Centrifugal separator and centrifugal separation method

Abstract

To provide a centrifugal separator which can detect carrying-in error of a specimen container to a centrifuge with high accuracy, and a centrifugal separation method.SOLUTION: A centrifugal separator comprises: a centrifugal separator which comprises a centrifugal separation unit comprising a holding part for holding a work-piece and a rotor for rotating the holding part, and an image sensor that has an image sensor and images the holding part; a transfer mechanism which performs carrying-in processing for carrying the work-piece into the centrifugal separation unit; and a sensor processing part which detects a state of the work-piece after carrying-in processing on the basis of the image of the holding part imaged before rotation processing for rotating the rotor, after the carrying-in processing for transferring the work-piece to the holding part.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a centrifugal separator and a centrifugal separation method. [Background technology]

[0002] As a centrifugal separator for centrifuging specimens such as blood, there is provided a centrifugal separator that, for example, houses a disk-shaped rotor in a housing, has a plurality of buckets attached to the periphery of the rotor so that they can swing, houses specimen containers containing specimens to be processed in these buckets, and performs centrifugation processing by rotating the rotor at high speed.

[0003] For example, specimen containers are sequentially transferred from a processing line where specimens are subjected to biochemical analysis and various pre-processing steps into a plurality of centrifuge rotors, where the rotors are rotated to start the centrifugation process. After the centrifugation process is performed for a predetermined period of time, the rotation of the rotors is stopped, and the specimen containers are sequentially transferred out of the centrifuges and returned to the processing line. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-151024 Summary of the Invention [Problem to be solved by the invention]

[0005] In the above-mentioned centrifuge device, if the rotation process is performed without the sample container being properly loaded onto the rotor, it may cause malfunction of the device or damage to the sample, so it is desirable to check the loading status of the sample container. However, because the rotor inside a centrifuge rotates at high speed, it is difficult to install a sensor inside. For this reason, in a short-distance detection method using a photoelectric sensor as a means for checking the sample container, for example, a photoelectric sensor provided on the loading arm detects whether the sample container is being held by the arm before loading. Therefore, it is difficult to detect a loading error.

[0006] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a centrifugal separator and a centrifugal separator method that can detect sample container loading errors with high accuracy. [Means for solving the problem]

[0007] A centrifuge device according to one embodiment of the present invention includes a centrifuge having a holding section that holds a workpiece and a rotating body that rotates the holding section; an imaging section that detects an image of a loading position where the holding section is located; a transfer mechanism that performs a loading process to load the workpiece into the centrifuge; and a sensor processing section that detects the state of the workpiece after the loading process based on a detection image of the holding section after the loading process to transfer the workpiece to the holding section and before the rotation process to rotate the rotating body.

[0008] In a centrifugal separator according to another aspect, the sensor processing unit detects the state of the workpiece based on the degree of coincidence between the detected image and reference data.

[0009] In another embodiment of the centrifuge device, the reference data is a reference image based on a pre-set registered image, and the sensor processing unit adjusts the matching determination criteria or the reference data based on determination items including at least one of color, contour, color area, and edge.

[0010] In another embodiment of the centrifuge device, the centrifuge includes a housing having an opening that opens above the holding unit and a lid that can open and close the opening, and the imaging unit is configured to be movable between an imaging position above the opening and a retracted position where it is retracted from the imaging position.

[0011] In another embodiment, the centrifugal separator includes a control unit that detects whether or not there is an error in the loading process from the state of the workpiece at the loading position after the loading process, and controls the centrifugal separator based on the presence or absence of the error.

[0012] In another embodiment of the centrifugation method, the workpieces to be processed are loaded into the rotating body of the centrifuge, and after a predetermined number of the workpieces have been loaded, an image is captured from above the loading position to detect the image, the condition of the workpieces is detected based on the detected image, and the operation of the rotating body is controlled based on the condition of the workpieces.

