Conveying device and conveying method

Abstract

The present invention comprises: a transfer container (11) provided with a permanent magnet (10); a plurality of coils (21) that generate a thrust force for conveying the conveying container (11); a drive unit (50) that applies a voltage to each of the plurality of coils (21); a position detection unit (30a) that estimates the position of the transfer container (11) by estimating the position of the permanent magnet (10) on the basis of current information when the voltage pulse is applied to the coil (21); a sensing unit that detects the position of the transport container (11) in a manner other than magnetic field detection; and a control unit (40) that controls a drive unit (50) that is driven on the basis of the position information of the transport container (11) estimated by the position detection unit (30a) or detected by the sensing unit. As a result, provided are a transport device and a transport method that can improve transport efficiency compared to conventional configurations.

Description

Technical Field

[0001] The present invention relates to a transmission device and a transmission method, preferably used for a specimen analysis device for performing analysis of biological samples (hereinafter referred to as "specimens") such as blood, plasma, serum, urine, and other body fluids, and a specimen pretreatment device for performing the pretreatment required for the analysis. Background Art

[0002] Patent document 1 describes a device comprising: a specimen container, which contains a specimen and is provided with a magnetic body; a conveying surface, which conveys the specimen container; a plurality of coils, which are arranged on the surface of the conveying surface opposite to the surface opposite to the magnetic body; a coil driving unit, which applies a voltage to the coil; and a position estimating unit, which estimates the position of the specimen container based on a current change generated when the coil driving unit applies a voltage to the coil, and the position estimating unit estimates the position of the conveying container by applying voltage pulses with a phase difference to adjacent coils among the plurality of coils through the coil driving unit. Prior art literature Patent Literature

[0003] Patent Document 1: Japanese Patent Application Laid-Open No. 2021-196193 Summary of the Invention Technical problem to be solved by the invention

[0004] In a sample analysis system used for clinical examinations, examinations of designated analysis items are performed on samples such as blood, plasma, serum, urine, and other body fluids.

[0005] This specimen analysis system connects multiple functional devices to automatically execute each process. Specifically, to streamline laboratory operations, the analysis unit, which performs multiple analyses such as biochemistry and immunology, and the pre-processing unit, which performs the various pre-processing steps required for these analyses, are connected via a conveyor line and used as a single specimen analysis system.

[0006] In recent years, with the advancement of medical care and the aging of patients, the importance of sample analysis has increased. Therefore, in order to improve the analytical processing capabilities of sample analysis systems, high-speed, large-scale, simultaneous, and multi-directional sample transmission is required.

[0007] As background art in this technical field, there is Patent Document 1. However, the specimen transport device described in Patent Document 1 does not describe detecting the position of the specimen at a position where no voltage is applied.

[0008] For example, during specimen transport, voltages are sequentially applied to multiple coils, and the coil generating the magnetic field is switched to transport the transport container. However, position detection based on voltage is not possible at the time of switching the coil applying voltage.

[0009] In particular, when the specimen is transported at a constant speed, when the transport container passes directly above a coil, the coil is demagnetized and transport is performed by a magnetic field generated by applying a voltage to an adjacent coil.

[0010] However, the distance directly above the adjacent coils is outside the range of position detection based on current changes. Therefore, there is a concern that position detection may not be possible when the conveyed container passes directly above the coils.

[0011] In addition, when the paths of two specimens intersect at a specific coil, transport along one path is started first, the specimen is transported to a position where there is no risk of collision at the intersection, and then transport along the other path is started.

[0012] For example, the coils are arranged in a grid shape and specimens can be arranged at each grid point. In the case of this structure, the moment when there is no risk of collision of the specimen at the intersection is the moment when the specimen passes through the coil at the intersection of the path and arrives directly above the coil at the next grid point.

[0013] However, when position detection is performed using coil current values, as described in Patent Document 1, a specimen is determined to be at a position free of collision risk only when it passes through a coil that was previously free of collision risk and approaches the next coil. However, this results in extra waiting time before other specimens begin to move, leaving room for improvement in the transport system's throughput.

