Delivery device and analysis system

Abstract

Provided is a technique for detecting the position of each actuator (magnetic pole) with high sensitivity without using a container carrier detection device. The present disclosure transports a transport container including a magnet or a magnetic body to a target position along a transport path, and the transport device includes: a transport surface configured with a plurality of magnetic poles including a core and a coil, and having a transport path; a driving section that supplies a current to the coil; and a position detection section that performs processing for estimating the position of the transport container, the position detection section performing processing in which a first magnetic pole selected for detecting the position of the transport container is excited, and at least one second magnetic pole that is a magnetic pole located within a given range from the first magnetic pole and is different from the first magnetic pole is supplied with a voltage in a direction opposite to the excitation current of the first magnetic pole; and the position of the transport container is estimated based on the current value of the first magnetic pole (see FIG. 11).

Description

Technical Field

[0001] This disclosure relates to a conveying device and an analysis system. Background Technology

[0002] In a specimen analysis system used for clinical examinations, blood, plasma, serum, urine, and other body fluids are subjected to specified analytical tests. This system connects to multifunctional devices to automate the processing steps. Specifically, to streamline laboratory operations, analytical units (analytical processes) performing multiple analyses such as biochemistry and immunology, along with pretreatment units (pretreatment processes) requiring various pretreatments, are connected by conveyor lines and used as a single specimen analysis system.

[0003] In recent years, due to the increasing sophistication of medical care and the aging of patients, the importance of specimen analysis has risen. Therefore, in order to improve the analytical processing capabilities of specimen analysis systems, there is a desire for high-speed, high-volume, simultaneous, and multi-directional transport of specimens.

[0004] For example, Patent Document 1 discloses a laboratory sample delivery system with high transport performance. Specifically, Patent Document 1 describes the following: "A laboratory sample delivery system (100) comprises: a container carrier, which is a plurality of container carriers (1), each having at least one magnetically active device, preferably at least one permanent magnet, and adapted to transport sample containers (3); a transport plane (4) adapted to transport the container carriers; and an electromagnetic actuator, which is a plurality of electromagnetic actuators adapted to be stationarily disposed below the transport plane, which moves the container carriers on the transport plane by applying a magnetic force to the container carriers (see abstract)."

[0005] In addition, Patent Document 1 describes that "the system can also include a container carrier detection device, which is suitable for detecting the presence and position of a container carrier located on a transport plane, and the container carrier detection device provides optimized tracking of the container carrier disposed on the transport plane" (see paragraph

[0034] ).

[0006] Furthermore, in Patent Document 1, it is described that "the electromagnetic actuator 5 is arranged in rows and columns, for example, 16 rows and 16 columns, wherein the rows and columns have either a first grid size g1 or a second grid size g2, where g2 = 2 × g1, adjacent rows have different grid sizes, and adjacent columns have different grid sizes. When a certain position or field on the transport plane must be accessed as the destination of the target, a corresponding electromagnetic actuator is provided below the destination of the target. When it is not necessary to be able to access a specific field or area, the electromagnetic actuator at that position can also be omitted" (see paragraph

[0053] ). In addition, here the electromagnetic actuator refers to a magnetic pole (a combination of a magnetic core and a coil).

[0007] Prior art literature

[0008] Patent documents

[0009] Patent Document 1: JP Patent No. 6072052 Summary of the Invention

[0010] -The problem the invention aims to solve-

[0011] However, according to Patent Document 1, the sample analysis system requires multiple container carrier detection devices to detect the position of magnetically active devices set on the sample transport carrier. Furthermore, since these container carrier detection devices need to be configured on the transfer surface side, dedicated printed circuit boards are required. Therefore, this presents the problem of increased complexity and cost of the device.

[0012] Furthermore, in Patent Document 1, the electromagnetic actuator at a particular location is sometimes omitted when there is no need to access a specific field or area. This is preferable from the viewpoint of simplifying the device and reducing costs, but it does not consider a method for detecting the location of the container carrier if it leaves the location or becomes stationary for some reason, thus preventing the system from operating smoothly in such cases.

[0013] In view of this situation, this disclosure provides a technique for detecting the position of each actuator (magnetic pole) with high sensitivity without using a container carrier detection device.

[0014] -Methods for solving problems-

[0015] To address the aforementioned issues, this disclosure provides a conveying device that conveys a container including a magnet or magnetic material along a conveying path to a target location. The conveying device includes: a conveying surface configured with a plurality of magnetic poles, each including a core and a coil, and having a conveying path; a drive unit that supplies current to the coils; and a position detection unit that performs a process for estimating the position of the conveying container. The position detection unit performs the following process: energizing a first magnetic pole selected for detecting the position of the conveying container; applying a voltage to at least one second magnetic pole that is located at the periphery of the first magnetic pole and is different from the first magnetic pole in a direction opposite to the polarity of the energizing current of the first magnetic pole; and estimating the position of the conveying container based on the current value of the first magnetic pole.

[0016] Further features of this disclosure will become clear from the description and accompanying drawings. Furthermore, this disclosure is achieved and implemented through elements and combinations of various elements, as well as through detailed description and appended claims.

[0017] The descriptions in this specification are merely typical examples and should be understood to be in no way intended to limit the claims or the application examples.

[0018] -Invention Effects-

[0019] According to this disclosure, a low-cost, highly reliable, and highly sensitive conveying device can be realized. Attached Figure Description

[0020] Figure 1 This is a diagram showing the outline structure of the conveying device 1 involved in the basic principle.

[0021] Figure 2 It means Figure 1 A schematic diagram of a partial cross-sectional structure example of the conveying device 1 shown.