[0013] In another embodiment of the centrifugation method, the centrifuge includes a housing having an opening that opens above the holding portion and a lid that can open and close the opening, and after a predetermined number of the workpieces have been loaded, the imaging unit is moved to an imaging position above the opening to capture images, and during the loading process, the imaging unit is moved to a standby position away from the imaging position, and if the condition of the workpieces is normal, the rotating body of the centrifuge is rotated to perform centrifugation, and if the condition of the workpieces is abnormal, at least one of an alarm process and a stop process is performed. [Effects of the Invention]

[0014] According to the embodiments, it is possible to provide a centrifuge apparatus and a centrifugation method that can detect sample container loading errors with high accuracy. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a plan view of a sample processing apparatus according to an embodiment of the present invention; [Figure 2] FIG. 2 is a perspective view showing a part of the sample processing apparatus. [Figure 3] FIG. 2 is a perspective view showing a part of the sample processing apparatus. [Figure 4] FIG. 2 is a plan view showing a part of a centrifuge of the sample processing apparatus. [Figure 5] FIG. 10 is an explanatory diagram of the loading process of the sample processing method according to the embodiment. [Figure 6] FIG. 10 is an explanatory diagram of the loading process of the sample processing method. [Figure 7] FIG. 10 is an explanatory diagram of the imaging process of the specimen processing method. [Figure 8] FIG. 10 is an explanatory diagram of the imaging process of the specimen processing method. [Figure 9] FIG. 10 is an explanatory diagram of the imaging process of the specimen processing method. [Figure 10] FIG. 10 is an explanatory diagram of the determination process of the sample processing method. [Figure 11] FIG. 10 is an explanatory diagram of the determination process of the sample processing method. [Figure 12] FIG. 10 is an explanatory diagram of the determination process of the sample processing method. [Figure 13] FIG. 10 is an explanatory diagram of the determination process of the sample processing method. [Figure 14] FIG. 10 is an explanatory diagram of the determination process of the sample processing method. [Figure 15] 10 is a flowchart showing the determination process of the sample processing method. DETAILED DESCRIPTION OF THE INVENTION

[0016] A sample processing apparatus 1 and a sample processing method according to one embodiment of the present invention will be described below with reference to FIGS. 1 to 12. FIG. 1 is a plan view of a centrifuge apparatus 10 according to a first embodiment of the present invention, and FIGS. 2 and 3 are perspective views showing a portion of the centrifuge apparatus 10. FIG. 4 is a plan view showing a portion of the centrifuge apparatus 10. FIGS. 5 and 6 are explanatory views of the loading process in the sample processing method according to this embodiment, and FIGS. 7 and 8 are explanatory views of the imaging process. FIG. 9 is an explanatory view of the retraction operation. FIGS. 10 to 114 are explanatory views of the determination process. FIG. 15 is a flowchart showing the determination process in the sample processing method. Note that, for the sake of explanation, the configurations in each figure are enlarged, reduced, or omitted as appropriate. In the figures, arrows X, Y, and Z indicate three mutually orthogonal directions. For example, the X direction is along the first direction, the Y direction is along the second direction, and the Z direction is along the third direction.

[0017] As shown in Figures 1 to 5, the sample processing apparatus 1 includes a centrifuge 10, a transport device 20, and a control device 50. In the sample processing apparatus 1, the transport device 20 transports a workpiece to be processed to the centrifuge 10, which then performs centrifugation of the workpiece. Here, the workpiece is, for example, a sample container 25. The sample container 25 is a test tube such as a vacuum blood collection tube that contains a sample such as blood or serum, and is a cylindrical, transparent container with a bottom. A removable cap 25a is attached to the top opening of the sample container 25, and various data such as sample identification information is printed on the side of the sample container 25 as a barcode or text, or a label with the various data printed on it is affixed.

[0018] The centrifugal separator 10 includes a housing 11, a centrifuge 12 housed in the housing 11, a transfer mechanism 13 that moves the workpiece between the housing 11 and the conveying device 20, an image sensor 14 as an imaging unit, a display unit 15, and an operation unit 16. The centrifugal separator 10 is disposed on a part of the side surface of the conveying device 20, for example, in the center of one side surface in the Y direction.