[0014] In addition, when the transport container being transported is stopped during transport of the specimen, the application of voltage to the coil is stopped. In this case, it is impossible to determine whether the transport container has actually stopped directly above the coil after the stop process has been executed.

[0015] Furthermore, when starting transport, the coil voltage is applied based on the assumption that the transport container is directly above the coil, and control is applied to provide appropriate thrust. Therefore, if the transport container is not directly above the coil, there is a concern that appropriate thrust may not be provided, and improvements are desired.

[0016] The present invention provides a transmission device and a transmission method, which can improve the transmission efficiency compared with the previous structure. Technical means for solving technical problems

[0017] The present invention includes multiple means for solving the above-mentioned technical problems. As an example, it includes: a conveying container, which is provided with a magnetic body; a plurality of coils, which generate thrust for conveying the conveying container; a coil driving unit, which applies a voltage to each of the plurality of coils; a calculation unit, which estimates the position of the magnetic body based on current information when a voltage pulse is applied to the coil, thereby estimating the position of the conveying container; a sensing unit, which detects the position of the conveying container in a manner other than magnetic field detection; and a control unit, which controls the driven coil driving unit based on the position information of the conveying container estimated by the calculation unit or detected by the sensing unit. Effects of the Invention

[0018] According to the present invention, the transmission efficiency can be improved compared to the conventional structure. Other problems, structures and effects other than the above will be further clarified by the following description of the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a plan view showing the overall structure of a sample analysis system including the conveyor device of the embodiment. Figure 2 This is a schematic structure of the conveying device of the embodiment. Figure 3 This is the control timing of a certain magnetic pole (coil) by the transmission device of the embodiment. Figure 4 It is an explanatory diagram of the arrangement of detectors of the conveyor device of the embodiment. Figure 5 This is an example of installing a photosensor in the conveyor device of the embodiment. Figure 6 This is an example of installing a physical switch of the transmission device of the embodiment. Figure 7 This is an installation example of a conveying plane having a detector and a groove in the conveying device of the embodiment. Figure 8 This is an installation example of a conveying plane having a detector and a groove in the conveying device of the embodiment. Figure 9 This is an explanatory diagram of a case where the conveyor device of the embodiment uses a position detection system when conveying a plurality of conveying containers along intersecting paths. Figure 10 This is a flowchart of the conveying device of the embodiment during the stop process. DETAILED DESCRIPTION

[0020] use Figures 1 to 10 The following describes embodiments of the transmission device and the transmission method of the present invention.

[0021] In the drawings used in this specification, the same or corresponding components are denoted by the same or similar reference numerals, and repeated description of these components may be omitted.

[0022] In addition, in the following embodiments, the structural elements (including element steps, etc.) are of course not essential unless otherwise specified or unless they are considered to be essential in principle.

[0023] First, use Figure 1 The overall structure of the sample analysis system including the conveyor device will be described. Figure 1 It is a plan view showing the overall structure of a sample analysis system including the conveyor device according to this embodiment.

[0024] Figure 1 The sample analysis system 100 in the illustrated embodiment is a system including an analysis device that automatically analyzes components of a sample such as blood or urine.

[0025] The main components of the sample analysis system 100 are a transport container 11 (see Figure 2 ), or multiple transport devices 1 ( Figure 1 12 in total), multiple analysis devices 80 ( Figure 1 ), and a control computer 90 that performs comprehensive management of the sample analysis system 100.

[0026] The analyzer 80 performs qualitative and quantitative analysis on the components of the sample conveyed by the conveyor 1. The analysis items of this unit are not particularly limited, and the structure of a conventional automatic analyzer for biochemical or immunological analysis can be employed. Furthermore, if multiple analyzers are provided, they may be of the same or different specifications, without particular limitation.

[0027] Each conveyor 1 is connected to a magnetic pole 25 (refer to Figure 2 ) and the permanent magnet 10 (refer to Figure 2 ) and slides on the transport path, thereby transporting the specimen container containing the specimen carried on the transport container 11 to the destination (analyzer 80, take-out port, etc.). The specific situation will be described using Figure 2 The following figures are described in detail.

