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1. (WO2016181572) DISPENSING SYSTEM, CONTROLLER, AND CONTROL METHOD
PCT Biblio. Data
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Pub. No.:
WO/2016/181572
International Application No.:
PCT/JP2015/071887
Publication Date:
17.11.2016
International Filing Date:
31.07.2015
IPC:
B25J 13/08
(2006.01),
G01N 35/10
(2006.01)
B
PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13
Controls for manipulators
08
by means of sensing devices, e.g. viewing or touching devices
G
PHYSICS
01
MEASURING; TESTING
N
INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
35
Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/-G01N33/148; Handling materials therefor
10
Devices for transferring samples to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
Applicants:
KABUSHIKI KAISHA YASKAWA DENKI
[JP/JP]; 2-1, Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu-shi, Fukuoka 8060004 (JP)
Inventors:
ABE Noriko
; (JP).
KUMAGAI Hiroshi
; (JP).
SAWADA Yukiko
; (JP).
KAMEI Motohisa
; (JP)
Agent:
HASEGAWA Yoshiki
; (JP)
Priority Data:
PCT/JP2015/063515
11.05.2015
JP
Title
(EN)
DISPENSING SYSTEM, CONTROLLER, AND CONTROL METHOD
(FR)
SYSTÈME DE DISTRIBUTION, DISPOSITIF DE COMMANDE ET PROCÉDÉ DE COMMANDE
(JA)
分注システム、コントローラ及び制御方法
Abstract:
(EN)
This dispensing system (1) is provided with: a robot (10) that moves a dispenser (30) for suctioning in a liquid (C1) to be dispensed; a camera (43) for capturing an image that includes at least the tip (30a) of the dispenser (30), the liquid surface (SF1) of the liquid (C1), and an object (C2) not to be dispensed that is located below the liquid surface (SF1); an image processing unit (120) that, on the basis of said image, acquires location information for the liquid surface (SF1), location information for a boundary (BD1) between the liquid (C1) and the object (C2) not to be dispensed, and location information for the tip (30a) of the dispenser (30); and a lowering control unit (133) that, when suctioning the liquid (C1) into the dispenser (30), controls the robot (10) so as to lower the dispenser (30) on the basis of the location information for the tip (30a), the location information for the liquid surface (SF1), and the location information for the boundary (BD1).
(FR)
La présente invention concerne un système de distribution (1) pourvu : d'un robot (10) qui déplace un distributeur (30) pour aspirer dans un liquide (C1) à distribuer; d'une caméra (43) permettant de capturer une image qui comprend au moins la pointe (30a) du distributeur (30), la surface de liquide (SF1) du liquide (C1), et un objet (C2) destiné à ne pas être distribué qui est situé en dessous de la surface de liquide (SF1); d'une unité de traitement d'image (120) qui, sur la base de ladite image, acquière des informations sur l'emplacement pour la surface de liquide (SF1), des informations sur l'emplacement pour une limite (BD1) entre le liquide (C1) et l'objet (C2) à ne pas distribuer, et des informations sur l'emplacement pour la pointe (30a) du distributeur (30); et d'une unité de commande d'abaissement (133) qui, lors de l'aspiration de liquide (C1) dans le distributeur (30), commande le robot (10) de manière à abaisser le distributeur (30) en fonction des informations sur l'emplacement pour la pointe (30a), des informations sur l'emplacement pour la surface de liquide (SF1), et des informations sur l'emplacement pour la limite (BD1).
(JA)
分注システム(1)は、分注対象の液体(C1)を吸引するための分注器(30)を移動させるロボット(10)と、少なくとも、分注器(30)の先端部(30a)と、液体(C1)の液面(SF1)と、液面(SF1)よりも下方に位置する非分注対象物(C2)とを含む画像を撮像するためのカメラ(43)と、上記画像に基づいて、液面(SF1)の位置情報と、液体(C1)と非分注対象物(C2)との間の境界部(BD1)の位置情報と、分注器(30)の先端部(30a)の位置情報とを取得する画像処理部(120)と、液体(C1)を分注器(30)内に吸引する際に、先端部(30a)の位置情報と、液面(SF1)の位置情報と、境界部(BD1)の位置情報とに基づいて、分注器(30)を下降させるようにロボット(10)を制御する降下制御部(133)と、を備える。
Designated States:
AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KN, KP, KR, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW.
African Regional Intellectual Property Organization (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Organization (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG).
Publication Language:
Japanese (
JA
)
Filing Language:
Japanese (
JA
)