[0019] The housing 11 is, for example, in the shape of a rectangular box. The housing 11 houses the centrifuge 12 inside. An opening 11a is formed in the top wall of the housing 11. The housing 11 is provided with a lid 11b that opens and closes the opening 11a. The housing 11 also supports the transfer mechanism 13 and the image sensor unit 14 on its top surface. The housing 11 may also be provided with a cover member that covers the transfer mechanism 13 and the image sensor 14 from above.

[0020] The opening 11a is arranged, for example, in an area facing in the Z direction a part of a rotating frame 22 serving as a rotating body provided in the centrifuge 12. In this embodiment, as an example, the opening 11a is arranged above one of the swinging holders 23 and faces the swinging holder 23, and is configured in a rectangular shape that includes an area corresponding to the swinging holder 23.

[0021] The cover 11b is configured to be able to move along the top wall of the housing 11 to open and close the opening 11a.

[0022] The housing 11 allows a specimen container 25 to be inserted into a bucket 24 serving as a holder through the opening 11a. That is, the opening 11a is configured so that the specimen container 25 held by the hand arm 31 of the transfer mechanism 13 can be carried into the bucket 24 of the centrifuge 12 in the housing 11 during carry-in, and the hand arm 31 can hold the specimen container 25 inserted into the bucket 24 and carry it out during carry-out.

[0023] The centrifuge 12 includes a motor 21, a rotating frame 22 as a rotating body connected to the main shaft of the motor 21 and rotating, a swinging holder 23 attached to the periphery of the rotating frame 22 so as to be swingable, and a plurality of buckets 24 provided on the swinging holder 23.

[0024] The motor 21 is provided inside the housing 11. The motor 21 is connected to a power supply unit. The motor 21 rotates under the control of the control unit 51, thereby rotating the rotating frame 22 connected to the main shaft. The motor 21 has a main shaft that extends upward along the Z-axis direction, and the rotating frame 22 is connected to this main shaft.

[0025] The rotating frame 22 is disposed on the motor 21 and rotatably connected to the main shaft of the motor 21. The rotating frame 22 includes a swinging holder 23 having a plurality of buckets 24. For example, in this embodiment, the swinging holders 23 are supported at four locations on a circular rotation path on the outer periphery of the rotating frame 22 so as to be swingable around axes tangent to the rotation direction of the rotating frame 22.

[0026] The swinging holder 23 includes a plurality of buckets 24. As an example, one swinging holder 23 includes two vertical rows and five horizontal rows, for a total of ten buckets 24. Note that the arrangement and number of the swinging holders 23 and buckets 24 are not limited to this and can be changed as appropriate.

[0027] The swing holder 23 is swingably attached to the rotating frame 22. The swing holder 23 has a pair of pivot pins 23d that protrude outward from the upper outer peripheral surface, and the pivot pins 23d are pivotally supported by the rotating frame 22, thereby holding the swing holder 23 on the rotating frame 22 so that it can swing.

[0028] The swing holder 23 is configured to be swingable so that the bottom of the bucket 24 is swung outward by centrifugal force generated by the rotation of the rotating frame 22, and the axis of the bucket 24 is positioned horizontally.

[0029] The bucket 24 is, for example, a cylindrical aluminum tube with a bottom and a cylindrical insertion space 24a that opens upward. The bucket 24 is configured so that a specimen container 25 can be inserted therein. The bucket 24 is provided with a holding mechanism in the insertion space that grips the specimen container 25.

[0030] 2 to 8, the transfer mechanism 13 includes a hand arm 31, a hand lifting cylinder mechanism 33 that raises and lowers the hand arm 31, and an electric belt transport mechanism 34 that reciprocates a predetermined distance in the Y direction a plurality of hand units made up of the hand arm 31 and the cylinder mechanism 33. The transfer mechanism 13 is supported by the housing 11, and moves the hand arm 31 in two axes, the Y direction and the Z direction, or in three axes, the X direction, the Y direction, and the Z direction, and also opens and closes the hand arm 31.

