning a module are disclosed.
1. An automated laboratory system comprising:
a component having a component marker and defining a target position;
a module having a module connector releasably connected to the component, the module including a module marker;
a detector mounted on the module, the detector configured to detect the module marker and the component marker and configured to obtain position data of the module indicative of an actual position of the module;
a processor mounted on the module, the processor programmed to calculate a position deviation of the module from the target position based on the position data and programmed to calculate position alignment data based on the position deviation; and
an alignment device mounted on the module, the alignment device configured to align the module to the target position based on the position alignment data.
2. The automated laboratory system according to claim 1 , wherein the position data includes information on a horizontal position of the module and/or on a vertical position of the module.
3. The automated laboratory system according to claim 1 , wherein the detector is a camera.
4. The automated laboratory system module according to claim 1 , wherein the component marker and the module marker are located such that the component marker and the module marker are concertedly detectable by the detector.
5. The automated laboratory system according to claim 1 , wherein the component marker has a first predetermined dimension and a first predetermined orientation and the module marker has a second predetermined dimension and a second predetermined orientation.
6. The automated laboratory system according to claim 1 , wherein the component marker provides a component coordinate system and the module marker provides a module coordinate system, wherein the processor is programmed to calculate the position deviation of the module from the target position based on a relative distance between the component coordinate system and the module coordinate system.
7. The automated laboratory system according to claim 1 , wherein the component marker and the module marker allow an in-situ calibration of the detector.
8. The automated laboratory system according to claim 1 , further comprising a distance sensor configured to determine a relative vertical position with respect to the component.
9. The automated laboratory system according to claim 8 , wherein the distance sensor is configured to determine the relative vertical position based on a distance of reference points at the component from a predetermined module plane.
10. The automated laboratory system according to claim 1 , further comprising an analytical instrument, wherein the alignment device is configured to align the analytical instrument to the target position based on the position alignment data.
11. The automated laboratory system according to claim 10 , wherein the alignment device is configured to move the analytical instrument within a three dimensional space.
12. The automated laboratory system according to claim 1 , wherein the target position is defined by a reference point of or within a reference plane of the component.
13. The automated laboratory system according to claim 1 , wherein the component is a transport line of the automated laboratory system or a second module of the automated laboratory system.
14. The automated laboratory system according to claim 13 , wherein the target position is defined by a point of a transport surface of the transport line or is defined within the transport surface of the transport line or is defined by a handling plane of the second module.
15. The automated laboratory system according to claim 1 , wherein the module connector comprises an engaging member engaging a bearing of the component.
16. The automated laboratory system according to claim 1 , wherein the module connector comprises an engaging member engaging a beam or truss of the component.
17. The automated laboratory system according to claim 1 , further comprising an infeed receiving a component protrusion of the component or further comprising a module protrusion configured to be inserted into a component infeed of the component.
18. A method of aligning the module of the automated laboratory system according to claim 1 , comprising:
releasably connecting the module to the component of the automated laboratory system;
detecting the component marker located on the component and obtaining the position data of the module indicative of the actual position of the module using the detector;
calculating the position deviation of the module from the target position defined by the component based on the position data using the processor;
calculating the position alignment data based on the position deviation using the processor; and
aligning the module to the target position based on the position alignment data using the alignment device.