[0022] Figure 3 This is a diagram used to illustrate the voltage waveform and the corresponding current waveform applied to the coil by the conveying device 1 to detect the position of the conveying container 20, based on the basic principle.

[0023] Figure 4 This is a schematic diagram showing a specific structural example used for current detection.

[0024] Figure 5 This is a top view showing an example of the general structure of the conveying plane of the conveying device 1, which is equipped with magnetic poles 25.

[0025] Figure 6 It is a graph that sets the distance to the selected magnetic pole 25 (the nearest magnetic pole 25) on the horizontal axis and the change in current on the vertical axis.

[0026] Figure 7 This is an explanatory diagram illustrating the configuration (1) of the magnetic poles in the conveying device 1 based on the improved scheme.

[0027] Figure 8 This is an explanatory diagram illustrating the configuration (2) of the magnetic poles in the conveying device 1 based on the improved scheme.

[0028] Figure 9 This is an explanatory diagram illustrating the configuration (3) of the magnetic poles in the conveying device 1 based on the improved scheme.

[0029] Figure 10 This is a diagram illustrating an example of voltage characteristics that are opposite to the excitation current of the selected coil 21.

[0030] Figure 11 This is an explanatory diagram showing the relationship between the distance between the magnetic pole and the transport container and the change in coil current when a pulse voltage is applied.

[0031] Figure 12 This is a schematic diagram showing the magnetic circuit when the magnetic pole 25 is energized in the conveying device 1 based on the improved scheme.

[0032] Figure 13 This is a diagram illustrating a schematic structural example of the analysis system 100 of this embodiment.

[0033] Figure 14 This is a block diagram showing an example of the control circuit structure of each conveying device 1 constituting the conveying path of the analysis system 100.

[0034] Figure 15 This is a flowchart illustrating the details of the position detection processing performed in the analysis system 100. Detailed Implementation

[0035] This embodiment relates to a transport device used in a specimen analysis system, such as a specimen analysis apparatus for performing analysis of biological samples (hereinafter referred to as "specimens") such as blood, plasma, serum, urine, and other bodily fluids, and a specimen pretreatment apparatus for performing the pretreatment required for the analysis.

[0036] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. In the drawings, functionally identical elements are sometimes shown using the same reference numerals. Furthermore, the drawings illustrate specific embodiments and installation examples following the principles of the present disclosure, but they are intended for understanding the present disclosure and are not intended to limit its interpretation.

[0037] In this embodiment, a sufficiently detailed description has been provided for those skilled in the art to implement this disclosure. However, other installations / methods are also possible, and it should be understood that structural and constructional changes and substitutions of various elements can be made without departing from the scope and spirit of the technical concept of this disclosure. Therefore, the following description is not intended to be limited thereto.

[0038] Furthermore, as described below, embodiments of this disclosure can be installed using software running on a general-purpose computer, or using dedicated hardware or a combination of software and hardware.

[0039] (1) Basic Principles

[0040] <Overview Structure of the Conveying Device>

[0041] (i) Partial structural examples

[0042] Figure 1 This is a diagram showing the outline structure of the conveying device 1 according to this embodiment. Figure 1 The schematic diagram shows a general outline of a conveying device in which two adjacent magnetic poles 25 and a permanent magnet 10 move relative to each other.

[0043] Conveying device 1 includes: a conveying plane (refer to...) Figure 5 (etc.), above which a transport container 20 equipped with a permanent magnet (magnetic body) 10 is transported (synonymous with transport container (sample holder) 20: see above). Figure 2 The magnetic pole 25 is disposed below the conveying plane and has a core 22 as a magnetic body and a winding, i.e., a coil 21, wound around its outer periphery; a drive unit (drive device for driving the conveying container) 50, which applies voltage to the coil 21 of the magnetic pole 25; a current detection unit 30, which detects the current flowing in the coil 21; and an arithmetic unit (control device for controlling the drive device) 40, which controls the drive unit 50 based on the detected current value.

[0044] A permanent magnet 10 is disposed in the transport container 20. The permanent magnet 10 may be, for example, a neodymium magnet, a ferrite magnet, or the like. Furthermore, while this embodiment 1 uses a permanent magnet 10 for explanation, other magnets or soft magnetic materials may be used instead. Additionally, a combination of a permanent magnet 10 and a soft magnetic material may be used instead of a permanent magnet 10.

[0045] In addition, "magnetic body" here refers to permanent magnet 10, other magnets, soft magnetic bodies, or combinations of permanent magnet 10 and soft magnetic bodies. Here, as an example (representative example) of a magnetic body, permanent magnet 10 is used to explain the basic principle.

[0046] (ii) Example of a local cross-section structure

[0047] Figure 2It means Figure 1 The diagram shows a partial cross-sectional view of the conveying device 1. The conveying container 20, such as the specimen holder, is integrated with the permanent magnet 10 as a specimen (container) holder. The conveying container 20 is positioned opposite the magnetic pole 25 across the conveying plane.

[0048] The conveying device 1 generates an electromagnetic force in the core 22 by allowing current to flow in the coil 21 of the magnetic pole 25. The permanent magnet 10 disposed in the conveying container 20 is controlled to slide above the plurality of magnetic poles 25 (between magnetic poles 25) and on the conveying plane, thereby moving relative to each other and conveying the conveying container 20 to the desired position.

