Automated analyzer

Abstract

The invention provides an automatic analysis device capable of adjusting the position of a dispensing nozzle relative to a dispensing object with high precision in a short time. An automatic analysis device (10) is provided with: a dispensing device (11) having a dispensing nozzle (113) that sucks and discharges a liquid; an object to be dispensed (200) that is a container that accommodates the liquid suctioned and discharged by the dispensing nozzle (113); an imaging unit (122) that images the dispensing nozzle (113) and the object to be dispensed (200); and a control unit (111) that controls the dispensing device (11) and the imaging unit (122). The distance in the vertical direction between the tip (113a) of the dispensing nozzle (113) and the upper end of the dispensing target (200) is defined as the relative height (L2) between the dispensing nozzle (113) and the dispensing target (200). The control unit (111) acquires the relative height (L2), and corrects, using the relationship between the relative height (L2) and the number of correction pixels, the position of the tip (113a) of the dispensing nozzle (113) at the target position (202) of the dispensing target object (200) or the position of the tip (113a) of the dispensing nozzle (113) on the image (201) captured by the imaging unit (122).

Description

Technical Field

[0001] The invention relates to an automatic analyzing device. Background Art

[0002] Automatic analyzers, such as biochemical automatic analyzers, perform component analysis of biological samples such as serum and urine (hereinafter referred to as "samples"). In such biochemical automatic analyzers, a dispensing nozzle is generally used to dispense samples and reagents into a reaction pool and react them, and a photometric unit such as a spectrometer is used to optically measure the changes in color tone and turbidity produced by the reaction solution. If the position of the dispensing nozzle coincides with the target position in the dispensing object such as the reaction pool during dispensing, dispensing can be performed with high precision. Therefore, when an offset occurs between the position of the dispensing nozzle and the target position during dispensing, the accuracy of the dispensing is affected, and as a result, the reliability of the automatic analyzer is also affected. In order to correct such an offset in the position of the dispensing nozzle, generally, an operator (such as a maintenance person or a user) regularly performs maintenance to adjust the position of the dispensing nozzle. However, in such maintenance, the operator makes adjustments visually, which takes time and causes deviations in the adjustment position by the operator.

[0003] Therefore, by using an imaging device such as a CCD camera to image the tip of the dispensing nozzle and determine the position of the dispensing nozzle, the adjustment work can be made more efficient and a decrease in analysis accuracy due to deviation in the adjustment position can be suppressed.

[0004] In the existing automatic analysis device, an example of a technology for easily and accurately adjusting the position of a moving part such as a dispensing nozzle is described in Patent Document 1. The specimen processing device described in Patent Document 1 includes: a moving mechanism that can move in order to process a specimen; an imaging unit that is installed so as to be movable together with the moving mechanism and images an object to be accessed by the moving mechanism; and an adjustment unit that adjusts the moving mechanism relative to the object based on an image acquired by the imaging unit.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2012-32310 Summary of the invention

[0008] Problems to be solved by the invention

[0009] In the automatic analysis device, the photographing device for photographing the front end of the dispensing nozzle is preferably lightweight. A lightweight photographing device (such as a monocular camera) has the advantages of high freedom of setting location and low cost, but it is difficult to correctly obtain the distance in the depth direction (depth direction) from the photographed image. Therefore, in the prior art such as the technology described in Patent Document 1, depending on the photographing device used, it may not be possible to correctly adjust the position of the dispensing nozzle relative to the dispensing object (such as a reaction pool), and the analysis accuracy is reduced.

[0010] An object of the present invention is to provide an automatic analysis device capable of adjusting the position of a dispensing nozzle relative to a dispensing object with high accuracy in a short time.

[0011] Solutions to Solve Problems

[0012] The automatic analysis device of the present invention comprises: a dispensing device, which comprises a dispensing nozzle for sucking and ejecting liquid; a dispensing object, which is a container for storing the liquid sucked and ejected by the dispensing nozzle; a photographing unit, which photographs the dispensing nozzle and the dispensing object; and a control unit, which controls the dispensing device and the photographing unit. The distance between the front end of the dispensing nozzle and the upper end of the dispensing object in the vertical direction is taken as the relative height between the dispensing nozzle and the dispensing object. The control unit obtains the relative height, and uses a predetermined relationship between the relative height and the number of corrected pixels to correct the target position of the front end of the dispensing nozzle at the dispensing object on the image photographed by the photographing unit, or to correct the position of the front end of the dispensing nozzle.

[0013] The effects of the invention are as follows.

[0014] According to the present invention, it is possible to provide an automatic analysis device capable of adjusting the position of a dispensing nozzle with respect to a dispensing object with high accuracy in a short time. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram showing the structure of an automatic analyzer according to Example 1 of the present invention.

[0016] Figure 2 This is a diagram showing the configuration of a dispensing device included in the automatic analyzer of Example 1.

[0017] Figure 3 It is a diagram showing the structure of a driving unit included in the dispensing device.

[0018] Figure 4 This is a flowchart showing the procedure of a process for adjusting the position of a dispensing nozzle of a dispensing device in the automatic analyzer of the first embodiment.

[0019] Figure 5A It is shown in Figure 4 FIG. 1 is a diagram of the dispensing nozzle approaching the dispensing object in step S103.

[0020] Figure 5B It is shown in Figure 4 FIG. 5 is a diagram of the front end portion of the nozzle approaching the dispensing object in step S104.

[0021] Figure 6 1 is a diagram showing an example of an output image captured by the imaging unit in the first embodiment.

[0022] Figure 7 This is a diagram showing an example of the relationship between the relative height L2 and the number of corrected pixels.

[0023] Figure 8 This is a diagram showing an example of an output image when the control unit corrects the position of the tip of the nozzle in the first embodiment.

[0024] Fig. 9 This is a diagram showing a configuration for measuring a relative height L2 by an external imaging unit provided outside a dispensing device of an automatic analyzer in a second embodiment of the present invention.

[0025] Fig.10 This is a flowchart showing the procedure of a process for measuring the relative height L2 using the external imaging unit in the second embodiment.

[0026] Fig.11 This is a diagram showing an example of an output image in Example 2.

[0027] Fig.12 This is a flowchart showing the procedure of a process for adjusting the position of a dispensing nozzle of a dispensing device in the automatic analyzer according to the third embodiment of the present invention.

[0028] Fig.13A It is shown in Fig.12 FIG. 4 is a diagram of the dispensing nozzle moved above the reference component in step S303 .

[0029] Fig. 13B It is shown in Fig.12 FIG. 5 is a diagram of the tip portion of the nozzle determined to be in contact with the reference member in step S305.

[0030] Fig.14 It is shown in Fig.12 FIG. 5 is a diagram of the front end portion of the nozzle approaching the dispensing object in step S307.

[0031] Fig.15 This is a flowchart showing the procedure of a process for measuring a posture change of a dispensing device due to a structural change in the automatic analyzer according to the fourth embodiment of the present invention.

[0032] Fig.16A It is shown in Fig.15 FIG. 4 is a diagram of the arm and dispensing nozzle of the dispensing device after step S403 is completed.

[0033] Fig. 16B It is shown in Fig.15 FIG. 4 is a diagram of the arm and dispensing nozzle of the dispensing device after step S403 performed after step S407 is completed.

[0034] Fig.17 This is a flowchart showing the procedure of a process of measuring a posture change of a dispensing device due to a structural change from an image captured by an imaging unit in the fourth embodiment.

