METHOD AND DEVICE FOR OPTIMIZING THE OPERATING STATE OF SHAKING MACHINES

Abstract

A method for operating a shaking machine, in particular for optimizing an operating state of the shaking machine, including shaking at least one shaking material in at least one shaking vessel; setting at least one target operating parameter to at least one target value or one target range; detecting an adjustment range of at least one additional operating parameter; determining an operating state by means of an optimizer that varies at least one adjustable operating parameter and by using at least one model, such that at least one target operating parameter maintains, achieves, or approaches the target value or target range, wherein at least one operating state of the shaking machine is imaged by at least one model.

Claims

1-11. (canceled)

12. A method for operating a shaking machine, in particular for optimizing an operating state of the shaking machine, the method comprising: shaking at least one shaking material in at least one shaking vessel; setting at least one target operating parameter to at least one target value or one target range; detecting an adjustment range of at least one additional operating parameter; determining an operating state by means of an optimizer that varies at least one adjustable operating parameter and by using at least one model, such that at least one target operating parameter maintains, achieves, or approaches the target value or target range, wherein at least one operating state of the shaking machine is imaged by at least one model, wherein the at least one model comprises the at least one adjustable operating parameter and the at least one target parameter and wherein the optimal operating state is determined using the at least one model.

13. The method of claim 12, wherein the at least one operating parameter is adjusted before a start of the shaking process in such a way that the determined optimal operating state is reached or approximated, such that at least one target operating parameter maintains, reaches, or approaches the target value or target range thereof.

14. The method according to claim 12, wherein a position and/or a distribution of shaking materials and/or shaking vessels are detected by suitable sensors.

15. The method according to claim 12, wherein the optimal operating state is achieved by adjusting the position and distribution of the shaking materials or shaking vessels and/or balancing weights of an adjustable balancing device.

16. The method according to claim 12, wherein in order to maintain an optimal operating state, the operating parameters and the target operating parameters are regularly detected and automatically adjusted if necessary.

17. The method according to claim 12, wherein the optimizer, in the event that an optimal operating state cannot be reached, transmits this optimal operating state to the user and submits at least one suggestion for adjusting at least one target operating parameter in order to be able to achieve an alternative operating state of the shaking machine, in particular in order to be able to achieve an optimal operating state of the shaking machine that is as close as possible to the user requirements.

18. A device for performing the method of claim 12, the device comprising: at least one shaking drive which can drive at least one shaking platform; at least one shaking vessel which can be subjected to a shaking movement by this shaking platform and which is suitable for receiving a shaking material; sensors which are set up to detect the position and distribution of the shaking materials and/or the shaking vessels on the shaking platform.

19. The device according to claim 18, further comprising an automatically adjustable balancing device (15).

20. The device according to claim 18, wherein the adjustable balancing device is divided into a plurality of smaller, locally and separately adjustable segments.

21. The device according to claim 18, wherein the shaking platform comprises marking devices which are suitable for visualizing loading recommendations for the user.

22. An arrangement comprising the device according to claim 18 and also a shaking material which is received in the shaking vessel.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0044] FIG. 1 is a schematic view of the relationships between the components of the method according to the invention.

[0045] FIG. 2 is a schematic block diagram of the method according to the invention.

[0046] FIG. 3 is a schematic view of an embodiment of the method according to the invention.

[0047] FIG. 4 is a schematic view of a device according to the invention for carrying out the method according to the invention.

DETAILED DESCRIPTION

[0048] To ensure the clarity of some terms used in the description, they are defined and explained below and throughout the description.

[0049] A shaking machine within the meaning of the invention is any device or combination of devices that is suitable for subjecting shaking materials and shaking vessels to a shaking movement. The shaking machine is in particular an orbital shaker.

[0050] A shaking material within the meaning of the invention is any form of matter or material mixture which is to be shaken to achieve a determined process goal. Shaking materials within the meaning of the invention are in particular, but not exclusively, culture broths, mixtures of culture medium and cells, liquids, solutions, emulsions, dispersions, slurries, suspensions, foams, gas mixtures, or powder mixtures.