[0031] The hand arm 31 includes a plurality of opening / closing claws 31a that can simultaneously grasp a plurality of adjacent sample containers 25 (five in this embodiment) containing samples, and a cylinder mechanism 32 that opens and closes the opening / closing claws 31a. The transfer mechanism 13 moves the sample containers 25 between a pickup position P0 on the transport path of the transport device 20 and a loading position P1 of the centrifuge device 10. The hand arm 31 also inserts the transported sample containers 25 into a plurality of buckets 24 at the loading position P1. The loading position P1 is an insertion space for the buckets 24 that is located below the top wall of the housing 11 in the opening 11a of the housing 11. The imaging position P2 is above the loading position P1. In this embodiment, an image of the loading position P1, which is below the imaging position P2, is taken to image the buckets 24 and sample containers 25 in the target area.

[0032] The image sensor 14 includes a sensor head 41 that captures an image of a specimen to acquire image information, and a moving unit 42 that movably supports the sensor head 41. For example, an AI-equipped image discrimination sensor IV2-G300CA manufactured by KEYENCE Corporation is used as the image sensor 14. The image sensor 14 is connected to a sensor processing unit 43 provided in the control device 50.

[0033] The sensor head 41 (imaging unit) includes, for example, a camera having an image sensor. The sensor head 41 operates under the control of the control unit 51, and captures an image of the imaging target area at a predetermined timing after loading and before rotation.

[0034] The moving unit 42 includes a support base 42a and an extendable arm 42b that moves the support base 42a. The extendable arm 42b extends along the Y direction, and the position of the sensor head 41 can be moved back and forth in the Y direction by the extension and contraction of the extendable arm 42b.

[0035] The moving unit 42, under the control of the control unit 51, moves the support base 42a, thereby moving the sensor head 41 back and forth between the imaging position P2 and the standby position P3. For example, the imaging position P2 is above the opening 11a, and the focal length and angle of view of the sensor head 41 are set so that the multiple buckets 24 and workpieces (specimen containers 25) to be loaded are all included in a single image when imaged from above. The number of measurements per run can be adjusted by the user; for example, in this embodiment, measurements are performed for every five containers in a row. Note that the measurement target can be changed without moving the sensor head 41 by, for example, switching the program of the image sensor 14 to set the focal length and angle of view so that ten specimen containers 25 as workpieces fit within a single image. The standby position P3 of the sensor head 41 is set at a position that does not interfere with the arm or workpieces. For example, in this embodiment, the standby position P3 of the sensor head 41 is a position moved a predetermined distance in the Y direction from the imaging position P2 and is set at a position retreated a predetermined distance away from the transport device 20.

[0036] The display unit 15 is a display device such as a display that displays, for example, images and information on judgment results. FIGS. 10 to 13 are explanatory diagrams showing examples of the display screen of the display unit 15. For example, the display unit 15 displays, on the display screen, an acquired detection image 101, individual judgment results 102a to 102e (individual status judgment results) displayed in windows set for multiple buckets 24 to be carried in, an overall judgment result 103 for the carry-in process, an operating status 104 of the equipment, and various information such as an operation command 105. Each window is assigned an identification number corresponding to an individual area corresponding to each bucket 24. As an example, the individual judgment results 102a to 102e include an identification number assigned to each individual area in each window, numerical values ​​and graphs indicating individual degrees of match, and status judgment results (OK / NG) corresponding to the individual degrees of match, all displayed side by side.

[0037] The operation unit 16 includes an input device such as a power supply and various operation buttons.

[0038] The transport device 20 is provided in a processing line where biochemical analysis and pre-processing of specimens are performed. The transport device 20 is installed at a predetermined location in the processing line where biochemical analysis of specimens and various pre-processing processes are performed, for example. The transport device 20 has a transport mechanism 61 on its upper surface that transports specimen containers 25 along a predetermined transport path.

[0039] The transport mechanism 61 transports the holders 26 that hold the sample containers 25 along a predetermined transport path. The transport mechanism 61 includes a belt conveyor 62, a guide rail 63 having a pair of rail members, and a drive mechanism that drives the belt conveyor 62. The sample holders 26 that hold the sample containers 25 in an upright position are set on the transport mechanism 61 and are transported sequentially. The sample holder 26 includes, for example, a holder base 26a having a cylindrical insertion space into which the sample container 25 can be inserted, and a holding mechanism that grips the sample container 25. The holding mechanism is formed, for example, by a plurality of elastically deformable holding pins arranged upright in a circle, and is configured to grip the outer surface of the blood collection tube by the elastic force generated by the deformation of the plurality of holding pins.