[0049] In the conveying device 1, the relative position information of the permanent magnet 10 and the magnetic pole 25 is required. This is to ensure that the electromagnetic force generated in the core 22 acts efficiently on the permanent magnet 10 so that the current flows in the coil 21 of the magnetic pole 25, and also to move the permanent magnet 10 in the target direction. For example, imagine the case where the permanent magnet 10 is above (directly above) one of the two magnetic poles 25. Even if a voltage is applied to the magnetic pole 25a (coil 21a) located directly below the permanent magnet 10, no force (push) is generated in the conveying direction on the permanent magnet 10. On the other hand, if a voltage is applied to the magnetic pole 25b (coil 21b) that is not above (directly above) the permanent magnet 10 (not directly below the permanent magnet 10), a force is generated that pulls the permanent magnet 10 toward its magnetic pole 25b, generating a force (push) in the conveying direction. That is, by applying a voltage to the desired magnetic pole 25 (coil 21), the permanent magnet 10 can efficiently generate a force in the conveying direction. Furthermore, by selecting the magnetic pole 25 (coil 21) to which the voltage is applied, the direction of the force in the delivery direction can be controlled.

[0050] <Principle of position detection for transport containers>

[0051] The position detection of the conveyor container 20 along the conveying path is explained. Figure 1 When a permanent magnet 10 is present on the magnetic pole 25 near the front, the magnetic field generated by the permanent magnet 10 acts on the magnetic pole 25. Here, the magnitude of the magnetic field acting on the magnetic pole 25 on the side closer to the permanent magnet 10 and the side farther away from the permanent magnet 10 is different. That is, the magnitude of the magnetic field acting on the magnetic pole 25 changes depending on the relative position of the permanent magnet 10 and the magnetic pole 25.

[0052] The core 22 is made of a magnetic material, and the magnetic flux passing through the core 22 has the property that it becomes difficult to pass through as the flux increases. Here, if a voltage is applied to the coil (winding) 21 to allow current to flow, a magnetic flux (magnetic field) generated by that current is generated in the core 22. Therefore, a magnetic flux (magnetic field) generated by the permanent magnet 10 and a magnetic flux (magnetic field) generated by the current flowing through the coil (winding) 21 are generated in the core 22. Generally, if current flows through the coil (winding) 21, a magnetic field is generated around it, and the generated magnetic flux is proportional to the value of the current flowing through it. This proportionality constant is called inductance. However, in a circuit with a magnetic material such as the core 22, the inductance varies depending on the saturation characteristics of the core 22.

[0053] If saturation occurs in the core 22, the inductance changes according to the magnitude of the magnetic flux generated by the core 22. That is, the inductance of the coil (winding) 21 changes according to the magnitude of the magnetic flux of the permanent magnet 10. This means that the inductance of the coil (winding) 21 changes according to the position of the permanent magnet 10. In other words, when a magnetic field from the permanent magnet 10 is present, magnetic saturation occurs in the coil (winding) 21, and the permeability decreases, thus changing the current flowing in the coil (winding) 21.

[0054] Therefore, when a voltage is applied to the coil (winding) 21, the inductance L can be calculated by detecting the current flowing through the coil (winding) 21 and its flow pattern. That is, if the inductance L of the coil (winding) 21, which varies according to the position of the permanent magnet 10, is detected, the position of the permanent magnet 10 that affects its inductance can be determined. Therefore, a drive unit 50 is connected to the coil (winding) 21 in the magnetic pole 25, and a current detection unit 30 (e.g., a resistor) is provided to detect the value of the current flowing in the coil (winding) 21. Then, a voltage is applied to the coil (winding) 21 by the drive unit 50, the current value generated by the voltage is detected by the current detection unit 30, and the value is read by the calculation unit 40.

[0055] <The applied voltage waveform and the detected current waveform>

[0056] The voltage waveform and corresponding current waveform applied to the coil in the conveying device 1 to detect the position of the conveying container are explained. Figure 3 It is a diagram used to illustrate, through basic principles, the voltage waveform and the corresponding current waveform applied to the coil by the conveying device 1 in order to detect the position of the conveying container 20.

[0057] The magnitude (V) and pulse width (T) of the voltage pulse 60 are determined by the degree of voltage applied to the magnetic pole 25. Then, when the permanent magnet 10 of the transport container 20 approaches the magnetic pole 25, the current waveform changes from 70a to 70b due to the magnetic saturation of the magnetic pole 25.

[0058] The conveying device 1 includes a current detection unit 30 that detects current, enabling the detection of the position of the conveying container 20 based on the current value detected by the current detection unit 30 and measured by the calculation unit 40. That is, the position of the conveying container 20 is detected based on the amount of change in current detected by the current detection unit 30 (the amount of change in current at the rising / falling edge of the position detection pulse). Figure 3 As shown in Figure A, when the magnetic pole 25 is not affected by the permanent magnet 10 of the transport container 20, the change in current is I1. On the other hand, as... Figure 3 As shown in B, when the magnetic pole 25 is affected by the permanent magnet 10 of the transport container 20 (for example, when the permanent magnet 10 is located directly above or near the magnetic pole 25), the change in current becomes I2, which is greater than I1.

[0059] In addition, the current detection unit 30 may be a series resistor, such as a current detection unit based on a current transformer, or a current detection unit using a Hall current sensor, but is not limited to these.

[0060] <Example of a structure used for current detection>

[0061] Figure 4 This is a schematic diagram illustrating a specific structural example used for current detection. For example... Figure 4 As shown, in the conveying device 1A where two magnetic poles 25 and a permanent magnet 10 operate relative to each other, the magnetic poles 25 are composed of a cylindrical core 22 and a coil (winding) 21 wound around the outer periphery of the core. Furthermore, a permanent magnet 10 is disposed opposite the cylindrical core 22. The coil (winding) 21 is connected to the drive unit 50.

[0062] Furthermore, a resistor 31 for detecting the current flowing in the coil (winding) 21 is provided between the coil (winding) 21 and the drive unit 50.