[0051] A shaking vessel within the meaning of the invention is any device and vessel that is suitable for receiving or storing shaking materials. It can be open or closed. Shaking vessels within the meaning of the invention are, in particular, but not exclusively, shaking flasks, reaction tubes, falcons, T-flasks, microtiter plates, shaking bags and shaking barrels of any geometry, material composition, and filling quantity.

[0052] Shaking movements within the meaning of the invention are movements which are suitable for moving or mixing the shaking materials contained in them by moving the shaking vessels. Shaking movements within the meaning of the invention are in particular, but not exclusively, orbital shaking, rocking shaking, and tumbling shaking. Shaking movements within the meaning of the invention can be carried out continuously or discontinuously, depending on the process requirements.

[0053] According to the invention, each shaking machine has an operating state at all times, which is defined and influenced by a large number of different parameters. Within the meaning of the invention, target operating parameters are those parameters that are set to a target value or target range, and further operating parameters are those parameters that have no target setting. All parameters according to the invention can be adjustable within the limits of tolerances or adjustment ranges. Parameters within the meaning of the invention that describe, define, or influence the operating state of shaking machines are in particular, but not exclusively, shaking speed and stroke, type of shaking, smooth running, vibrations, load distributions and positions, type, geometry, material, and mass of shaking vessels and shaking materials, as well as the distribution and the dynamic behavior of the latter during the shaking operation, furthermore the location, position, mass, viscosity, and distribution of balancing weights, the temperature, the air pressure, the humidity, the density of the air, etc.

[0054] Operating states of shaking machines can be stable or unstable, stable operating states being distinguished from unstable operating states by the fact that vibration, unbalance, and wear phenomena are reduced to a minimum and that they can be sustained for a long time without catastrophic failure of the shaking machine or one of the components thereof. Optimal operating states are stable operating states which, in addition, also achieve, maintain, or approach the target values or target ranges of all specified target operating parameters or within the framework of tolerances.

[0055] Models within the meaning of the invention are all such mathematical constructs that describe at least one operating state partially or completely using parameters that influence this operating state.

[0056] Sensors within the meaning of the invention are all those devices that are suitable for detecting parameters that influence at least one operating state. Sensors within the meaning of the invention are therefore, in particular, any type of resistive, capacitive, inductive, or optical sensors, cameras, sound sensors, scales, strain gauges, LIDAR, RADAR, SONAR, acceleration sensors, yaw rate sensors, orientation sensors, and position sensors and any type of soft sensors that are triggered by fusion or data processing of other sensors.

[0057] Optimizers within the meaning of the invention are all methods and algorithms that are suitable for optimizing an optimization target (for example the operating state with defined target operating parameters) by varying parameters that influence the optimization target. Optimizers within the meaning of the invention are in particular, but not exclusively, numerical search and optimization methods, heuristics, and all types of machine learning (e.g., neural networks, support vector machines, etc.). Optimizers are implemented in software and run on computers.

[0058] Computers within the meaning of the invention are all devices, in particular electronic devices, that can store data (in particular arithmetic and logical data) and process it based on programmable rules. In particular, but not exclusively, microcontrollers, microprocessors, system-on-a-chip computers (SoC), PCs and servers, as well as networks of computers, are considered to be computers within the meaning of the invention.

[0059] Turning now to the drawings, FIG. 1 is a schematic view of the relationships between the components of the method according to the invention. A shaking machine 1 generates a shaking movement 4 and thus moves at least one shaking vessel 3 and the shaking material 2 contained therein. At all times, the shaking machine 1 has an operating state 8 which, by influencing the shaking movement 4, also influences at least one shaking vessel 3 and the shaking material 2 contained therein. The operating state 8 is influenced by a large number of different parameters, the target operating parameters 5, in contrast to other operating parameters 6, being set in each case to a target value or target range, which are only adjustable within determined, mostly predefined tolerances. The operating state 8 is imaged by at least one model 7, which comprises at least one target operating parameter 5 and at least one further adjustable operating parameter 6. By imaging the operating state 8 by means of at least one model 7, the influence of the operating parameters 6 and target operating parameters 5 are mathematically evaluated with respect to the operating state. According to the invention, this is also done by at least one optimizer 9, which uses at least one model 7 to determine an optimal operating state 8 by modifying at least one adjustable operating parameter 6 and limiting or maintaining at least one target operating parameter 5 to the target value or target range thereof.