[0028] The control computer 90 controls the operation of the entire system, including the transmission device 1 and the analysis device 80. It is composed of a computer equipped with a display device such as a liquid crystal display, an input device, a storage device, a CPU, and memory. The control computer 90 controls the operation of each device based on various programs stored in the storage device.

[0029] The control processing of the actions executed by the control computer 90 may be integrated into one program, divided into multiple programs, or a combination thereof. In addition, part or all of the program may be implemented by dedicated hardware or modularized.

[0030] The above Figure 1 In the embodiment, four analysis devices 80 are provided. However, the number of analysis devices 80 is not particularly limited and may be more than one. Similarly, the number of conveying devices 1 is not particularly limited and may be more than one.

[0031] In addition, various sample pre-processing / post-processing units for pre-processing or post-processing the sample may be provided in the sample analysis system 100. The detailed structure of the sample pre-processing / post-processing unit is not particularly limited, and the structure of a known pre-processing device may be adopted.

[0032] Next, use Figure 2 The following figures illustrate the structure of the conveying device 1 of this embodiment.

[0033] First, use Figure 2 A conveying device 1 according to an embodiment of the present invention will be described. Figure 2 It is a structural diagram of the conveying device of the present invention.

[0034] Figure 2 The conveying device 1 of the illustrated embodiment includes a conveying plane 12 , a position detecting portion 30 a , a magnetic pole 25 , a detector 26 , a position detecting portion 30 b , a driving portion 50 , and a control portion 40 .

[0035] In the conveyor device 1 , a specimen container containing a specimen is placed on a conveyor container 11 . A permanent magnet 10 is provided on the bottom surface of the conveyor container 11 .

[0036] The transport container 11 is a specimen holder or a specimen rack that holds a plurality of specimen holders. Typically, one specimen container containing a specimen is placed in the transport container 11. The specimen container is transported to a desired location as the permanent magnet 10 moves.

[0037] The permanent magnet 10 does not need to be provided on the lower surface of the conveying container 11 , but is preferably provided on the lower surface from the viewpoint of effectively exerting the conveying force in the conveying method of the present invention.

[0038] A permanent magnet 10 is placed in the transport container. For example, a permanent magnet 10 such as neodymium or ferrite is used. While the embodiments describe the permanent magnet 10, other magnets or soft magnetic materials may be used in place of the permanent magnet 10. Furthermore, a combination of the permanent magnet 10 and a soft magnetic material may be used in place of the permanent magnet 10.

[0039] Here, the "magnetic body" of the present invention refers to the permanent magnet 10, other magnets or soft magnetic bodies, or a combination of the permanent magnet 10 and the soft magnetic body, etc. In the embodiment, the permanent magnet 10 is used as a representative example for description.

[0040] The conveying container 11 slides on the conveying plane 12. To this end, a plurality of magnetic poles 25 are arranged below the conveying plane 12. The magnetic poles 25 include a cylindrical core 22 made of a magnetic body and a winding 21 wound around the outer circumference of the core 22.

[0041] The magnetic pole 25 and the permanent magnet 10 are arranged to face each other with the conveying plane 12 interposed therebetween. The permanent magnet 10 moves relatively above the magnetic pole 25. That is, the permanent magnet 10 moves above the magnetic pole 25 via the conveying plane 12.

[0042] The drive unit 50 is connected to the coils 21 constituting each magnetic pole 25 in a one-to-one manner. The drive unit 50 applies a predetermined voltage to the magnetic pole 25 , thereby allowing a predetermined current to flow through the coils 21 .

[0043] At this time, the magnetic poles 25 are excited and function as electromagnets, generating electromagnetic forces that attract the permanent magnets 10 on the lower surface of the transport container 11 positioned on the transport plane 12. By repeating the above steps for all magnetic poles 25 forming the transport path to the target location, the specimen container mounted on the transport container 11 can be transported to the destination point on the transport plane 12. The drive unit 50 preferably serves as the main body for executing the transport process, which transports the transport container 11 by applying a voltage to a selected coil 21 among the plurality of coils 21 generating the thrust for transporting the transport container 11.