[0035] Fig.18 1 is a diagram showing an example of an output image captured by the imaging unit in the fourth embodiment. DETAILED DESCRIPTION

[0036] The automatic analysis device of the present invention uses a photographing device to photograph the front end of the dispensing nozzle, and adjusts the position of the dispensing nozzle relative to the dispensing object (for example, a container for storing liquid such as a reaction cell), so that the position of the front end of the dispensing nozzle can be consistent with the target position of the dispensing object. In the automatic analysis device of the present invention, regardless of the photographing device used, for example, even if a lightweight photographing device such as a monocular camera is used, the position of the dispensing nozzle relative to the dispensing object can be adjusted with high precision. The operator does not adjust the position of the dispensing nozzle, but the automatic analysis device uses the image captured by the photographing device to adjust the position of the dispensing nozzle, so it can be implemented in a short time. Therefore, in the automatic analysis device of the present invention, the time required for adjusting the position of the dispensing nozzle can be reduced, and both the reduction of maintenance costs and the improvement of analysis accuracy can be achieved.

[0037] Hereinafter, the automatic analyzer according to the embodiment of the present invention will be described in detail using the drawings. In the drawings used in this specification, the same or corresponding components are denoted by the same reference numerals, and repeated description of the components may be omitted.

[0038] Example 1

[0039] Figure 1 1 is a schematic diagram showing the structure of an automatic analyzer 10 according to Embodiment 1 of the present invention. The automatic analyzer 10 is a device for dispensing a sample and a reagent into a reaction cell 104 using a dispensing mechanism and measuring a reaction liquid after a chemical reaction between the sample and the reagent in the reaction cell 104 to perform component analysis.

[0040] The automatic analyzer 10 includes, as main structures, a reaction pool 104, a reaction disk 105, a sample container 100, a sample rack 101, a sample dispensing mechanism 106, a reagent bottle 102, a reagent disk 103, a reagent dispensing mechanism 107, a stirring unit 108, a measuring unit 109, a cleaning unit 110, a control unit 111, and a storage unit 112.

[0041] The reaction wells 104 are containers for storing a mixed solution obtained by mixing a sample with a reagent, and a plurality of the reaction wells 104 are arranged on the upper portion of the reaction disk 105. A mixed solution obtained by chemically reacting a sample with a reagent is called a reaction solution.

[0042] The reaction disk 105 is a rotatable disk-shaped member, and a plurality of reaction cells 104 are arranged along the circumference.

[0043] The sample container 100 is a container for storing a liquid sample, and is placed on a sample rack 101 .

[0044] The sample rack 101 is provided near the reaction disk 105 and has a plurality of sample containers 100 containing samples arranged therein.

[0045] The sample dispensing mechanism 106 is a mechanism capable of rotational movement and vertical movement, and is provided between the reaction disk 105 and the sample rack 101. The sample dispensing mechanism 106 moves horizontally (rotationally) while drawing an arc around the rotation axis, and moves vertically to dispense the sample sucked from the sample container 100 into the reaction cell 104.

[0046] The reagent bottle 102 is a container for storing a liquid reagent and is placed on the reagent disk 103 .

[0047] The reagent disk 103 is a rotatable disk-shaped storage, and a plurality of reagent bottles 102 containing reagents are arranged along the circumference. The reagent disk 103 can also carry a detergent bottle containing detergent, a diluent bottle containing diluent, and a pretreatment reagent bottle containing pretreatment reagents. The reagent disk 103 is kept cold.

[0048] The reagent dispensing mechanism 107 is a mechanism capable of rotational movement and vertical movement, and is disposed between the reaction disk 105 and the reagent disk 103. The reagent dispensing mechanism 107 performs horizontal movement (rotational movement) and vertical movement, and dispenses the reagent, detergent liquid, diluent, and pretreatment reagent sucked from the reagent bottle 102, the detergent bottle, the diluent bottle, and the pretreatment reagent bottle into the reaction pool 104. In addition, the detergent bottle, the diluent bottle, and the pretreatment reagent bottle are not shown in the drawings.

[0049] The stirring unit 108 is a mechanism for mixing the sample and the reagent dispensed into the reaction cell 104 , and is provided around the reaction disk 105 .

[0050] The measurement unit 109 is a mechanism for irradiating the reaction solution contained in the reaction cell 104 with light and measuring the absorbance of the light transmitted through the reaction solution, and is provided around the reaction disk 105 .

[0051] The cleaning unit 110 is a mechanism for cleaning the interior of the reaction cell 104 , and is provided around the reaction disk 105 .

[0052] The control unit 111 is connected to the above-mentioned components of the automatic analyzer 10 , and controls the operations of the above-mentioned components or analyzes the amounts of components in the reaction solution.

[0053] The storage unit 112 is connected to the control unit 111 and stores information related to control of components of the automatic analyzer 10 (eg, each control parameter, sequence position), measurement results of the measurement unit 109 (eg, absorbance data), and the like.

[0054] The automatic analyzer 10 executes analysis processing of the sample in the following procedure.

[0055] First, when the sample container 100 placed on the sample rack 101 is transported to the vicinity of the reaction disk 105, the sample dispensing mechanism 106 dispenses the sample contained in the sample container 100 into the reaction pool 104 arranged on the reaction disk 105. Next, the reagent dispensing mechanism 107 dispenses the reagent used for the analysis of the sample from the reagent bottle 102 placed on the reagent disk 103 into the reaction pool 104 into which the sample has been dispensed. Next, the stirring unit 108 stirs the mixed solution of the sample and the reagent inside the reaction pool 104.

[0056] Then, the measuring unit 109 irradiates the reaction solution contained in the reaction cell 104 with light generated by the light source and measures the absorbance of the light transmitted through the reaction solution. The control unit 111 analyzes the amount of components contained in the sample from the absorbance of the reaction solution measured by the measuring unit 109 based on the calibration curve data and the Beer-Lambert law.

[0057] In addition, in this embodiment, as an example, an automatic analyzer that uses the measuring unit 109 to determine the concentration of a specific component contained in a sample is described. However, the technology disclosed in this specification can be used for an automatic analyzer that uses a measuring device other than the measuring unit 109 to measure a sample (for example, an immune automatic analyzer, a coagulation automatic analyzer).

[0058] Figure 2 1 is a diagram showing the structure of the dispensing device 11 provided in the automatic analyzer 10 of this embodiment. Hereinafter, the sample dispensing mechanism 106 and the reagent dispensing mechanism 107 are collectively represented as the dispensing device 11. That is, both the sample dispensing mechanism 106 and the reagent dispensing mechanism 107 are described by describing the dispensing device 11.

[0059] As main structures, the dispensing device 11 includes an arm 114, a shaft 115, a dispensing nozzle 113, a pressure sensor 116, a syringe pump 117, a pipe 118, a solenoid valve 119, a contact detection sensor 120, and a driving unit 121. The dispensing device 11 also includes an imaging unit 122. The control unit 111 controls the dispensing device 11 and the imaging unit 122.

[0060] The arm 114 is rotatably movable (horizontally movable), is provided on the upper portion of the shaft 115, and holds the dispensing nozzle 113. The arm 114 is movable up and down by raising and lowering the shaft 115.

[0061] The shaft 115 is a columnar member that can move in the up-down direction and can be extended and retracted to be raised and lowered.

[0062] The dispensing nozzle 113 is provided on the arm 114 and sucks or ejects liquid such as a sample or a reagent. Hereinafter, the dispensing nozzle 113 is also simply referred to as the nozzle 113 .