[0060] In some embodiments of the invention, various models 7 are used to image the operating state 8. In some embodiments of the invention, the use of suitable models 7 for imaging the operating state 8 is, in particular, but not exclusively, dependent on the type and value of the operating parameters 6 and target operating parameters 5 under consideration.

[0061] FIG. 2 is a schematic block diagram of the method according to the invention. According to the invention, at least one shaking material 2 is to be subjected to a shaking movement 4 in a shaking vessel 3. This state is given both before the start of a shaking operation and during the shaking operation when the shaking movement 4 is to be maintained or changed in the latter. According to the invention, at least one target operating parameter 5 is now set to a target value or target range. In an advantageous embodiment of the invention, a tolerance range is also defined by which the target operating parameter 5 may deviate from the target value in the desired shaking operation. Furthermore, the adjustment range of at least one further operating parameter 6 is detected, which can later be used by the optimizer 9 in order to determine the optimal operating state 8 of the shaking machine 1. The definition of target operating parameters 5 and the detection of the adjustment ranges of further operating parameters 6 can take place according to the invention in any order, once or repeatedly, sequentially or in parallel.

[0062] According to the invention, taking into account at least one target operating parameter 5 and at least one further, adjustable operating parameter 6, at least one model 7 is set up which is suitable for imaging the operating state 8. At least one such model 7 as well as at least one adjustable operating parameter 6 and at least one target operating parameter 5 are used by at least one optimizer 9 in order to determine an optimal operating state 8 of the shaking machine 1 by varying at least one operating parameter 6 in the adjustment range thereof, such that at least one target operating parameter 5 can maintain, achieve, or approach the target value or target range thereof.

[0063] In an advantageous embodiment of the invention, the optimizer 9 outputs, in the event of failure to achieve a target value or range, that operating state 8 as optimal operating state 8 which is closest to the predetermined target value or target range. In some embodiments of the invention, the optimizer 9 also outputs recommendations as to which target ranges or target values would have to be adjusted or given a higher tolerance in order to achieve an even better operating state 8.

[0064] In an advantageous embodiment of the invention, the operating parameters 6 and target operating parameters 5, which cause the optimal operating state 8 found by the optimizer 9, are set after the optimal operating state 8 has been found by a user or automatically by suitable devices or the shaking machine 1 or their components.

[0065] In an advantageous embodiment of the invention, the method according to the invention is also carried out repeatedly while the shaking operation is in progress in order to verify the maintenance of the optimal operating state 8 or to determine and set a new optimal operating state 8 in the event of process-related changes in operating parameters 6 or target operating parameters 5.

[0066] FIG. 3 is a schematic view of an embodiment of the method according to the invention. A shaking flask as shaking vessel 3 is filled with a mixture of culture medium and cells as shaking material 2. Both should be orbitally shaken (shaking movement 4). As target operating parameter 5, the shaking speed and the shaking stroke are set to target values (e.g. 300 rpm, 25 mm) and provided with tolerances (e.g. ±20 rpm, ±0 mm). Another tolerance-free target operating parameter 5 is that the load already mounted on the shaking platform should also continue to be shaken. In addition, a plurality of further operating parameters 6 are detected with regard to their adjustment range that can be used in the context of optimization. The size, weight, and level of the filled shaking flask are detected in connection with the options for adjusting these values from the user's point of view (e.g., use of different flask sizes, materials, adjustment range of the filling volume, etc.). Furthermore, the entire current loading of the shaking platform 14 of the shaking machine 1 is detected, in particular with regard to the positioning of the already assembled shaking vessels 3 and the mass distribution on the shaking platform 14. The adjustment range accessible for optimization is also detected again (for example “how much space is left on the shaking platform 14” and “can the shaking vessels 3 that have already been mounted be repositioned,” etc.). According to the invention, all the parameters collected are linked with their target values, target ranges, tolerances, and adjustment ranges in a model 7 which images the operating state 8 of the shaking machine 1 and in particular the operating state 8 of the shaken, loaded shaking platform 14.