[0063] The conveying device 1 arranges the magnetic poles into multiple rows and columns to form a conveying path.

[0064] <Example of a conveyor plane structure>

[0065] Figure 5 This is a top view showing a schematic structural example of the conveying plane of the conveying device 1, which is equipped with magnetic poles 25. Figure 5 In this configuration, 5 rows and 5 columns of magnetic poles 25 are arranged in a grid pattern to form a transport path. The transport path is configured to travel over these grid-like magnetic poles 25.

[0066] The conveying device 1 can convey the conveying container 20 equipped with the permanent magnet 10 to any target direction (conveying direction) by energizing the magnetic pole 25 (applying voltage to the magnetic pole 25 (coil 21)) based on the conveying path as the target.

[0067] If one magnetic pole is energized, the conveying containers on adjacent magnetic poles above, below, left, and right of that magnetic pole are pulled closer together. Therefore, the preferred conveying path is a grid pattern of one column skipping one column and one row skipping one row (if the magnetic poles 25 are tightly laid out, the multiple conveying containers 20 carrying each other are prone to collision). Therefore, the magnetic poles 25 can be omitted in the area outside the conveying path, which can reduce component costs or achieve weight reduction.

[0068] If the distance between the magnetic poles 25 (the distance between the centers of the magnetic poles 25) is set as d, then the maximum distance between the conveying container 20 and the magnetic poles 25 on the conveying plane is d (the maximum distance the conveying container deviates from the conveying path). On the other hand, on the conveying path, the maximum distance between the conveying container 20 and the magnetic poles 25 is d / 2.

[0069] Patent Document 1 does not disclose a method for detecting the transport container when, in the event of certain abnormalities, the container carrier detaches from a location outside the transport path where the magnetic pole 25 is not configured, and that location becomes fixed for some reason. Patent Document 1, for example, considers configuring a dedicated device for detecting the position of the transport container 20 at a location on the transport plane where the magnetic pole 25 is not configured, but this requires a control circuit for such a dedicated device, increasing costs.

[0070] According to this embodiment (basic principle and improvements described later), in order to detect whether there is a transport container 20 at a position on the transport plane where no magnetic pole 25 is disposed, the transport device 1 first selects one of the nearest magnetic poles 25. Furthermore, the nearest magnetic pole 25 can be selected, for example, from multiple magnetic poles 25 surrounding a predetermined transport position at the current time, based on historical transport history information (path traveled up to the current time, moving speed (or average speed), and moving time up to the current time) along the transport path of the transport container 20. Figure 5 This indicates a candidate for the nearest magnetic pole 25. In cases where the presence or absence of a specimen holder is detected at the edge or corner of the plane grid points of the detection conveying device 1, the nearest magnetic pole may be either 3 or 2.

[0071] Furthermore, the aforementioned position detection method (method for confirming the amount of current change: based on a table representing the relationship between the amount of current change and position (e.g., referring to...)) can be used. Figure 6 (The relative position corresponding to the detected change in current is determined) to confirm that there is no transport container 20 on the adjacent magnetic poles 25 on both sides of the selected nearest magnetic pole 25. If there is a transport container 20 on the adjacent magnetic poles 25 on both sides, it can be moved to another location on the transport path by the aforementioned driving method of the transport container 20.

[0072] Furthermore, by applying a given pulse voltage to the selected magnetic pole 25, similar to the aforementioned position detection method for the transport container 20, the presence or absence of the transport container 20 at a distance x from the selected magnetic pole 25 can be detected based on the change in current.

[0073] <Relationship between the distance from the selected magnetic pole and the change in current>

[0074] Figure 6 This is a graph with the distance to the selected magnetic pole 25 (the nearest magnetic pole 25) on the horizontal axis and the change in current on the vertical axis. From this, we can determine the distance to the selected magnetic pole 25 corresponding to the change in current.

[0075] At this point, unlike the aforementioned detection of the presence or absence of the transport container 20 along the transport path, in order to detect the transport container 20 located at a distance greater than d / 2 from the magnetic pole 25, it is also possible to determine whether the transport container 20 exists at the location detached from the transport path based on a different threshold than during transport, or a threshold based on the amount of current change at a distance greater than d / 2 from the magnetic pole. If it is determined that the transport container 20 exists at a distance greater than d / 2, it is confirmed that there is no transport container 20 on the adjacent magnetic poles 25 on both sides of the selected magnetic pole 25. Therefore, it can be known that there is a transport container (sample holder) 20 on both sides or at least one of the adjacent locations without magnetic poles 25 on both sides of the selected magnetic pole 25.

[0076] Based on the above, in the specimen transport device 1 that uses coil current (or current flowing through the shunt resistor) to detect the position (position estimation) of the transport container 20, even if the transport container 20 is outside the transport path on the transport surface where the magnetic pole 25 is not configured, or if it is fixed at that position for some reason, the presence or absence of the transport container (specimen holder) 20 can be detected without using a dedicated position detection device.

[0077] (2) Improvement scheme of basic principle

[0078] use Figures 7 to 12The conveying device 1 involved in the improved solution will be described. The improved solution is an improvement on the method for detecting the position of the magnetic pole 25 described in the basic principle. In order to detect the presence or absence of the conveying container (sample holder) 20 at a distance of d / 2 or more from the coil 21, the detection sensitivity can be improved by utilizing all or at least one of the surrounding coils 211. That is, in the method based on the basic principle, it is possible to determine with high sensitivity whether the object's conveying container 20 is located on the magnetic pole 25, but when it is deviated from the magnetic pole 25 (the conveying path), it is not possible to detect with high sensitivity whether the object's conveying container 20 exists at a position on the conveying surface where the magnetic pole 25 is not located. Therefore, this disclosure proposes an improved solution that improves the basic principle so as to detect the position of the conveying container 20 with higher sensitivity.