[0040] The transport mechanism 61 includes, for example, multiple transport paths. For example, it includes multiple main lines A1 extending from one end to the other in the X direction, a supply line A2 branching from the main line A1 to a pickup position P0, a discharge line A3 extending from the pickup position P0 to the main line A1, and a buffer line A4 branching from a position on the supply side of the pickup position P0. Sample containers 25 flowing along the main line A1 are distributed to the supply line A2, and upon reaching the pickup position P0, they are grasped by a transfer device and transported into the centrifuge device 10. After centrifuging, the sample containers are returned to the pickup position P0 and sent downstream along a discharge line A3 branching from the downstream side of the pickup position P0, where they are discharged from the downstream end of the main line A1. Sample containers awaiting centrifugation are placed in the buffer line A4.

[0041] The control device 50 includes a sensor processing unit 43, a control unit 51 (data processing unit), and a storage unit 52.

[0042] The sensor processing unit 43 is, for example, a sensor amplifier and includes a processing circuit for performing various data processing. The sensor processing unit 43 is mounted, for example, on the control device 50. The sensor processing unit 43 is connected to the image sensor 14 and performs various data processing, such as calculation and discrimination, on the image data of the image sensor 14. The sensor processing unit 43 detects the state of the workpiece based on the degree of match between the detected image and reference data. For example, the sensor processing unit 43 determines the state of the workpiece (specimen container 25) after the loading process based on the degree of match between reference data based on one or more registered images previously registered by the user and the detected image captured by the image sensor 14, and sends processing data including the determination result to the control unit 51. The reference data may be the registered image itself, an automatically adjusted image of the registered image, an image generated by combining multiple registered images, or data adjusted or generated based on the registered image. In this embodiment, as an example, the reference data is a registered image in which the specimen containers 25 are normally loaded into all of the target buckets 24. The detected image is, for example, an image of the imaging target area captured from above the specimen containers 25 held in an upright position at the loading position P1, which is the imaging position. The sensor processing unit 43 may be provided in the image sensor 14, for example, by being mounted on the sensor head 41.

[0043] For example, the sensor processing unit 43 is equipped with a trained AI. The sensor processing unit 43 has an AI-based automatic recognition function, an automatic setting function, an automatic adjustment function, and an automatic discrimination function. The sensor processing unit 43 adjusts the matching criteria or reference data based on the judgment items including at least one of color, contour, color area, and edge.

[0044] For example, the sensor processing unit 43 extracts features of the workpiece through image and data processing of the registered image and the detected image, and automatically recognizes the workpiece. Furthermore, the sensor processing unit 43 automatically sets and adjusts parameters and numerical values ​​that serve as criteria for determining the degree of match through image and data processing of the registered image and the detected image. The sensor processing unit 43 sends data including the individual state determination results to the control unit 51. For example, as an example of the state determination, if the degree of match between the registered image and the detected image is high, it is determined to be OK, indicating a normal state in which the specimen container 25 is arranged in a predetermined orientation. If the degree of match is low, it is determined to be NG, indicating an abnormal state in which the specimen container 25 is not arranged in the predetermined orientation. Examples of abnormal states include a state in which the specimen container 25 is not arranged (no specimen container 25), as well as a state in which the specimen container 25 is out of the predetermined orientation, such as tilted or protruding.

[0045] The control unit 51 is connected to the drive units of the various mechanisms of the centrifuge device 10 and the transport device 20. The control unit 51 has a processing circuit including, for example, a processor, and controls each unit to realize various functions of the sample processing device 1 in accordance with an operating system or an application program. The control unit 51 is, for example, a programmable logic controller (PLC). For example, the control unit 51 is connected to various detectors such as the image sensor 14 and position sensors provided in each unit of the centrifuge device 10, as well as to drive mechanisms such as motors and cylinder mechanisms of each unit. The control unit 51 is configured to perform arithmetic processing and data processing in accordance with the state determination results from the sensor processing unit 43, detection data detected by the various detectors, various data stored in the memory unit 52, and predetermined programs, and to drive drive mechanisms such as the motors and cylinders of the centrifuge device 10 and the transport device 20, thereby controlling the operation of the sample processing device 1.