[0063] The dispensing object of the dispensing device 11 is a container for storing liquid sucked and ejected by the dispensing nozzle 113. In this embodiment, the dispensing object is the reaction pool 104, the sample container 100, and the reagent bottle 102. The dispensing object can also include a detergent bottle, a diluent bottle, and a pre-treatment reagent bottle.

[0064] The dispensing nozzle 113, the pressure sensor 116 and the syringe pump 117 are connected to each other by a pipe 118 to form a dispensing flow path. The dispensing flow path is configured such that the tip side is opened by the dispensing nozzle 113 and the base side is opened or closed by the electromagnetic valve 119.

[0065] The contact detection sensor 120 is provided on the arm 114 and connected to the dispensing nozzle 113. The contact detection sensor 120 is a sensor for detecting contact between the dispensing nozzle 113 and a liquid (sample, reagent) or an object (eg, a dispensing object). The contact detection sensor 120 can be formed of, for example, a capacitive sensor.

[0066] When dispensing liquid (sample, reagent), the dispensing device 11 immerses the tip of the dispensing nozzle 113 in the liquid based on a signal from the contact detection sensor 120 , closes the electromagnetic valve 119 , and causes the syringe pump 117 to suck or eject the liquid.

[0067] The driving unit 121 has a mechanism for driving the arm 114 and the shaft 115, and is controlled by the control unit 111 to drive the arm 114 and the shaft 115. The control unit 111 receives a signal from a sensor provided in the automatic analyzer 10, or sends a drive signal of a motor provided in the driving unit 121, thereby controlling the driving unit 121. The storage unit 112 can store signals from sensors, drive conditions of the motor, and drive states (e.g., rotation direction and rotation amount).

[0068] The imaging unit 122 is an imaging device having an imaging element such as a CCD. The imaging unit 122 is installed, for example, near the front end of the arm 114, and can capture an area including the dispensing nozzle 113 and the dispensing object. Since the imaging unit 122 is fixed to the arm 114, even if the arm 114 moves, the relative position with the dispensing nozzle 113 does not change, and the area including the front end of the dispensing nozzle 113 can always be captured. The automatic analysis device 10 of this embodiment can use the imaging unit 122 to obtain an image that can measure the difference in the position of the dispensing object and the front end of the dispensing nozzle 113.

[0069] Figure 3 1 is a diagram showing the structure of a driving unit 121 included in the dispensing device 11. The driving unit 121 includes a rotation driving unit 121a that rotates the arm 114 and a lifting driving unit 121b that lifts and lowers the shaft 115.

[0070] The rotation drive unit 121a includes a rotation motor 123, a rotation transmission mechanism 124, and a rotation origin sensor 125. The rotation motor 123 generates rotational power to rotate the arm 114 and move the dispensing nozzle 113 in the horizontal direction. The rotation transmission mechanism 124 includes a mechanism (such as a belt transmission mechanism, a gear mechanism, etc.) that decelerates the rotational power of the rotation motor 123 and transmits it to the rotation axis of the arm 114. The rotation origin sensor 125 includes a device (such as a photo interrupter, etc.) that detects the position (position in the rotation direction) of the reference part of the rotation transmission mechanism 124 when the reference part of the arm 114 is at the origin.

[0071] The lifting drive unit 121b includes a lifting motor 126, a lifting transmission mechanism 127, and a lifting origin sensor 128. The lifting motor 126 generates a rotational force to lift the shaft 115 and move the dispensing nozzle 113 in the vertical direction. The lifting transmission mechanism 127 includes a mechanism (such as a belt transmission mechanism, a gear rack mechanism, etc.) that converts the rotational force of the lifting motor 126 into a linear force in the vertical direction and transmits it to the shaft 115. The lifting origin sensor 128 includes a device (such as a photo interrupter, etc.) that detects the position (vertical position) of the reference part of the lifting transmission mechanism 127 when the reference part of the shaft 115 is at the origin.

[0072] The rotation direction and the rotation amount of the rotation motor 123 and the lifting motor 126 are detected by a rotary encoder or a pulse counter provided in the motors 123 and 126 .

[0073] When the reference portion of the arm 114 is at the origin, the tip of the dispensing nozzle 113 is at a predetermined reference position in the horizontal direction. When the reference portion of the shaft 115 is at the origin, the tip of the dispensing nozzle 113 is at a predetermined reference position in the vertical direction.

[0074] Figure 4 1 is a flowchart showing the sequence of processing for adjusting the position of the dispensing nozzle 113 of the dispensing device 11 in the automatic analysis device 10 of the present embodiment. The adjustment of the position of the dispensing nozzle 113 can be performed, for example, before the operation of the automatic analysis device 10 or during the maintenance of the automatic analysis device 10. The processing is started when the control unit 111 sends a command for adjusting the position of the dispensing nozzle 113 to the dispensing device 11.

[0075] In step S101, when the dispensing device 11 receives a command from the control unit 111, it shifts to the nozzle adjustment mode. In the nozzle adjustment mode, the position of the dispensing nozzle 113 is adjusted.

[0076] In step S102 , the control unit 111 operates the driving unit 121 of the dispensing device 11 to move the reference portion of the arm 114 and the shaft 115 to a predetermined origin position (reset the dispensing device 11 ).

[0077] In step S103, the control unit 111 activates the drive unit 121 to move the arm 114 horizontally by a predetermined distance in the sequence control, so that the dispensing nozzle 113 approaches the dispensing object in the horizontal direction. At this time, since the position of the reference part of the shaft 115 in the vertical direction remains unchanged at the origin, the position of the dispensing nozzle 113 in the vertical direction does not change.

[0078] Figure 5A It is shown in Figure 4 FIG. 103 is a diagram of the dispensing nozzle 113 approaching the dispensing object 200 in step S103. When the adjustment of the position of the dispensing nozzle 113 is not completed, a horizontal direction ( Figure 5A The difference in position (left and right direction) of the

[0079] also, Figure 5A The vertical distance (relative height L0) between the front end 113a of the nozzle 113 and the upper end of the dispensing object 200 in the state shown (i.e., when the vertical position of the reference portion of the shaft 115 is the origin) is a known constant value. The storage unit 112 stores the value of the relative height L0.

[0080] Back to Figure 4 Description.

[0081] In step S104, the control unit 111 operates the driving unit 121 to drive the shaft 115 in the vertical direction by a distance predetermined in the sequence control, so that the dispensing nozzle 113 moves in the vertical direction. For example, the control unit 111 lowers the dispensing nozzle 113. As a result, the front end 113a of the nozzle 113 approaches the dispensing object 200 in the vertical direction.

[0082] Figure 5B 1 and 2 are diagrams showing the tip portion 113 a of the nozzle 113 approaching the dispensing object 200 in step S104 . Figure 5B In order to easily understand the movement of the front end portion 113a of the nozzle 113 in the vertical direction, the Figure 5A The distance in the vertical direction between the front end portion 113 a of the nozzle 113 and the upper end portion of the dispensing object 200 (relative height L0 ) is shown.

[0083] like Figure 5B As shown, the distance that the shaft 115 is raised and lowered in step S104 is set to L1. The distance L1 is the moving distance of the dispensing nozzle 113 in the up and down direction. The control unit 111 can calculate the distance L1 by detecting the rotation direction and rotation amount of the lifting motor 126. The lifting distance of the shaft 115 per rotation of the lifting motor 126 is set to be known in advance.

[0084] Back to Figure 4 Description.