[0079] <The concept of peripheral coils>

[0080] The surrounding coils 211 refer to multiple coils 211 (coils other than the nearest coil) contained within a distance of d, d√2, or 2d from the selected coil 21 (the nearest coil 21: the nearest coil that can be selected according to the method described in the basic principle), and the number of them is 2. Figure 7 The example shown is a conveyor plane structure, and there are 6 ( Figure 8 (Example of the conveyor plane structure shown), 10 ( Figure 9 (Examples of conveyor plane structures shown).

[0081] <Applying voltage to the surrounding coils>

[0082] In this improved design, to enhance the detection sensitivity of the transport container (sample holder) 20, a voltage (arbitrary voltage value) is applied to the peripheral coils 211 in a direction opposite to the excitation current of the selected coil (nearest coil) 21. This voltage can be direct current or a pulsed voltage. The coil current may not be direct current, but its average value can be kept approximately constant. Figure 10 This is a diagram illustrating an example of a voltage characteristic that is opposite to the excitation current of the selected coil 21. When the voltage characteristic, which is opposite to the excitation current, is set as a pulse voltage, an arbitrary duty cycle can be used depending on the value of the current flowing through it.

[0083] Furthermore, it is preferable that there is no transport container (sample holder) 20 on or near the peripheral coil 211. Whether the transport container (sample holder) 20 is located on or near the peripheral coil 211 can be confirmed by using a position detection method based on the above-described basic principle. If it is determined that a transport container (sample holder) 20 is present on the peripheral coil 211, the transport device 1 can move the transport container (sample holder) 20 to another location using a normal driving method.

[0084] <Improved detection sensitivity>

[0085] According to this improved scheme, while the coils 211 surrounding the selected coil (the nearest coil) 21 are energized with a polarity opposite to that of the excitation current applied to the selected coil 21, a given pulse voltage is applied to the selected coil 21, similar to the basic principle described above. Then, similar to the usual method for detecting the position of the transport container (sample holder) 20, the presence or absence of the transport container (sample holder) 20 at a distance d from the coil 21 is detected based on the change in current.

[0086] At this time, the result of energizing the surrounding coils with opposite polarity is that the core of the selected coil becomes prone to magnetic saturation. Needless to say, the difference in current change between the presence and absence of a specimen holder at a distance d above the selected coil becomes larger, and the detection sensitivity of the presence or absence of a specimen holder is improved. Figure 11 This is an explanatory diagram showing the relationship between the distance between the magnetic poles and the transport container, and the change in coil current when a pulse voltage is applied. From Figure 11 It can be seen that when a given pulse voltage is applied to the selected coil 21 while it is being energized with a polarity opposite to that of the excitation current applied to the selected coil 21, the position detection sensitivity of the delivery container 20 is improved.

[0087] Next, the principle behind the increased detection sensitivity caused by magnetic saturation will be explained. Figure 12 This diagram schematically illustrates the magnetic circuit when the magnetic pole 25 is energized in the conveying device 1 of this improved scheme. The magnetic pole 25 consists of a coil 21 and a core (iron core) 22. The change in current used to detect the position of the conveying container (sample holder) 20 is inversely proportional to the inductance of the coil 21. Furthermore, the inductance of the coil 21 is approximately proportional to the relative permeability of the core (iron core) 22. When the magnet 10 (or magnetic body) within the conveying container (sample holder) 20 is present or absent near the coil 21, the magnetic field generated by the magnet 10 (or magnetic body) passes through the core (iron core) 22, thus changing the magnetic field within the core (iron core) 22. At this time, the relative permeability of the core (iron core) 22 also changes accordingly, thus changing the inductance of the coil 21, and consequently, the change in current. Based on this principle, the change in current changes depending on the presence or absence of the conveying container (sample holder) 20 near the coil 21.

[0088] Furthermore, when the coils 211 surrounding the selected coil 21 are energized with opposite polarity, the magnetic flux with the same polarity as the selected coil 21 increases. As a result, the core (iron core) 22 changes to a state that is prone to magnetic saturation, and the change in current caused by the presence or absence of the transport container (sample holder) 20 becomes larger.

[0089] Based on the above, in the specimen transport device that uses coil current (or the current flowing through the shunt resistor) to detect the position of the transport container, even if the transport container 20 is located outside the transport path without magnetic poles on the transport surface or is fixed in that position for some reason, the presence or absence of the transport container (specimen holder) 20 can be detected without using a dedicated pre-load carrier detection device (position detection device), just like in the basic principle. Furthermore, compared to the case of the basic principle, the number of energized coils increases, but the detection sensitivity is improved.

[0090] (3) Analysis system (conveying system)

[0091] The analysis system of this embodiment (analysis system 100 described below) performs the process of detecting the conveying container 20 at various locations on the conveying surface of each conveying device 1, as described in the basic principle or improvement scheme above, when it is presumed that the conveying container 20 has detached from the conveying surface and is outside the conveying path without magnetic poles, or is fixed for some reason.

[0092] <System Structure Example>

[0093] Figure 13 This diagram illustrates a schematic structural example of the analysis system 100 according to this embodiment. The analysis system 100 includes a control computer 101, multiple analysis devices 102, and multiple transport devices 1 for transporting transport containers (sample holders) 20 between the analysis devices 102. The number of analysis devices 102 and the number of transport devices 1 vary depending on the type of sample being analyzed and the content of the analysis. The control computer 101 controls the overall system, including specifying the transport path of the transport containers (sample holders) 10 and the order of analysis. Furthermore, the control computer 101 responds to instructions from the operator and performs specified actions.