[0044] Here, in order to effectively cause electromagnetic force to act on the permanent magnet 10 and to move the permanent magnet 10 in a target direction, relative position information between the permanent magnet 10 and the magnetic pole 25 is required.

[0045] For example, assume that the permanent magnet 10 is located above (directly above) one of the two magnetic poles 25. Even if a voltage is applied to the magnetic pole 25 (coil 21) directly below the permanent magnet 10, no force (thrust) in the transmission direction is generated in the permanent magnet 10. On the other hand, if a voltage is applied to the magnetic pole 25 (coil 21) that the permanent magnet 10 is not located above (directly above), a force is generated in the permanent magnet 10 that attracts the magnetic pole 25, and a force (thrust) in the transmission direction is generated.

[0046] That is, by applying voltage to a desired magnetic pole 25 (coil 21), a force in the transmission direction can be effectively generated in the permanent magnet 10. Furthermore, by selecting the magnetic pole 25 (coil 21) to which voltage is applied, the direction of the force in the transmission direction can be controlled.

[0047] To this end, in this embodiment, a position detection portion 30 a is provided, which detects the position of the transport container 11 including the permanent magnet 10 on the transport plane 12 by a change in magnetic field.

[0048] Position detector 30a detects the position of conveying container 11, including permanent magnet 10, on conveying plane 12. A pulse voltage is applied to magnetic pole 25 (coil 21) and the current amplitude is measured after a certain period of time. The current amplitude varies depending on the distance between magnetic pole 25 (coil 21) and permanent magnet 10.

[0049] Specifically, as the distance between magnetic pole 25 (coil 21) and permanent magnet 10 decreases, the inductance of magnetic pole 25 (coil 21) decreases. With a smaller inductance, the current rises faster, increasing its amplitude. With a larger inductance, the current rises slower, decreasing its amplitude.

[0050] Specifically, the position detection unit 30a detects the change in current when a voltage pulse is applied to the magnetic pole 25 (coil 21), thereby estimating the distance of the permanent magnet 10 relative to the magnetic pole 25 (coil 21), thereby estimating the position of the permanent magnet 10, that is, the position of the transport container 11. The position detection unit 30a preferably serves as the main body for executing the calculation process that estimates the position of the permanent magnet 10 based on the current information when the voltage pulse is applied to the coil 21, thereby estimating the position of the transport container 11.

[0051] The voltage applied to the magnetic pole 25 (coil 21 ) required for position detection by the position detection unit 30 a is assumed to be a driving voltage for conveying the conveying container 11 . However, the present invention is not limited thereto, and a voltage dedicated to position detection may be applied.

[0052] The position detection unit 30 a detects the position of the transport container 11 only while a voltage is being applied to the magnetic pole 25 (coil 21 ).

[0053] Furthermore, the position detection unit 30a has an upper limit on the distance over which it can detect the position of the conveying container 11. Therefore, after switching the magnetic pole 25 (coil 21) to which voltage is applied, there is a period in which the position information of the conveying container 11 cannot be acquired.

[0054] Therefore, the conveyor device 1 of this embodiment acquires the absolute position information of the conveyed container 11 using the position detection unit 30 b , for example, in a section where the position information cannot be acquired by the position detection unit 30 a .

[0055] Figure 3 This is an example of the control sequence of a certain magnetic pole 25 (coil 21) by the transmission device of the embodiment.

[0056] The control unit 40 is a portion that controls the driving unit 50 and the position detection units 30a and 30b. For example, it is constituted by a part of the above-mentioned control computer 90, but may be an independent portion.

[0057] In this embodiment, the control unit 40 instructs the driver 50 to apply a voltage based on the position information of the transfer container 11 estimated by the position detection unit 30a or detected by the detector 26 and the position detection unit 30b (described later). Based on the instruction from the control unit 40, the driver 50 applies a voltage to the magnetic pole 25 (coil 21), thereby generating a thrust force on the transfer container 11. The control unit 40 preferably serves as the main body for executing the control process, which controls the coil 21 during the transfer process based on the position information of the transfer container 11 detected in the sensing process or estimated in the calculation process.