[0085] In step S105, the control unit 111 acquires the distance (relative height L2) in the vertical direction between the front end portion 113a of the nozzle 113 and the upper end portion of the dispensing object 200. Figure 5B As shown, the relative height L2 (L2=L0-L1) is obtained as the difference between the relative height L0 stored in the storage unit 112 and the distance L1 calculated by the control unit 111. The tip 113a of the nozzle 113 is located above the dispensing object 200 at the relative height L2.

[0086] In step S106, the imaging unit 122 captures an area including the dispensing object 200 and the front end portion 113a of the nozzle 113. The control unit 111 detects the target position of the dispensing object 200 on the image from the output image as the image captured by the imaging unit 122. The target position is the target position of the front end portion 113a of the nozzle 113 for dispensing with high precision. The target position of the front end portion 113a of the nozzle 113 is a position arbitrarily determined in advance, and can be determined as the center of the dispensing object 200, for example.

[0087] Figure 62 is a diagram showing an example of an output image 201 captured by the imaging unit 122. The output image 201 includes the dispensing object 200, a target position 202 of the dispensing object 200, and the tip portion 113a of the nozzle 113.

[0088] However, the target position 202 on the output image 201 is not the real target position. That is, even if the position of the tip 113a of the nozzle 113 is made to coincide with the target position 202 on the output image 201, when dispensing is actually performed, the position of the tip 113a of the nozzle 113 does not necessarily coincide with the target position 202. This is because the output image 201 does not include information in the depth direction (depth direction), and the target position 202 on the output image 201 does not take into account information on the relative height L2 (the distance in the vertical direction between the tip 113a of the nozzle 113 and the upper end of the dispensing object 200).

[0089] Therefore, in this embodiment, as described below, the target position 202 is corrected using the position correction direction 203 and the position correction amount 204 to obtain a corrected target position 205. The corrected target position 205 is the target position of the front end portion 113a of the nozzle 113 on the output image 201. If the position of the front end portion 113a of the nozzle 113 on the output image 201 is made consistent with the corrected target position 205, then when dispensing is actually performed, the front end portion 113a of the nozzle 113 is consistent with the actual target position 202 (for example, the center position of the dispensing object 200).

[0090] Back to Figure 4 Description.

[0091] In step S107, the control unit 111 obtains the position correction direction 203 and the position correction amount 204 in the output image 201. The control unit 111 uses Figure 7 The position correction direction 203 and the position correction amount 204 are obtained from the relative height L2 by referring to the relationship between the relative height L2 and the number of correction pixels shown in FIG. The relationship between the relative height L2 and the number of correction pixels is given in advance.

[0092] Figure 7 : is a diagram showing an example of the relationship between the relative height L2 (the distance in the vertical direction between the front end portion 113a of the nozzle 113 and the upper end portion of the dispensing object 200) and the number of corrected pixels. Figure 7 In the relationship shown, a positive or negative correction pixel number is given for a value of the relative height L2. In the case where the correction pixel number is positive, the position correction direction 203 is Figure 6 In the upward direction of the output image 201, when the number of corrected pixels is negative, the position correction direction 203 is Figure 6The position correction amount 204 is given by the value of the correction pixel number (the number of pixels of the output image 201).

[0093] Figure 7 The relationship between the relative height L2 and the number of corrected pixels shown can be obtained in advance by experiments, etc. For example, by obtaining the change in the position of the tip 113a of the nozzle 113 on the output image 201 when the relative height L2 is increased from zero, the following equation can be obtained: Figure 7 The storage unit 112 stores Figure 7 The data of the relationship shown.

[0094] Back to Figure 4 Description.

[0095] In step S108, the control unit 111 calculates a corrected target position 205 ( 206 ) on the output image 201 using the target position 202 on the output image 201, the position correction direction 203, and the position correction amount 204. Figure 6 The control unit 111 moves the target position 202 in the position correction direction 203 by the distance (number of pixels) of the position correction amount 204 as the corrected target position 205. The corrected target position 205 is the target position of the tip 113a of the nozzle 113 after the position of the dispensing nozzle 113 is adjusted.

[0096] In step S109, the control unit 111 outputs the image 201 ( Figure 6 ) adjusts the position of the front end portion 113a of the nozzle 113 to be consistent with the corrected target position 205. The control unit 111 moves the arm 114 horizontally to adjust the position of the front end portion 113a of the nozzle 113. The position of the front end portion 113a of the nozzle 113 can be adjusted automatically by the control unit 111 or by an operator operating the control unit 111.

[0097] In step S110, the control unit 111 determines whether the output image 201 ( Figure 6 ) whether the position of the front end portion 113a of the nozzle 113 can be adjusted to coincide with the corrected target position 205. For example, the control unit 111 uses the output image 201 captured by the imaging unit 122 to compare the position of the front end portion 113a of the nozzle 113 with the corrected target position 205, thereby determining whether the adjustment can be made. If the position of the front end portion 113a of the nozzle 113 can be adjusted, the process is deemed to be completed and the process moves to step S111. If the position of the front end portion 113a of the nozzle 113 cannot be adjusted, the process is deemed to be incomplete and the process moves to step S109.

[0098] In step S111 , the control unit 111 stores the adjusted position of the tip portion 113 a of the nozzle 113 in the storage unit 112 .

[0099] In step S112, the control unit 111 operates the driving unit 121 to move the reference portion of the arm 114 and the shaft 115 to the origin position, and the dispensing device 11 is shifted to the standby mode. The dispensing device 11 in the standby mode is in a standby state capable of executing a dispensing process.

[0100] Through the above-mentioned procedure, the process of adjusting the position of the dispensing nozzle 113 is completed.

[0101] In the above description, the following processing is described: in the output image 201, the position of the dispensing nozzle 113 is adjusted by correcting the target position 202 of the front end portion 113a of the nozzle 113 to the corrected target position 205, thereby eliminating the position difference between the position of the front end portion 113a of the nozzle 113 and the target position of the front end portion 113a of the dispensing object 200.

[0102] In this embodiment, in the output image 201, by correcting the position of the front end 113a of the nozzle 113 and adjusting the position of the dispensing nozzle 113, the position difference between the position of the front end 113a of the nozzle 113 and the target position of the front end 113a of the dispensing object 200 can also be eliminated.

[0103] Figure 8 1 is a diagram showing an example of an output image 201 when the control unit 111 corrects the position of the tip portion 113 a of the nozzle 113 .

[0104] The control unit 111 can obtain the corrected position of the tip end 113a of the nozzle 113 (hereinafter referred to as "corrected tip end position 207") in the same manner as the corrected target position 205. That is, the control unit 111 uses Figure 7 The relationship between the relative height L2 and the number of corrected pixels is shown, and the position correction direction 203 and the position correction amount 204 are obtained from the relative height L2, and the corrected front end position 207 is obtained from the position of the front end 113a of the nozzle 113 using the position correction direction 203 and the position correction amount 204. However, the position correction direction 203 and the situation of obtaining the corrected target position 205 are reversed.

[0105] When the position of the tip portion 113 a of the nozzle 113 is corrected, it is not necessary to correct the target position 202 of the tip portion 113 a of the nozzle 113 in the output image 201 .

[0106] exist Figure 4 In step S109, the control unit 111 outputs the image 201 ( Figure 8 ) adjusts the corrected front end position 207 to coincide with the target position 202. The control unit 111 moves the arm 114 horizontally to adjust the corrected front end position 207.

[0107] exist Figure 4 In step S110 , the control unit 111 determines whether the corrected tip position 207 can be adjusted to coincide with the target position 202 in the output image 201 .