[0046] The storage unit 52 includes a storage device such as a RAM or a ROM, and stores various set values ​​and calculation formulas. For example, the storage unit 52 stores information such as images sent from the image sensor 14 and workpiece judgment results including the degree of match.

[0047] The various driving means such as motors and cylinder mechanisms provided in the various parts of the sample processing apparatus 1 described above are each connected to the control unit 51 and are operated at predetermined timings under the control of the control unit 51.

[0048] Next, the sample processing method according to this embodiment will be described with reference to FIGS.

[0049] The centrifugal separation method, which is an example of a sample processing method according to this embodiment, includes a loading process, an imaging process, a determination process, an error notification process, and a rotation process. As an example, the sample processing device sequentially loads sample containers 25 from a transport device 20 provided in a processing line that performs processes such as biochemical analysis of samples and various pre-processing processes onto a rotating frame 22 of a centrifuge 12, performs centrifugation processing for a predetermined time, and then sequentially unloads the sample containers 25 and returns them to the processing line of the transport device 20.

[0050] Here, as an example, four oscillating holders 23 provided on a rotating frame 22 are each provided with 10 buckets 24 arranged in five rows and two columns, and the loading process and judgment process are performed for one row of the buckets 24, i.e., half of the total, or five buckets 24, as a set.

[0051] As part of the loading process, the control unit 51 holds the sample container 25, which is located at a waiting position on the transport path, at the pickup position P0 using the transfer device 30 (ST1), moves it (ST2), and inserts it into the bucket 24 located at the loading position P1 within the housing 11 (ST3).

[0052] For example, each specimen container 25 is carried by the transfer mechanism 13 from a pickup position P0 on the transport line through the opening 11a into the bucket 24 of the centrifuge 12 located at a carry-in position P1 directly below the imaging position P2.

[0053] Specifically, the control unit 51 drives the belt transport mechanism 34 and the cylinder mechanisms 32, 33 to move the hand arm 31 to the pickup position P0, and then lowers the hand arm 31 to grip the five sample containers 25 lined up at the pickup position P0 with the hand arm 31. Then, the multiple hand arms 31 are raised and moved to directly above the carry-in position P1, and then the hand arms 31 are lowered, thereby inserting the sample containers 25 into half of the multiple buckets 24, i.e., five buckets 24, respectively.

[0054] When one set of loading is completed, the control unit 51 performs an imaging process by retracting the transfer mechanism 13 to a retracted position (ST4), positioning the sensor head 41 at an imaging position P2 directly above the loading position P1 (ST5), and capturing an image of the loading position P1 below from the imaging position P2 to obtain image information (ST6).

[0055] When the image capturing is completed, the control unit 51 returns the sensor head 41 to the retracted position (ST7).

[0056] Next, the control unit 51 determines whether the carry-in process is successful or not based on the detected image acquired by the image sensor 14 (ST8), and displays the determination result (ST9).

[0057] If the overall judgment determines that the loading process is normal (Yes in ST10), the control unit 51 determines that the loading process has been performed normally and proceeds to perform the loading process for the next set. Then, when the loading process for one oscillating holder 23 is completed, the motor is driven to rotate the rotating frame 22 by 90 degrees, and the remaining oscillating holders 23 are sequentially placed at the loading position P1, and ten containers are loaded at a time. By performing the same loading process, the sample containers 25 are loaded into the buckets 24 provided on the oscillating holders 23 all around the circumference.