[0058] Furthermore, when stopping the conveying operation of the conveying container 11, the control unit 40 preferably estimates the position of the conveying container 11 based on the position information estimated by the position detection unit 30a, and determines whether the stopping operation is carried out normally by detecting the position of the sensor corresponding to the coil 21 where the conveying container 11 is stopped. This will be described in detail later.

[0059] The position detection unit 30a obtains the relative position information of the conveying container 11 from the current value of the magnetic pole 25 (coil 21). Based on the relative position information from the position detection unit 30a, the control unit 40 switches the magnetic pole 25 (coil 21) to which voltage is applied at appropriate timing. Based on the position information from the position detection unit 30a, the control unit 40 stops applying voltage to the magnetic pole 25 (coil 21) and then begins detecting the position of the conveying container 11 using the detector 26 corresponding to the position directly above the corresponding magnetic pole 25 (coil 21). When the conveying container 11 is directly above the detector 26, the position detection unit 30b determines the absolute position information of the conveying container 11.

[0060] In the conveying device 1 of this embodiment, the sensing unit that detects the position of the conveying container 11 in a manner other than magnetic field detection (preferably, the execution body of the sensing process that detects the position of the conveying container 11 in a manner other than magnetic field detection) is composed of a detector 26 that uses a detection method other than magnetic field detection, and a position detection unit 30b that uses the detector 26 to detect the position of the conveying container 11 on the conveying plane 12.

[0061] Next, in the conveying device 1 of the embodiment, the Figure 4 The arrangement position of the detector 26 will be described. Figure 4 This is a diagram showing the conveyor device 1 as viewed from above the conveyor plane 12 .

[0062] like Figure 4 As shown, the magnetic poles 25 (coils 21) are arranged in a grid shape. When the detector 26 is arranged directly above the magnetic poles 25 (coils 21) at the intersection of the magnetic poles 25 (coils 21) and the end of a conveyor 1, although the arrangement of the magnetic poles 25 (coils 21) is rectangular, the arrangement position of the detector 26 is applicable regardless of the arrangement shape or number of the magnetic poles 25 (coils 21). Preferably, it is arranged directly above the coil 21 arranged at the intersection of the conveying path and at the end of the conveying device.

[0063] By providing the detector 26 at the intersection of the magnetic poles 25 arranged in a grid pattern, it is possible to avoid a reduction in the transfer efficiency when the transfer container 11 crosses. In addition, by also providing the detector 26 at the end of the transfer device 1, as shown in FIG. Figure 1 As shown, when multiple conveying devices 1 are arranged in an array, when being conveyed to an adjacent conveying device 1, it is possible to quickly detect whether it has been conveyed to the adjacent conveying device 1, so it is possible to determine whether the conveying in the adjacent conveying device 1 can be started quickly, thereby further improving the conveying efficiency.

[0064] Next, in the conveying device 1 of the embodiment, the Figure 5 An application example of the detector 26 will be described.

[0065] An example of the detector 26 used in the conveyor 1 is a photosensor 26a. The photosensor 26a is, for example, a reflective sensor, and is disposed on the conveying plane 12 with a light emitting unit and a light receiving unit exposed on the conveying container 11A side.

[0066] The optical sensor 26a begins detection when the position detection unit 30a completes detection and the control unit 40 issues a detection instruction to the position detection unit 30b. Specifically, when the light emitting unit begins emitting light and the conveying container 11A reaches directly above it, and the light receiving unit detects light reflected from its bottom surface, it can be assumed that an object is within a certain distance from the light receiving unit. Therefore, a detection signal can be output to the position detection unit 30b upon detection of the conveying container 11A.

[0067] As a means for detecting the conveying container 11A directly above the magnetic pole 25 (coil 21), for example, a protrusion 13 is provided on the bottom surface of the conveying container 11A so that the bottom surface of the conveying container 11A is lifted and not in contact with the conveying plane 12. One solution is to include a rotating body 14, such as a ball or wheel, on the bottom surface of the conveying container 11A as a means for lifting the bottom surface of the conveying container 11A and not in contact with the conveying plane 12.