[0108] As described above, the automatic analyzer 10 of the present embodiment uses the relative height L2 (the distance in the vertical direction between the tip 113a of the nozzle 113 and the upper end of the dispensing object 200) calculated by the control unit 111 and the output image 201 captured by the imaging unit 122 to correct the target position 202 of the tip 113a of the nozzle 113 or the position of the tip 113a of the nozzle 113 on the output image 201. Therefore, in the automatic analyzer 10 of the present embodiment, regardless of the type of imaging unit 122 used, for example, even if the imaging unit 122 uses a lightweight imaging device such as a monocular camera, the position of the dispensing nozzle 113 relative to the dispensing object 200 can be adjusted in a short time with high accuracy. Furthermore, the deviation of the adjustment position of the dispensing nozzle 113 can be prevented, and the reduction in analysis accuracy can be suppressed.

[0109] Example 2

[0110] An automatic analyzer 10 according to a second embodiment of the present invention will be described. Hereinafter, the automatic analyzer 10 according to this embodiment will be described mainly focusing on the differences from the automatic analyzer 10 according to the first embodiment.

[0111] In Example 1, the relative height L2 (the vertical distance between the tip 113 a of the nozzle 113 and the upper end of the dispensing object 200 ) is obtained as the difference between the relative height L0 stored in the storage unit 112 and the distance L1 calculated by the control unit 111 .

[0112] In this embodiment, the relative height L2 is obtained by using a sensor. The automatic analyzer 10 of this embodiment can be equipped with a sensor outside the dispensing device 11, and the relative height L2 is measured using the sensor. The sensor can also be provided for purposes other than measuring the relative height L2. For example, the automatic analyzer 10 is equipped with a shooting unit (external shooting unit) different from the shooting unit 122 outside the dispensing device 11, and the relative height L2 is measured using the external shooting unit.

[0113] In this embodiment, the flowchart of the processing procedure for adjusting the position of the dispensing nozzle 113 of the dispensing device 11 is similar to the flowchart of the processing procedure for adjusting the position of the dispensing nozzle 113 of the dispensing device 11 except for the method of obtaining the relative height L2. Figure 4The flowcharts shown are the same, so their detailed description is omitted.

[0114] Fig. 9 The figure shows the structure of the external imaging unit 300 provided outside the dispensing device 11 of the automatic analyzer 10 in this embodiment for measuring the relative height L2 (the distance in the vertical direction between the front end 113a of the nozzle 113 and the upper end of the dispensing object 200).

[0115] The external imaging unit 300 is an imaging device including an imaging element such as a CCD, etc. The external imaging unit 300 is installed at any location other than the dispensing device 11 in the automatic analyzer 10 , and can image a region including the dispensing nozzle 113 and the dispensing object 200 .

[0116] Fig.10 1 is a flowchart showing the procedure of a process of measuring the relative height L2 using the external imaging unit 300 in the present embodiment.

[0117] In step S201 , the control unit 111 acquires an output image which is an image captured by the external imaging unit 300 .

[0118] Fig.11 3 is a diagram showing an example of an output image 301. The output image 301 captures both the tip 113a of the nozzle 113 and the upper end of the dispensing object 200. In the output image 301, the number of pixels in the vertical direction between the tip 113a of the nozzle 113 and the upper end of the dispensing object 200 is P0.

[0119] Back to Fig.10 Description.

[0120] In step S202 , the control unit 111 acquires the number of pixels P0 in the vertical direction between the tip portion 113 a of the nozzle 113 and the upper end portion of the dispensing object 200 from the output image 301 .

[0121] In step S203, the control unit 111 calculates the relative height L2 from the number of pixels P0. In the output image 301 of the external imaging unit 300, the relationship between the number of pixels and the distance (length) is known in advance.

[0122] In this embodiment, the relative height L2 is measured by the above sequence using the external imaging unit 300. The target position 202 of the front end portion 113a of the nozzle 113 on the output image 201 or the position of the front end portion 113a of the nozzle 113 is corrected using the relative height L2 and the output image 201 captured by the imaging unit 122 fixed to the arm 114 of the dispensing device 11.

[0123] Example 3

[0124] An automatic analyzer 10 according to a third embodiment of the present invention will be described. Hereinafter, the automatic analyzer 10 according to this embodiment will be described mainly with respect to the differences from the automatic analyzer 10 according to the first embodiment.

[0125] In Example 1, the relative height L2 (the distance in the vertical direction between the front end 113a of the nozzle 113 and the upper end of the dispensing object 200) is calculated using the distance L1 of the shaft 115 raised and lowered. The distance L1 is calculated by detecting the rotation direction and rotation amount of the lifting motor 126, and the lifting distance of the shaft 115 per rotation of the lifting motor 126 is known in advance.

[0126] In this embodiment, the control unit 111 calculates the lifting distance of the shaft 115 per one rotation of the lifting motor 126 by using a reference member that can be provided in the dispensing device 11. The control unit 111 calculates the lifting distance and corrects the target position 202 of the front end portion 113a of the nozzle 113 on the output image 201 or the position of the front end portion 113a of the nozzle 113 in consideration of the mechanical error and time change of the lifting drive unit 121b, thereby adjusting the position of the dispensing nozzle 113.

[0127] The reference member can be placed on the dispensing device 11 and can be formed of any object that can be contacted by the tip 113a of the nozzle 113. The reference member may be an object that is not used for the dispensing process of the dispensing device 11.

[0128] Fig.12 FIG. 1 is a flowchart showing the sequence of processing for adjusting the position of the dispensing nozzle 113 of the dispensing device 11 in the automatic analyzer 10 of the present embodiment. Fig.12 The flowchart shown is Figure 4 The following description will focus on the differences from the flowchart shown in (Example 1). The dispensing device 11 is provided with a reference member.

[0129] In steps S301 to S302, the Figure 4 The same processing as steps S101 to S102 is performed.

[0130] In step S303, the control unit 111 activates the drive unit 121 to move the arm 114 horizontally and move the dispensing nozzle 113 above the reference component. At this time, since the vertical position of the reference part of the shaft 115 remains unchanged, the vertical position of the dispensing nozzle 113 does not change.

[0131] Fig.13A 1 is a diagram showing the dispensing nozzle 113 moved to the upper side of the reference member 400 in step S303 . Fig.13AThe vertical distance (relative height L3) between the front end portion 113a of the nozzle 113 and the upper surface of the reference member 400 in the state shown (i.e., when the vertical position of the reference portion of the shaft 115 is the origin) is a known constant value. The storage unit 112 stores the value of the relative height L3.

[0132] Back to Fig.12 Description.

[0133] In step S304, the control unit 111 operates the driving unit 121 to drive the shaft 115 in the vertical direction by a distance predetermined in the sequence control, so as to move the dispensing nozzle 113 in the vertical direction. For example, the control unit 111 lowers the dispensing nozzle 113. As a result, the front end 113a of the nozzle 113 approaches the reference member 400 in the vertical direction.

[0134] In step S305, the control unit 111 uses the contact detection sensor 120 ( Figure 2 ), it is determined whether the front end portion 113a of the nozzle 113 is in contact with the upper surface of the reference component 400. When the front end portion 113a of the nozzle 113 is in contact with the upper surface of the reference component 400, the process proceeds to step S306. When the front end portion 113a of the nozzle 113 is not in contact with the reference component 400, the process proceeds to step S304.

[0135] Fig. 13B The figure shows the tip portion 113a of the nozzle 113 which is determined to be in contact with the upper surface of the reference member 400 in step S305. Fig.13A At the distance of the relative height L3 shown, the front end portion 113a contacts the reference member 400. The lifting distance of the shaft 115 (that is, the moving distance of the front end portion 113a of the nozzle 113) is L3.