[0058] The above-described loading process, imaging process, and evaluation process are repeated, and a status determination and comprehensive evaluation are performed for each loading process. Then, when the loading process with a normal result has been performed a predetermined number of times, or when the loading, imaging, and evaluation processes for the entire circumference of the oscillating holder 23 have been completed (ST111), the lid is closed and centrifugation processing is performed (ST11). As the centrifugation processing, the control unit 51 rotates the rotating frame 22 of the centrifuge 12 at a predetermined timing to perform centrifugation processing of the specimens. After a predetermined rotation time has elapsed, the rotation of the rotating frame 22 is stopped, and the specimen containers 25 are sequentially unloaded and returned to the processing line. The above-described loading process, imaging process, and evaluation processing may be performed in groups of two. Alternatively, if the number of containers loaded within a certain period of time does not reach a predetermined number, a timeout occurs and the process may proceed to centrifugation processing.

[0059] On the other hand, if a carry-in error is detected in the determination process in the control unit 51 (No in ST10), a notification process or a stop process is performed (ST13). As an example of the notification process, for example, an error may be displayed on the display screen of the operation display unit 15 provided in the housing 11, or an error warning may be issued by a separately provided buzzer or the like. As a stop process, for example, the entire device may be stopped temporarily. Then, an error may be displayed on the display screen to prompt the operator to take action to resolve the error. When the operator removes the cause of the error in response to this warning and performs the error resolution operation (operation panel), the image sensor is checked again, and if it is determined to be normal, the device will restart. If the cause of the error has not been removed, an error will occur again, and the device will not operate.

[0060] An example of the judgment process in ST7 will be described below. Here, as an example of pass / fail judgment, the sensor processing unit 43 judges the state (OK / NG) of the specimen container for each individual area corresponding to each bucket 24, and the control unit 51 compares the information from the sensor processing unit 43 and information such as the carry-in command with the number of specimens carried in, and makes an overall judgment as to whether the carry-in process, such as specimen dropping, is pass / fail (OK / NG).

[0061] The sensor processing unit 43 determines whether the workpiece is placed in a correct position based on the degree of match between the captured detection image and reference data based on a pre-registered image. At this time, the sensor processing unit 43 automatically sets and adjusts the setting values ​​of the items (tools) that serve as the judgment criteria, threshold values, etc., using the AI's automatic recognition function, automatic setting function, and automatic adjustment function.

[0062] The registered image is, for example, an image of the state in which the specimen containers 25 have been properly loaded into all of the target buckets 24. However, it is also possible to register an image in a state in which there are no blood collection tubes. For example, the user individually registers the work in accordance with the operational specifications (the blood collection tubes to be used). Multiple images may be registered as registered images. For example, both OK images and NG images may be registered.

[0063] As an example, a measurement area including an area containing five buckets 24 is treated as one set, and loading and measurement are performed. There are two patterns of measurement areas corresponding to, for example, two rows, and it is also possible to switch the image sensor program according to the loading. Two rows may be set as one set. Also, one measurement area is divided into multiple areas corresponding to each individual bucket to be loaded, and status determination is performed for each individual loading object.

[0064] For example, in determining the state, the sensor processing unit 43 automatically recognizes the characteristics of the workpiece using an AI image processing algorithm. As part of the automatic recognition process, data on multiple items including "color extraction," "contour detection," "color area," and "edge detection" is detected, and the workpiece is recognized based on these multiple items.

[0065] Furthermore, the sensor processing unit 43 selects and adjusts parameters for the judgment criteria (tools) during the judgment process. For example, it automatically selects and sets (auto-tunes) judgment criteria from multiple items including "color extraction," "contour detection," "color area," and "edge detection." For example, each workpiece may have a different height, cap shape, or color, or other different shape. However, by using the automatic adjustment function of the sensor processing unit 43 to adjust the extracted workpiece characteristics and numerical values, even workpieces other than those used for pre-registration can be recognized as workpieces.

[0066] For example, the sensor processing unit 43 may automatically select and set judgment criteria items (tools) that have a high degree of match with registered NG work and a low degree of match with OK work based on OK images and NG images registered by the user.

[0067] Each judgment criterion item is an independent measurement algorithm and is set for each. The sensor processing unit 43 selects these multiple judgment criterion items and adjusts their values. That is, in the sensor processing unit 43, AI selects a combination of judgment criterion items, automatically and optimally adjusts the setting values ​​(threshold values) of those judgment criterion items, and recognizes and distinguishes one workpiece.