[0068] The detection range of the optical sensor 26 a is effective to the distance of the protrusion 13 of the conveyance container 11A. Preferably, the bottom surface of the conveyance container 11A other than the protrusion 13 is outside the detection range.

[0069] Furthermore, it is preferable to arrange the protrusion 13 at the center of the conveying container 11A so as to perform detection only when the conveying container 11A is present right above the magnetic pole 25 (coil 21 ).

[0070] Furthermore, by changing the width of the protrusion 13 , the accuracy of position detection can be adjusted.

[0071] Next, in the conveying device 1 of the embodiment, the Figure 6 Other application examples of the detector 26 will be described.

[0072] A physical switch 26b is another example of the detector 26 used in the conveyor device 1. The physical switch 26b is a push-button type switch and is disposed on the conveying plane 12 so as to be exposed on the conveying container 11A side.

[0073] When the physical switch 26b is pressed and the transfer container 11A is detected, the position detection unit 30b is updated. For example, the physical switch 26b is configured such that the transfer container 11A is detected only while the physical switch 26b is pressed, as shown in the position detection unit 30b.

[0074] As a means for detecting the conveying container 11A directly above the magnetic pole 25 (coil 21), it is preferable to provide a protrusion 13 on the bottom surface of the conveying container 11A, for example, in a state where the bottom surface of the conveying container 11A is lifted and does not contact the conveying plane 12. As a means for lifting the bottom surface of the conveying container 11A, it is preferable to include a rotating body 14 such as a ball or wheel on the bottom surface of the conveying container 11A.

[0075] When the physical switch 26 b is pressed by contact with the protrusion 13 , the protrusion 13 is arranged at the center of the conveying container 11A, so that detection can be made only when the conveying container 11A is located directly above the magnetic pole 25 (coil 21 ).

[0076] Furthermore, by changing the width of the protrusion 13 , the accuracy of position detection can be adjusted.

[0077] Next, in the conveying device 1 of the embodiment, the Figure 7 and Figure 8 The method for correcting the detection position will be described.

[0078] like Figure 7 and Figure 8 As shown, it is assumed that the conveying plane 12A has a groove 12A1 with a portion thereof being lower than other portions at a position where the conveying container 11A can be conveyed in the conveying device 1 .

[0079] As described above, the conveying container 11A has a protrusion 13 and a rotating body 14 on the bottom surface. In the conveying container 11A having a structure in which the conveying plane 12A does not contact the bottom surface (protrusion 13), since the rotating body 14 contacts the groove 12A1 which is lower than the others, it is preferred to configure the detector 26 between the grooves 12A1 and the grooves 12A1.

[0080] Thus, by positioning the rotating body 14 of the transfer container 11A at a different height from the detector 26, it is possible to prevent the detector 26 from reacting to a portion of the transfer container 11A other than the protrusion 13. Furthermore, it is possible to prevent the transfer container 11A from deviating from the transfer direction, such as shifting in an unintended direction relative to the transfer direction, i.e., laterally.

[0081] Next, use Figure 9 The conveying control of a plurality of conveying containers 11 using a detection system in combination in the conveying device 1 of the embodiment will be described.

[0082] Consider a case where two conveying containers 11 are conveyed in the conveying device 1 such that the paths intersect at the intersection 60 .

[0083] In this case, in order to reliably avoid collisions, it is desirable to start the transfer of the other transfer container 11 at the moment when one transfer container 11 starts transfer and the transfer container 11 passes the intersection point and reaches a position where there is no risk of contact with the other transfer container 11. The position where there is no risk of contact between the transfer containers 11 is a position 61 where the next detector 26 is located, which can be a candidate for the next intersection point, when viewed from the intersection point 60 of the transfer containers 11.

[0084] Therefore, in this case, the control unit 40 estimates the position of the conveying container 11 based on the position information estimated by the position detection unit 30a until it reaches a certain distance from the coil 21. In the event that the conveying containers 11 intersect, it is preferred to use the detection information of the conveying container 11 at a position where the conveying containers 11 avoid collision with each other, that is, the detection information of the conveying container 11 obtained by the detector 26 located at location 61, based on the position information estimated by the position detection unit 30a and the position information used by the sensing unit.