[0136] In step S306, the control unit 111 detects the rotation amount of the lifting motor 126 from the time the dispensing nozzle 113 moves in the up and down direction to the time when the front end 113a of the nozzle 113 contacts the upper surface of the reference component 400, and uses the rotation amount and the relative height L3 stored in the storage unit 112 to calculate the lifting distance of the shaft 115 for each rotation of the lifting motor 126.

[0137] In step S307, the control unit 111 operates the drive unit 121 to horizontally move the arm 114 by a distance predetermined in sequence control to horizontally move the dispensing nozzle 113 closer to the dispensing object 200. Thus, the tip 113a of the nozzle 113 horizontally approaches the dispensing object 200.

[0138] Fig.141 is a diagram showing the tip portion 113 a of the nozzle 113 approaching the dispensing object 200 in step S307 . Fig.14 In order to easily understand the movement of the front end portion 113a of the nozzle 113 in the vertical direction, the Fig. 13B The front end portion 113 a of the nozzle 113 and the reference member 400 are shown.

[0139] The distance (relative height L4) in the vertical direction between the upper surface of the reference member 400 and the upper end of the dispensing target object 200 is a known constant value in advance. The storage unit 112 stores the value of the relative height L4.

[0140] Back to Fig.12 Description.

[0141] In step S308, the control unit 111 operates the driving unit 121 to drive the shaft 115 in the vertical direction, thereby moving the dispensing nozzle 113 in the vertical direction. For example, the control unit 111 lowers the dispensing nozzle 113 by a distance predetermined in sequence control. As a result, the front end 113a of the nozzle 113 approaches the dispensing object 200 in the vertical direction.

[0142] like Fig.14 As shown, in step S308, the dispensing nozzle 113 moves vertically by a distance L5. The distance L5 is the vertical movement distance of the dispensing nozzle 113 when the dispensing nozzle 113 moves vertically in step S308 from the position where the tip 113a contacts the upper surface of the reference member 400.

[0143] Back to Fig.12 Description.

[0144] In step S309, the control unit 111 detects the rotation amount of the lifting motor 126 when the dispensing nozzle 113 is moved in the vertical direction in step S308. Then, the control unit 111 calculates the rotation amount and the lifting distance of the shaft 115 per rotation of the lifting motor 126 calculated in step S306. Fig.14 The distance L5 shown is the distance of the vertical movement of the dispensing nozzle 113 in step S308.

[0145] In step S310, the control unit 111 acquires the relative height L2 (the distance in the vertical direction between the front end portion 113a of the nozzle 113 and the upper end portion of the dispensing object 200). Fig.14 As shown, the relative height L2 is obtained as the difference between the relative height L4 stored in the storage unit 112 and the distance L5 calculated by the control unit 111 (L2=L4-L5).

[0146] After step S310, the Figure 4The same processing as steps S106 to S113 is performed.

[0147] In the automatic analyzer 10 of the present embodiment, the control unit 111 calculates the lifting distance of the shaft 115 per rotation of the lifting motor 126, and uses the lifting distance to obtain the relative height L2. Therefore, in the present embodiment, the relative height L2 is calculated in consideration of the mechanical error and time change of the lifting drive unit 121b, and the target position 202 of the front end portion 113a of the nozzle 113 on the output image 201 or the position of the front end portion 113a of the nozzle 113 is corrected based on the relative height L2, so that the position of the dispensing nozzle 113 can be adjusted.

[0148] Example 4

[0149] An automatic analyzer 10 according to a fourth embodiment of the present invention will be described. Hereinafter, the automatic analyzer 10 according to the present embodiment will be described mainly with respect to the differences from the automatic analyzer 10 according to the first embodiment.

[0150] In the automatic analyzer 10 of the present embodiment, the imaging unit 122 is attachable to and detachable from the dispensing device 11. Hereinafter, as an example, a case where the imaging unit 122 is attachable to and detachable from the arm 114 will be described.

[0151] The imaging unit 122 is not provided on the arm 114 when the automatic analyzer 10 is in operation and performing analysis, but is provided on the arm 114 only when adjusting the position of the dispensing nozzle 113 relative to the dispensing object 200. Therefore, the dispensing device 11 has a different structure when the automatic analyzer 10 is in operation and when adjusting the position of the dispensing nozzle 113. Therefore, in the automatic analyzer 10 of this embodiment, it is necessary to adjust the position of the dispensing nozzle 113 by considering the posture change of the dispensing device 11 caused by such a structural change (i.e., whether the imaging unit 122 is provided on the arm 114).

[0152] In this embodiment, the adjustment of the position of the dispensing nozzle 113 using the imaging unit 122 that can be attached to and detached from the arm 114 is described. The position of the front end 113a of the nozzle 113 in the vertical direction changes between the case where the imaging unit 122 is provided on the arm 114 and the case where it is not provided on the arm 114. In the automatic analysis device 10 of this embodiment, by measuring the change in position using the reference member 400 described in Example 3, the position of the dispensing nozzle 113 can be adjusted in consideration of the change in the posture of the dispensing device 11.

[0153] Fig.15 This is a flowchart showing the procedure of a process for measuring a posture change of the dispensing device 11 due to a structural change in the automatic analyzer 10 of the present embodiment.

[0154] In step S401 , the control unit 111 sets the dispensing device 11 to a standby mode (standby state) when the automatic analyzer 10 is in operation. Since the automatic analyzer 10 is in operation (in analysis), the imaging unit 122 is not provided on the arm 114 .

[0155] In step S402 , the control unit 111 operates the driving unit 121 to move the reference portion of the arm 114 and the shaft 115 to a predetermined origin position (reset the dispensing device 11 ).

[0156] In step S403, the control unit 111 operates the driving unit 121 to move the arm 114 horizontally, thereby moving the dispensing nozzle 113 above the reference member 400. At this time, since the vertical position of the reference portion of the shaft 115 remains unchanged, the vertical position of the dispensing nozzle 113 does not change.

[0157] Fig.16A The figure shows the arm 114 and the dispensing nozzle 113 of the dispensing device 11 after the completion of step S403. The arm 114 does not include the imaging unit 122. The reference portion of the shaft 115 is located at the origin in the vertical direction. The front end portion 113a of the nozzle 113 is located above the reference member 400.

[0158] Back to Fig.15 Description.

[0159] In step S404, the control unit 111 operates the driving unit 121 to drive the shaft 115 in the vertical direction by a distance predetermined in the sequence control, so as to move the dispensing nozzle 113 in the vertical direction. For example, the control unit 111 lowers the dispensing nozzle 113. As a result, the front end 113a of the nozzle 113 approaches the reference member 400 in the vertical direction.

[0160] In step S405, the control unit 111 uses the contact detection sensor 120 ( Figure 2 ), it is determined whether the front end portion 113a of the nozzle 113 is in contact with the upper surface of the reference component 400. When the front end portion 113a of the nozzle 113 is in contact with the upper surface of the reference component 400, the process proceeds to step S406. When the front end portion 113a of the nozzle 113 is not in contact with the reference component 400, the process proceeds to step S404.

[0161] In step S406, the control unit 111 calculates the lifting distance L6 ( L6 ) of the tip end 113a of the nozzle 113 from when the reference portion of the shaft 115 is located at the origin in the vertical direction to when the tip end 113a of the nozzle 113 contacts the upper surface of the reference member 400. Fig.16AThe control unit 111 can calculate the lifting distance L6 as the lifting distance of the shaft 115 obtained by detecting the rotation direction and the rotation amount of the lifting motor 126. The control unit 111 stores the calculated lifting distance L6 in the storage unit 112.