[0067] According to the invention, an optimal operating state 8 is now automatically determined by varying all adjustable operating parameters 6 by means of an optimizer 9. The operating parameters 6 causing the optimal operating state 8 found are now set in order to reach or approach the target values of the target operating parameters 5. For this purpose, any necessary adjustments are made according to the optimization results. These can in particular, but not exclusively, be adjustments of the load distribution and the balancing weight distribution, but also adjustments in the choice of the flask size, the flask material, and thus the weight and the filling level of the shaking material 2 in the flask.

[0068] FIG. 4 is a schematic view of a device according to the invention for carrying out the method according to the invention. A shaking machine 1 comprises a shaking drive 13, which subjects a shaking platform 14 and all associated shaking materials 2 and shaking vessels 3 thereof to a shaking movement 4. The shaking machine 1 further comprises an adjustable balancing device 15, which is connected in some embodiments of the invention to the shaking platform 14.

[0069] In the shaking platform 14, various sensor arrays (scales 11 and shaking material sensors 12) are integrated, which are suitable for detecting the load distribution of the shaking platform 14 in a spatially resolved manner, in particular, but not exclusively, with regard to the mass distribution, the positioning of shaking vessels 3, the shape and distribution of the shaking materials 2 during the shaking operation, as well as the availability, size, and position of free, as yet unloaded areas of the shaking platform 14.

[0070] Furthermore, the device comprises marking devices 16 which, in an advantageous embodiment of the invention, are integrated into the shaking platform 14, for example as LEDs, in order to be able to visualize the adjustments for loading, that are necessary or recommended for the user, in order to achieve an optimal operating state (e.g., by marking the shaking flask positions to be occupied using LED rings that light up, which correspond to the installation surface of the shaking flask).

[0071] In some embodiments of the invention, the device according to the invention also comprises at least one camera 10, in particular, but not exclusively, for detecting the load distribution on the shaking platform 14 and for detecting the fill levels and the distribution of the shaking materials 2 in their shaking vessels 3 during the shaking operation. In some embodiments of the invention, a plurality of cameras 10 are used to ensure that the entire shaking platform 14 is monitored or to obtain precise information about the distribution of the shaking materials 2 in their shaking vessels 3 during the shaking operation by means of three-dimensional reconstruction.

[0072] In some embodiments, the device according to the invention comprises a region (FIG. 4, bottom right), in order to detect relevant parameters of the shaking vessel 3 and the shaking material 2 to be shaken, even away from the shaking platform 14. Scales 11, cameras 10, or shaking material sensors 12 can also be used in this case.

[0073] Furthermore, the device according to the invention comprises a computer having a user interface 17, via which user inputs for target operating parameters 5 and further operating parameters 6 can be made. In addition, the algorithms of the optimizer 9 are executed on the computer 17 and the optimization results and the parameters for achieving the optimal operating state 8 can be visualized here.

[0074] In some embodiments of the invention, the balancing device 15 is segmented into many smaller, local balancing weights. In FIG. 4, an embodiment is shown in which many small cavities are arranged below the shaking platform 14, which cavities can be filled or partially filled with a liquid or emptied according to requirements and optimization results, the liquid acting as a moving balancing weight, which, in coordination with the loading of the shaking platform 14, can locally compensate for the unbalance forces and unbalance torques caused by the loading with a comparatively small size and total mass of the device.

LIST OF REFERENCE SIGNS

[0075] For each interpretation of the reference signs, reference shall be made to the description and claims. [0076] 1 Shaking machine [0077] 2 Shaking material [0078] 3 Shaking vessel [0079] 4 Shaking movement [0080] 5 Target operating parameters [0081] 6 Operating parameters [0082] 7 Model [0083] 8 Operating state [0084] 9 Optimizer [0085] 10 Camera [0086] 11 Scale [0087] 12 Shaking material sensor [0088] 13 Shaking drive [0089] 14 Shaking platform [0090] 15 Adjustable balancing device [0091] 16 Marking device [0092] 17 Computer with user interface