[0085] Next, use Figure 10 The stop control of the conveying container 11 using the detection method in the conveying device 1 of the embodiment will be described.

[0086] The conveying device 1 starts conveying the conveying container 11 ( S101 ).

[0087] First, the control unit 40 controls the driving unit 50 to sequentially apply voltage to the magnetic pole 25 (coil 21 ) at the target stop position and the magnetic pole 25 (coil 21 ) forming the transmission path to the target stop position, thereby starting excitation ( S102 ).

[0088] The position detector 30a detects the position of the transport container 11 based on the current change (S103). Based on the result of the position detector 30a in step S103, the control unit 40 determines whether the transport container 11 is located at a predetermined distance from the magnetic pole 25 (coil 21) at the target stop position (S104).

[0089] If it is determined that the conveying container 11 is not at a certain distance from the magnetic pole 25 (coil 21) at the target stop position, the process returns to step S103, and the control unit 40 continues to excite the magnetic pole 25 (coil 21) and detect the position by the position detection unit 30a.

[0090] In contrast, if it is determined in step S104 that the transport container 11 is at a predetermined distance, the control unit 40 stops exciting the magnetic pole 25 (coil 21) (S105). Simultaneously, since position detection by the position detector 30a presupposes the application of voltage to the magnetic pole 25 (coil 21), position detection by the position detector 30a also stops at the time of S105.

[0091] Next, the control unit 40 starts the position detection unit 30b to detect the position of the conveying container 11 (S106). Based on the result of the position detection unit 30b in step S106, the control unit 40 determines whether the conveying container 11 is located directly above the magnetic pole 25 (coil 21) as the target stop position (S107).

[0092] When the conveyance container 11 is detected by the position detection unit 30b for a predetermined time or longer, the control unit 40 determines that the conveyance container 11 has reached the target stop position and ends the conveyance (108).

[0093] In contrast, if the position detection unit 30b does not detect the position of the conveying container 11 for a certain period of time, the control unit 40 determines that the conveying container 11 has not yet reached directly above the target stop position, and returns the processing to step S102 to continue conveying until it stops at the target position.

[0094] Next, the effects of this embodiment will be described.

[0095] The conveying device of the above-mentioned embodiment includes: a conveying container 11, which is provided with a permanent magnet 10; a plurality of coils 21, which generate a thrust for conveying the conveying container 11; a driving unit 50, which applies a voltage to each of the plurality of coils 21; a position detection unit 30a, which estimates the position of the permanent magnet 10 based on the current information when the voltage pulse is applied to the coil 21, thereby estimating the position of the conveying container 11; a sensing unit, which detects the position of the conveying container 11 in a manner other than magnetic field detection; and a control unit 40, which controls the driving unit 50 based on the position information of the conveying container 11 estimated by the position detection unit 30a or detected by the sensing unit.

[0096] Therefore, since the position of the conveying container 11 can be detected without being affected by the driving coil, the position can be detected even when the conveying container 11 passes directly above the coil 21. This allows for faster confirmation of the stopping position for collision avoidance than is conventionally possible. Consequently, collisions between conveying containers 11 can be avoided with less time than is conventionally possible, ensuring more time for conveying the conveying container 11 than with conventional arrangements, thereby improving conveying efficiency.

[0097] Furthermore, since the optical sensor 26 a or the physical switch 26 b is provided as the sensing unit, the transfer container 11 directly above the magnetic pole 25 can be reliably detected.

[0098] Furthermore, by arranging the sensing unit directly above the coil 21 arranged at the intersection of the transmission path and at the end of the transmission device, the detector 26 can be arranged at a location where detection directly above is important for avoiding collision when an intersection occurs.

[0099] In addition, the control unit 40 estimates the position of the conveying container 11 based on the position information estimated by the position detection unit 30a until it reaches a certain distance from the coil 21. In the event that the conveying containers 11 intersect, the control unit 40 detects a position to avoid collision between the conveying containers 11 based on the position information estimated by the position detection unit 30a and the position information using the sensor unit, thereby reliably avoiding collision without reducing the conveying efficiency.