[0094] Figure 14 This is a block diagram illustrating an example of the control circuit structure of each conveying device 1 constituting the conveying path of the analysis system 100. The control circuit of each conveying device 1 includes: a processor 201, composed of a CPU, MPU, etc.; a memory 202, storing various data, operation parameters, etc.; a position detection unit 203, performing position detection calculations on the conveying container 20; a coil drive unit 205, applying voltage to the coil terminal 204 to drive the coil 21; an input device 206, composed of serial communication, parallel communication, etc. input / output ports, a keyboard, a mouse, a touch panel, etc.; and an output device 207, composed of a display, a printer, etc., which are interconnected via a bus 208. (The last sentence appears to be incomplete and possibly refers to a different device.) Figure 1The corresponding relationship of the conveying device 1 shown indicates that the function of the position detection unit 203 is included in the calculation unit 40, and the coil driving unit 205 is equivalent to the previously mentioned driving unit 50. Alternatively, some of the functions of the position detection unit 203 can be implemented by a software program, which is executed by the processor 201.

[0095] <Content of Location Detection Processing (Location Confirmation Processing)>

[0096] Figure 15 This is a flowchart illustrating the details of the position detection processing performed in the analysis system 100. Hereinafter, the position detection unit 203 and the processor 201 will be described as the main actors performing each process; however, since the position detection unit 203's functions are implemented through software, the processor 201 can also be described as the main actor.

[0097] (i) Step 1501

[0098] The position detection unit 203 performs the confirmation of whether the transport container 20 is present on the transport path where the magnetic poles 25 are laid, using the method described in the basic principle above. That is, the position detection unit 203 detects the change in current when a voltage is applied to the coil 21 of each magnetic pole 25 constituting the path, and applies this change in current to a table (…). Figure 6 ), thereby determining whether there is a transport container 20 on the path.

[0099] (ii) Step 1502

[0100] Based on the result of step 1501, the position detection unit 203 determines whether the transport container 20 has detached from the magnetic pole 25 of the transport path. For example, if the transport container 20 is not detected near the coil position specified by the control command or near a pre-determined position on the transport path calculated based on elapsed time (the approximate position calculated based on the transport speed and elapsed time), it can be determined that the transport container 20 has detached from the transport path. If it is determined that the container has detached (if "yes" in step 1502), the process proceeds to step 1502. If it is determined that the container has not detached (if "no" in step 1502), the process proceeds to step 1503.

[0101] (iii) Step 1503

[0102] The position detection unit 203 determines that the conveying action of the conveying container 20 is proceeding normally and ends the position detection process.

[0103] (iv) Step 1504

[0104] The position detection unit 203 notifies the processor 201 that the transport container 20 has detached from the magnetic pole 25 of the transport path. Then, the processor 201, having received the notification, notifies the control computer (external server) 101.

[0105] (v) Step 1505

[0106] The position detection unit 203 determines whether there are other transport containers 20 around the transport container 20 that is determined to be detached, and if so, causes them to retreat. The presence or absence of other transport containers 20 can be determined using the same method as described above. Furthermore, if other transport containers 20 are densely packed around the transport container 20 of the object, the processor 201 receives position information of the transport containers 20 on the adjacent transport path from the processor 201 of the adjacent transport device 1, and controls the coil drive unit 205 to move the other transport container 20 to the adjacent transport device 1, thereby ensuring that the transport container 20 of the object has space to move on the transport path.

[0107] (vi) Step 1506

[0108] The position detection unit 203 uses the method described in the aforementioned improved solution to confirm the presence or absence of the transport container 20 at a location where the magnetic pole 25 is not configured (according to the improved solution, even if the transport container 20 is moved to a location where the magnetic pole 25 (coil 21) is not configured, the presence or absence of the transport container 20 can still be detected).

[0109] (vii) Step 1507

[0110] Based on the result of step 1506, the position detection unit 203 confirms whether the object transport container 20 exists at a location where the magnetic pole 25 is not configured. If it is determined that the object transport container 20 exists at a location where the magnetic pole 25 is not configured (if "yes" was set in step 1507), the process proceeds to step 1508. If it is determined that the object transport container 20 exists at a location where the magnetic pole 25 is configured (if "no" was set in step 1507), the process proceeds to step 1511.

[0111] (viii) Step 1508

[0112] Before energizing adjacent coils and guiding them into the transport container, the position detection unit 203 must ensure that two transport containers 20 are not guided into the same position at the same time. Therefore, it is necessary to first confirm that there are no other transport containers 20 on the magnetic pole 25 adjacent to the selected magnetic pole 25 (the nearest coil 21 of the target transport container 20).

[0113] The processor 201 receives a notification from the position detection unit 203 (the object's transport container 20 is located at a position not configured on the magnetic pole 25, and other transport containers 20 do not exist on adjacent magnetic poles 25), energizes the coil 21 of the magnetic pole 25 adjacent to the object's transport container 20, and controls the coil drive unit 205 to guide the object's transport container 20 onto the transport path.

[0114] (ix) Step 1509

[0115] Processor 201 determines whether the import was successful. If the import was successful (if "Yes" was selected in step 1508), the process proceeds to step 1510. If the import failed (if "No" was selected in step 1509), the process proceeds to step 1512.

[0116] (x) Step 1510

[0117] The processor 201 notifies the control computer (external server) 101 of the analysis system 100 of the successful import of the transport container 20 into the transport path. Upon receiving the notification, the control computer 101 then restarts or continues the operation of the analysis system 100.