[0162] In step S407, the control unit 111 puts the dispensing device 11 in a standby mode (standby state) while adjusting the position of the dispensing nozzle 113. Since the dispensing device 11 is in the state of adjusting the position of the dispensing nozzle 113, the imaging unit 122 is installed on the arm 114 by the operator.

[0163] After step S407 , the control section 111 performs the same processing as that of steps S402 to S406 .

[0164] Fig. 16B FIG. 1 is a diagram showing the arm 114 and the dispensing nozzle 113 of the dispensing device 11 after the step S403 performed after the step S407 is completed. In the dispensing device 11, since the arm 114 is provided with the imaging unit 122, the posture changes from Fig.16A The arm 114 shown is modified in a case where it does not include the imaging unit 122 .

[0165] Fig. 16B In order to easily understand the posture change of the dispensing device 11 due to the structural change (the presence or absence of the imaging unit 122), the double-dashed line is used to indicate the posture change of the dispensing device 11. Fig.16A The arm 114 and the dispensing nozzle 113 are shown. When the arm 114 includes the imaging unit 122, the orientation of the arm 114 changes compared to the case where the arm 114 does not include the imaging unit 122, and the position of the tip 113a of the nozzle 113 in the vertical direction also changes.

[0166] Back to Fig.15 Description.

[0167] In step S406 performed after step S407, the control unit 111 calculates the lifting distance L7 ( L7 ) of the tip end 113a of the nozzle 113 from when the reference portion of the shaft 115 is located at the origin in the vertical direction to when the tip end 113a of the nozzle 113 contacts the reference member 400. Fig. 16B ) and save the calculated lifting distance L7 in the storage unit 112.

[0168] In step S408, the control unit 111 calculates the difference L8 between the lifting distance L6 and the lifting distance L7. The lifting distance difference L8 is a value indicating the change in the vertical position of the front end portion 113a of the nozzle 113 caused by the presence or absence of the imaging unit 122, and indicates the change in the posture of the dispensing device 11 caused by the structural change of the dispensing device 11.

[0169] The automatic analyzer 10 of this embodiment can measure the posture change caused by the structural change of the dispensing device 11 (the presence or absence of the imaging unit 122) as described above. Fig. 16B In the example shown, an example is shown in which the front end portion 113a of the nozzle 113 approaches the reference component 400 due to a change in the posture of the dispensing device 11, that is, an example in which the lifting distance L7 is smaller than the lifting distance L6. In this case, the control unit 111 calculates L8=L6-L7 and obtains the difference L8 between the lifting distance L6 and the lifting distance L7. If the posture of the dispensing device 11 changes, there is also a case in which the front end portion 113a of the nozzle 113 is away from the reference component 400, that is, the lifting distance L7 is larger than the lifting distance L6. In this case, the control unit 111 calculates L8=L7-L6 and obtains the difference L8 between the lifting distance L6 and the lifting distance L7.

[0170] In the automatic analysis device 10 of the present embodiment, when the target position 202 of the front end portion 113a of the nozzle 113 or the position of the front end portion 113a of the nozzle 113 on the output image 201 is corrected, the difference L8 between the lifting distance L6 and the lifting distance L7 is obtained, and the relative height L2 (the distance in the vertical direction between the front end portion 113a of the nozzle 113 and the upper end portion of the dispensing object 200) is obtained using the imaging unit 122, as in the automatic analysis device 10 of embodiments 1 to 3. Then, the control unit 111 obtains a new relative height L2r by adding and subtracting the difference L8 from the relative height L2, and uses the new relative height L2r to obtain the position correction direction 203 and the position correction amount 204 ( Figure 4 Step S107, Figure 7 ). For example, the control unit 111 Fig. 16B In the case of the example shown (L7<L6), the new relative height L2r is obtained as L2r=L2+L8, and in the case of L7>L6, the new relative height L2r is obtained as L2r=L2-L8.

[0171] In addition, the lifting distance L6 and the lifting distance L7 are not obtained based on the rotation direction and rotation amount of the lifting motor 126, but can be obtained using a sensor provided outside the dispensing device 11, such as the external imaging unit 300 ( Fig. 9 ), and is obtained in the same procedure as described in Example 2. Therefore, the difference L8 between the lifting distance L6 and the lifting distance L7 can be obtained using a sensor provided outside the dispensing device 11 (for example, the external imaging unit 300).

[0172] Furthermore, the posture change of the dispensing device 11 due to the structural change (the presence or absence of the imaging unit 122) may not be based on Fig.15For example, when the difference L8 between the lifting distance L6 and the lifting distance L7 is small, it is sometimes difficult to calculate the difference L8 according to the order shown in FIG. Fig.15 In such a case, it is preferable to obtain the posture change (the change in the position of the tip 113 a of the nozzle 113 ) caused by the structural change of the dispensing device 11 based on the image captured by the imaging unit 122 .

[0173] Fig.17 This is a flowchart of the process of measuring the posture change of the dispensing device 11 due to the structural change from the image captured by the imaging unit 122. Fig.17 In the illustrated sequence as well, the change in the position of the tip portion 113 a of the nozzle 113 is measured using the reference member 400 .

[0174] A reference point, i.e., a target, is set on the upper surface of the reference member 400 to determine the position of the tip 113a of the nozzle 113. The dispensing nozzle 113 is adjusted so that when the tip 113a of the nozzle 113 contacts the upper surface of the reference member 400 when the automatic analyzer 10 is in operation (when the imaging unit 122 is not provided on the arm 114), the position of the tip 113a coincides with the target position. The position of the tip 113a can be adjusted using, for example, the contact detection sensor 120.

[0175] In step S501 , the control unit 111 puts the dispensing device 11 in a standby mode (standby state) while the position of the dispensing nozzle 113 is being adjusted. Since the dispensing device 11 is in the state of adjusting the position of the dispensing nozzle 113 , the imaging unit 122 is provided on the arm 114 .

[0176] In steps S502 to S505, the Fig.15 The same processing as steps S402 to S405 is performed.

[0177] In step S506, the imaging unit 122 images a region including the reference member 400 and the tip 113a of the nozzle 113 while the tip 113a of the nozzle 113 is in contact with the upper surface of the reference member 400. The control unit 111 acquires a difference P1 between the position of the tip 113a of the nozzle 113 on the output image captured by the imaging unit 122 and the position of the target.

[0178] Fig.18 1 is a diagram showing an example of an output image 401 captured by the imaging unit 122. The output image 401 includes the reference member 400, the target 500 set on the reference member 400, and the tip portion 113a of the nozzle 113.

[0179] Fig.18The dispensing device 11 shown in the output image 401 is in a state where the position of the dispensing nozzle 113 is adjusted (the imaging unit 122 is provided on the arm 114). Fig.18 The position of the tip 113a of the nozzle 113 in the automatic analyzer 10 is different from the position when the automatic analyzer 10 is in operation (the imaging unit 122 is not provided on the arm 114). Fig.18 The position of the front end portion 113 a of the nozzle 113 in FIG. 5 does not coincide with the position of the target 500 .

[0180] Therefore, the control unit 111 obtains the difference P1 between the position of the front end portion 113a of the nozzle 113 in the output image 401 and the position of the target 500. The difference P1 can be represented by the number of pixels in the output image 401, for example. The difference P1 is a value indicating the change in the position of the front end portion 113a of the nozzle 113 in the vertical direction due to the presence or absence of the imaging unit 122, and indicates the change in the posture of the dispensing device 11 caused by the structural change of the dispensing device 11. When the imaging unit 122 is not provided on the arm 114, the difference P1=0.