[0100] In addition, when the control unit 40 stops the conveying action of the conveying container 11, it is preferred that the position of the conveying container 11 is estimated based on the position information estimated by the position detection unit 30a, and whether the stopping action is performed normally is determined by position detection of the sensor corresponding to the coil 21 where the conveying container 11 is stopped, thereby being able to reliably detect the position of the conveying container 11 during the conveying process without excessive configuration of the sensing unit.

[0101] Furthermore, the conveying path is constituted by the groove 12A1 formed on the surface of the conveying plane 12A on which the conveying container 11 slides, thereby easily defining the conveying direction and easily preventing the conveying container 11 from deviating from the conveying path.

[0102] Furthermore, the conveying container 11A has a rotating body 14 that slides in the groove 12A1 and a protrusion 13 that reacts to the sensor on its bottom surface, thereby enabling reliable detection by the sensor portion and reducing the electromagnetic force required for conveyance.

[0103] <Other> The present invention is not limited to the above-described embodiments, and various modifications and applications are possible. The above-described embodiments are described in detail to facilitate understanding of the present invention, and the present invention is not limited to necessarily including all the structures described. Description of labels

[0104] 1 Conveyor 10. Permanent magnet (magnetic body) 11.11A Transport Container 12, 12A transmission plane 12A1 slot 13 protrusion 14 Rotating body 21 Coil 22 core 25 magnetic poles 26 Detector (sensing part) 26a Light sensor (sensing unit) 26b Physical switch (sensor, mechanical sensor) 30a Position detection unit using magnetic field 30b Position detection unit (sensing unit) using a detection method other than magnetic field 40 Control Unit 50 driving part (coil driving part) 60 intersection 61 Locations without risk of contact with transfer containers 80 Analytical device 90 Control computer 100 specimen analysis system.

Claims

1. A conveying device, characterized in that: include: a transport container provided with a magnetic body; a plurality of coils for generating a thrust for conveying the conveying container; a coil driving unit that applies a voltage to each of the plurality of coils; a calculation unit that estimates the position of the magnetic body based on current information when a voltage pulse is applied to the coil, thereby estimating the position of the transfer container; a sensing unit configured to detect the position of the transport container by a method other than magnetic field detection; as well as A control unit controls the coil driving unit to be driven based on the position information of the transfer container estimated by the calculation unit or detected by the sensing unit.

2. The conveying device according to claim 1, wherein The sensing unit includes a light sensor or a mechanical sensor.

3. The conveying device according to claim 1, wherein The sensor of the sensing unit is arranged directly above the coil arranged at an intersection of the transmission path.

4. The conveying device according to claim 1, wherein The sensor of the sensing unit is arranged right above the coil arranged at the end of the conveying device.

5. The conveying device according to claim 3 or 4, characterized in that The control unit estimates the position of the conveying container based on the position information estimated by the calculation unit until the container is a certain distance away from the coil. When the conveying containers intersect, positions for avoiding collision between the conveying containers are detected based on the position information estimated by the calculation unit and the position information using the sensor unit.

6. The conveying device according to claim 3 or 4, characterized in that When stopping the conveying operation of the conveying container, the control unit estimates the position of the conveying container based on the position information estimated by the calculation unit, and determines whether the stopping operation is performed normally by detecting the position of the sensor corresponding to the coil where the conveying container is stopped.

7. The conveying device according to claim 3, wherein The conveying path is formed of a groove formed on a surface of a conveying plane on which the conveying container slides.

8. The conveying device according to claim 7, wherein The conveying container has a rotating body sliding in the groove and a protrusion on the bottom surface to make the sensor respond.

9. A method for conveying a conveying container, wherein the conveying container has a magnetic body, the method comprising: a conveying step of applying a voltage to a target coil among a plurality of coils that generates a thrust for conveying the conveying container, thereby conveying the conveying container; a calculation step of estimating the position of the magnetic body based on current information when a voltage pulse is applied to the coil, thereby estimating the position of the transfer container; a sensing step of detecting the position of the transport container by a method other than magnetic field detection; as well as A control step controls the coil in the conveying step based on the position information of the conveying container estimated in the calculation step or detected in the sensing step.

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