[0118] (xi) Step 1511

[0119] The position detection unit 203 notifies the processor 201 that the object transport container 20 cannot be identified on the transport surface (the part where the magnetic pole 25 is arranged and the part where it is not arranged). Upon receiving this notification, the processor 201 notifies the control computer (external server) 101 that the object transport container 20 cannot be identified. In addition, "cannot be identified on the transport surface" can also be defined, for example, as not being able to be identified in a predetermined area or in the location where the object transport container 20 should be located and its surroundings.

[0120] (xii) Step 1512

[0121] If a transport container 20 containing an object is located outside the transport path on the transport surface where there is no magnetic pole 25, and the adjacent coil cannot be energized to guide the transport container (sample holder) 20, there is a possibility that the transport container (sample holder) 20 may become fixed at that location for some reason. In this case, the position detection unit 203 notifies the processor 201 that the transport container 20 containing the object has detached from the transport path and is in a state where it cannot be moved. The processor 201 receives this notification and notifies the control computer (external server) 101 that the transport container 20 containing the object cannot be moved onto the transport path. As a result, the system user can accurately identify the location where the abnormality has occurred.

[0122] (xiii) Step 1513

[0123] If the control computer 101 determines that an anomaly has occurred, it will interrupt the operation of the analysis system 100. Alternatively, the control computer 101 can bypass the location of the anomaly and restart or continue the remaining transport process of the transport container (sample holder) 20.

[0124] <The effects of conveyor system technology>

[0125] If there is sufficient space for the conveying container 20 to move on the conveying path consisting of multiple conveying devices 1, it is possible to confirm whether there is a conveying container 20 on the conveying surface using the above method, and to guide it onto the conveying path, or to continue or restart the conveying process based on displaying messages to the system administrator.

[0126] As described above, in an analysis system 100 that connects multiple conveying devices 1 capable of detecting the position of the conveying container 20 using coil current (or current flowing through a shunt resistor), even if a conveying container 20 is dislodged from the conveying surface and located outside the conveying path without magnetic poles, or is fixed in that position for some reason, the presence or absence of the object's conveying container (specimen holder) 20 can be detected without using a dedicated pre-carrier detection device (position detection device), and the container can be guided onto the conveying path, or the conveying process can be continued or restarted based on a message displayed to the system administrator.

[0127] (4) Summary

[0128] (i) In the conveying device 1 of this embodiment, the magnetic pole (first magnetic pole) selected for detecting the position of the conveying container 20 is energized, and the magnetic poles (referring to the first magnetic pole) located within a given range of the periphery of the first magnetic pole are energized. Figures 7 to 9 Furthermore, at least one second magnetic pole, different from the first magnetic pole, is energized with a voltage in the opposite polarity to the excitation current of the first magnetic pole, and the position of the transport container is detected (estimated) based on the current value of the first magnetic pole. This improves not only the detection sensitivity of the presence or absence of the transport container 20 along the transport path, but also the detection sensitivity of the presence or absence of the transport container 20 in areas without magnetic poles. Additionally, the voltage applied to the surrounding magnetic poles can be set to a DC voltage or a pulse voltage in the opposite polarity direction.

[0129] Furthermore, the conveying surface of the conveying device 1 is provided with fewer magnetic poles than the number that can be provided. For example, the conveying surface can be constructed by arranging multiple magnetic poles 25 in a lattice pattern.

[0130] (ii) such as Figure 13As shown, the analysis system (also called a conveying system) 100 of this embodiment includes multiple analysis devices 102, multiple conveying devices 1 disposed between the multiple analysis devices, and a control computer 101 for controlling the operation of the analysis devices 102 and the conveying devices 1. In such an analysis system 100, according to Figure 15 The flowchart shows the system's control actions, including position detection processing.

[0131] In the analysis system 100, firstly, the processor of each conveying device 1, based on the aforementioned basic principle, determines whether the conveying container 20 has disengaged from the selected magnetic pole (whether it has disengaged from the conveying path) based on the current change value when the excitation current flows through the selected magnetic pole, and notifies the control computer 101 of the determination result (if it has not disengaged: the system is considered to be operating normally; if it has disengaged: proceed to the next action). Thus, it is possible to determine with high sensitivity whether the conveying container 20 is on the conveying path without using dedicated container carrier detection equipment.

[0132] Furthermore, in this analysis system 100, if it is determined that the transport container 20 has detached from the selected magnetic pole (transport path), the drive unit 50 (coil drive unit 205) is controlled to move the transport container 20 around the selected magnetic pole to a position of another magnetic pole. Alternatively, if the transport container 20 detaches from the selected magnetic pole, the drive unit 50 can be controlled to move the transport container around the selected magnetic pole to another transport device 1. This ensures that the transport container 20 has sufficient space to move along the transport path.

[0133] Furthermore, in the analysis system 100, the first magnetic pole selected for detecting the position of the transport container 20 is energized, and at least one second magnetic pole, which is located around the first magnetic pole within a given range and is different from the first magnetic pole, is energized with a voltage in the opposite polarity to the energizing current of the first magnetic pole. This allows the system to determine whether the transport container 20 is located at a position without a magnetic pole (outside the transport path). Then, based on this determination, the control computer 101 determines whether the processing in the analysis system 100 should be interrupted, restarted, or continued.

[0134] (iii) Furthermore, this disclosure is not limited to the embodiments described above, and includes various modifications. For example, the embodiments described above are specifically illustrated for ease of understanding of this disclosure and are not limited to having all the structures described. Furthermore, a part of the structure of one embodiment can be replaced with a part of the structure of another embodiment. Furthermore, it is also possible to add structures of other embodiments to the structure of one embodiment. Furthermore, for a part of the structure of each embodiment, a part of another structure can be added to, deleted from, or replaced.