[0181] In this way, the posture change of the dispensing device 11 caused by the structural change (the presence or absence of the imaging unit 122) can also be Fig.17 The difference P1 is determined in the order shown.

[0182] When the control unit 111 corrects the target position 202 of the front end portion 113a of the nozzle 113 on the output image 201 or the position of the front end portion 113a of the nozzle 113, the control unit 111 obtains the difference P1 between the position of the front end portion 113a of the nozzle 113 in the output image 401 and the position of the target 500, and uses the imaging unit 122 to obtain the output image 201 ( Figure 4 Step S106, Figure 6 Then, the control unit 111 obtains the position correction amount 204 ( Figure 4 Step S107, Figure 6 , Figure 7 ) is added or subtracted from the difference P1 to obtain a new position correction amount 204, and the position correction direction 203 and the new position correction amount 204 are used to calculate the corrected target position 205 on the output image 201 ( Figure 4 Step S108, Figure 6 ).

[0183] exist Fig.18 In the example shown, in the output image 401, the position of the tip 113a of the nozzle 113 is located above the position of the target 500. In this case, the control unit 111 controls the output image 401 by Figure 4The position correction amount 204 obtained in step S107 is subtracted from the difference P1 to obtain a new position correction amount 204. The position correction direction 203 is Figure 4 If the sign of the position correction amount 204 acquired in step S107 and the new position correction amount 204 has changed, the direction is reversed.

[0184] Even if the automatic analyzer 10 of this embodiment uses the imaging unit 122 that can be attached to and detached from the arm 114, the position of the dispensing nozzle 113 can be adjusted in consideration of the posture change caused by the structural change of the dispensing device 11 (whether the imaging unit 122 is provided on the arm 114). When the automatic analyzer 10 performs analysis, the imaging unit 122 is not provided on the arm 114, so the arm 114 can reduce the burden received by the imaging unit 122.

[0185] As described above, in the automatic analysis device 10 of Examples 1 to 4, the position of the dispensing nozzle 113 can be adjusted by taking into account the posture change caused by the structural change of the dispensing device 11 (whether the imaging unit 122 is set on the arm 114), and the position of the dispensing nozzle 113 relative to the dispensing object 200 can be adjusted with high precision in a short time.

[0186] In addition, the present invention is not limited to the above-mentioned embodiments, and various modifications are possible. For example, the above-mentioned embodiments are described in detail in order to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to a method that must have all the structures described. Moreover, a part of the structure of a certain embodiment can be replaced with the structure of other embodiments. Moreover, the structure of other embodiments can also be added to the structure of a certain embodiment. Moreover, a part of the structure of each embodiment can be deleted, added, or replaced with other structures.

[0187] Explanation of symbols

[0188] 10—automatic analyzer, 11—dispensing device, 100—sample container, 101—sample rack, 102—reagent bottle, 103—reagent disk, 104—reaction pool, 105—reaction disk, 106—sample dispensing mechanism, 107—reagent dispensing mechanism, 108—stirring unit, 109—measuring unit, 110—cleaning unit, 111—control unit, 112—storage unit, 113—dispensing nozzle, 113a—front end portion of nozzle, 114—arm, 115—axis, 116—pressure sensor, 117—syringe pump, 118—piping, 119—solenoid valve, 120—contact detection sensor, 121—drive unit, 12 1a—driving unit for rotation, 121b—driving unit for lifting, 122—shooting unit, 123—rotation motor, 124—transmission mechanism for rotation, 125—origin sensor for rotation, 126—lifting motor, 127—transmission mechanism for lifting, 128—origin sensor for lifting, 200—dispensing object, 201—output image, 202—target position, 203—position correction direction, 204—position correction amount, 205—corrected target position, 207—corrected front end position, 300—external shooting unit, 301—output image, 400—reference component, 401—output image, 500—target.

Claims

1. An automatic analysis device, characterized in that: have: A dispensing device having a dispensing nozzle for sucking and ejecting liquid; A dispensing object, which is a container for receiving the liquid sucked and ejected by the dispensing nozzle; an imaging unit that images the dispensing nozzle and the dispensing object; and a control unit that controls the dispensing device and the imaging unit, The distance between the front end of the dispensing nozzle and the upper end of the dispensing object in the vertical direction is taken as the relative height between the dispensing nozzle and the dispensing object. The control unit obtains the relative height, and uses a predetermined relationship between the relative height and the number of corrected pixels to correct the target position of the front end of the dispensing nozzle at the dispensing object on the image captured by the imaging unit, or corrects the position of the front end of the dispensing nozzle.

2. The automatic analysis device according to claim 1, characterized in that A motor is provided to move the dispensing nozzle in the vertical direction. The control unit moves the dispensing nozzle in a vertical direction from a reference position using the motor, calculates a vertical movement distance of the dispensing nozzle from a rotation amount of the motor, and acquires the relative height using the movement distance.

3. The automatic analysis device according to claim 1, characterized in that having a second imaging unit different from the above imaging unit, The second imaging unit images the dispensing nozzle and the dispensing object. The control unit calculates the relative height from the image captured by the second imaging unit.

4. The automatic analysis device according to claim 1, characterized in that A reference member is provided, which is an object that the front end portion of the dispensing nozzle can contact, The control unit calculates the relative height based on the distance in the vertical direction between the upper surface of the reference component and the upper end of the dispensing object, and the vertical movement distance of the dispensing nozzle when the dispensing nozzle is moved in the vertical direction from the position where the front end contacts the upper surface of the reference component.

5. The automatic analysis device according to claim 1, characterized in that A reference member is provided, which is an object that the front end portion of the dispensing nozzle can contact, The imaging unit can be attached to and detached from the dispensing device. The control unit calculates a value representing a change in the vertical position of the front end portion of the dispensing nozzle between a case where the imaging unit is provided on the dispensing device and a case where the imaging unit is not provided on the dispensing device, and uses the value representing the change to correct the target position or the position of the front end portion.

6. The automatic analysis device according to claim 5, characterized in that: In each of the cases where the photographing unit is not provided on the dispensing device and the cases where the photographing unit is provided on the dispensing device, the control unit calculates the lifting distance of the front end portion of the dispensing nozzle when the dispensing nozzle is moved in the up-down direction from the reference position so that the front end portion of the dispensing nozzle contacts the upper surface of the reference component. The control unit calculates, as a value indicating the change, a difference between the lifting and lowering distance when the imaging unit is not provided in the dispensing device and the lifting and lowering distance when the imaging unit is provided in the dispensing device.

7. The automatic analysis device according to claim 5, characterized in that: A reference point is set on the upper surface of the reference member, and the reference point is the position of the front end portion of the dispensing nozzle when the front end portion contacts the upper surface of the reference member when the imaging unit is not provided on the dispensing device. In the case where the above-mentioned photographing unit is arranged on the above-mentioned dispensing device, the above-mentioned control unit calculates the difference between the position of the above-mentioned front end portion of the dispensing nozzle and the position of the above-mentioned reference point in the image captured by the above-mentioned photographing unit when the above-mentioned dispensing nozzle is moved in the up-down direction from the reference position so that the above-mentioned front end portion of the dispensing nozzle contacts the upper surface of the above-mentioned reference component and the position of the above-mentioned reference point is used as a value representing the above-mentioned change.

Images