[0135] Furthermore, this disclosure can also be implemented through program code of software that implements the functions of the embodiments. In this case, a storage medium storing the program code is provided to a system or device, and the computer (or CPU, MPU) of the system or device reads the program code stored in the storage medium. In this case, the program code read from the storage medium itself implements the functions of the described embodiments, and the program code itself and the storage medium storing the program code constitute this disclosure. Examples of storage media for supplying such program code include floppy disks, CD-ROMs, DVD-ROMs, hard disks, optical disks, optical discs, CD-Rs, magnetic tapes, non-volatile memory cards, ROMs, etc.

[0136] Furthermore, based on the instructions in the program code, the OS (operating system) running on the computer may perform part or all of the actual processing, thereby achieving the functions of the aforementioned embodiments. Alternatively, after the program code read from the storage medium is written into the computer's memory, the computer's CPU or other processor may perform part or all of the actual processing based on the instructions in the program code, thereby achieving the functions of the aforementioned embodiments.

[0137] Alternatively, the program code of the software that implements the functions of the implementation method can be distributed via the network and stored in a storage unit such as a hard disk or memory of the system or device, or in a storage medium such as a CD-RW or CD-R. When in use, the computer (or CPU, MPU) of the system or device reads and executes the program code stored in the storage unit or the storage medium.

[0138] Furthermore, in the above embodiments, the control lines and information lines represent what is necessary for the description, and not all control lines and information lines may necessarily be shown on the product. All structures can be interconnected.

[0139] -Explanation of Figure Markers-

[0140] 1.1A Conveying Device

[0141] 10 permanent magnets

[0142] Coils 21, 21a, and 21b

[0143] 22 cores

[0144] Magnetic poles 25, 25a, and 25b

[0145] 30 Current Detection Unit

[0146] 40 Computational Unit

[0147] 50 Drive Unit

[0148] 100 Analysis System

[0149] 101 Control Computer

[0150] 102 Analytical apparatus

[0151] 201 processor

[0152] 202 Memory

[0153] 203 Position Detection Department

[0154] 204 Coil Terminal

[0155] 205 Coil Drive Section

[0156] 206 Input Device

[0157] 207 Output device

[0158] 208 bus

[0159] 211 The surrounding coils.

Claims

1. A transport device that transports a transport container including a magnet or a magnetic body along a transport path to a target position, characterized by comprising: a transport surface configured with a plurality of magnetic poles including a core and a coil, having a transport path; a drive section that supplies a current to the coil; and a position detection section that performs processing of estimating a position of the transport container, wherein the position detection section performs the following processing: based on transport history record information on the transport path of the transport container, a plurality of magnetic poles in the vicinity of a transport position scheduled at a current time point are set as first magnetic poles that become candidates for the position of the transport container; the first magnetic poles are excited, and at least one second magnetic pole different from the first magnetic poles that is a magnetic pole in the vicinity of a given range from the first magnetic poles is supplied with a direct current voltage or a pulse voltage in a direction opposite to an excitation current of the first magnetic poles; and based on current values of the first magnetic poles, presence or absence of the transport container is determined.

2. The transport device according to claim 1, wherein a number of the magnetic poles is less than a number of magnetic poles that can be configured on the transport surface.

3. The transport device according to claim 2, wherein the plurality of magnetic poles are arranged in a lattice shape on the transport surface.

4. An analysis system that includes a plurality of analysis devices, a plurality of transport devices configured between the plurality of analysis devices, and a control computer that controls operations of the analysis devices and the transport devices, characterized in that the plurality of transport devices respectively transport a transport container including a magnet or a magnetic body along a transport path to a target position, the transport device includes: a transport surface configured with a plurality of magnetic poles including a core and a coil, having a transport path; a drive section that supplies a current to the coil; and a processor that performs processing of detecting a position of the transport container, and notifies the control computer of information based on a result of position detection, wherein the processor performs the following processing: based on a current change value when an excitation current is caused to flow through a selected path magnetic pole located on the transport path, whether the transport container is separated from the selected path magnetic pole is determined, and the determination result is notified to the control computer; based on transport history record information on the transport path of the transport container, a plurality of magnetic poles in the vicinity of a transport position scheduled at a current time point are set as first magnetic poles that become candidates for the position of the transport container; the first magnetic poles are excited, and at least one second magnetic pole different from the first magnetic poles that is a magnetic pole in the vicinity of a given range from the first magnetic poles is supplied with a direct current voltage or a pulse voltage in a direction opposite to an excitation current of the first magnetic poles; and based on current values of the first magnetic poles, presence or absence of the transport container is determined.

5. The analysis system according to claim 4, wherein in a case where the transport container is separated from the selected path magnetic pole, the processor controls the drive section so that the transport container in the vicinity of the selected path magnetic pole is moved to a position of another magnetic pole. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 6. The analysis system according to claim 4, wherein the processor controls the drive section to move the transport container around the selected magnetic pole to another transport device in a case where the transport container departs from the selected path magnetic pole.

7. The analysis system according to claim 4, wherein the processor notifies the control computer of a result of the judgment of the presence or absence of the transport container at the position where the magnetic pole is not arranged, the control computer judges processing interruption, processing restart, or processing continuation in the analysis system based on the judgment result from the transport device.

8. The analysis system according to claim 7, wherein the processor controls the drive section to introduce the transport container to the transport path in a case where the presence of the transport container at the position where the magnetic pole is not arranged is confirmed.

9. The analysis system according to claim 8, wherein the processor notifies the control computer of a result of the introduction process of the transport container to the transport path.

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