[0068] In addition, it is possible to select multiple modes, including an automatic adjustment mode in which the judgment criteria items (tools) and parameters are automatically adjusted, and a fixed mode in which no automatic adjustment is performed.In this case, the mode is set by user operation or automatically.

[0069] The sensor processing unit 43 detects the degree of match between the detected image and the registered image or its reference data in accordance with automatically set items and parameters. Here, as an example, the sensor processing unit 43 detects the degree of match for each individual bucket 24, and determines the state of the holding unit after delivery, including the presence or absence of workpieces, for each bucket 24, such as whether the workpieces are properly placed in predetermined locations. That is, as shown on the display screens of Figures 10 to 12, an individual area, individual window, and identification number corresponding to each bucket 24 are set, and individual state determination is performed.

[0070] For example, as shown in Fig. 10, when the specimen container 25 is placed in the bucket 24 in the correct orientation, the degree of match with the registered image, for example, an OK image, is high, and the result is determined to be OK. Also, when the specimen container 25 is not placed in the bucket 24, as shown in Fig. 11, the degree of match with the registered image, for example, an OK image, is low, and the result is determined to be NG. Also, as shown in Figs. 12 and 13, when the specimen container 25 is tilted or protruding from the bucket 24, the degree of match with the registered image, for example, an OK image, is low, and the result is determined to be NG.

[0071] Then, the sensor processing unit 43 transmits data including these individual determination results to the control unit 51. The sensor processing unit 43 digitizes the basis of the determination as a degree of coincidence and displays it, for example, on the display unit 15. Alternatively, these data may be stored in a storage unit.

[0072] The control unit 51 makes a comprehensive judgment about the loading process based on information from the sensor processing unit 43. For example, the control unit 51 compares the results of the sample state judgment for each bucket 24 with the loading command to make a comprehensive judgment about a loading error (comprehensive judgment process). The control unit 51 also displays the judgment results on a screen, for example.

[0073] As shown in Fig. 14, the control unit 51 compares the individual status judgment results with the carry-in command to determine whether there was an error in the carry-in process. For example, as shown in Figs. 10 to 14, among the individual judgment results 102a to 102e for each of a plurality of individual areas, a bucket 24 that has been judged as NG is compared with the carry-in command, and if there is a carry-in command but there is no sample, the overall judgment result is NG. On the other hand, even if there is a sample absence (NG) judgment in the individual judgment, if there is no carry-in command for that bucket 24, the overall judgment result is OK. Then, if there is one or more NGs in each image, i.e., in each carry-in process, it is determined that there was a carry-in error in the carry-in process, such as a dropped or tilted sample container.

[0074] The centrifugal separator 10 according to this embodiment provides the following advantages. Specifically, the condition of a specimen container can be detected using an image captured through the opening immediately after loading. Therefore, stable detection is possible even in centrifuges where sensor installation is difficult due to limited internal space and the presence of a high-speed rotating body. For example, even if a photoelectric sensor with a long detection range is installed in the same position as an image sensor, there are many detection uncertainties, such as differences in the caps (shape and color) of blood collection tubes. For example, the caps can reduce the reflectivity of the sensor light (variation), making stable detection difficult. The use of an image sensor satisfies the installation requirements and enables stable detection through image processing technology. Furthermore, by moving the imaging unit back and forth between the imaging position and the retracted position without interfering with the loading arm, the image acquisition can be performed without impeding the centrifuge loading process, without reducing processing capacity. Using an image sensor equipped with a sensor learning function (AI) as the image sensor allows for automatic adjustment to register, recognize, and identify various types of workpieces. For example, there is no need for a specialist engineer to register the characteristics of each workpiece, and the settings can be configured by AI, making it easier for workers to operate.In addition, the image sensor can make a comprehensive judgment based on multiple factors in the image data.

[0075] Image sensors can improve detection stability by adjusting for individual differences in the subject and fluctuations in environmental changes. In addition, automatic feature detection using AI makes it easy to register the work (blood collection tube), allowing for flexible response even if the work (blood collection tube) differs from user to user. Therefore, detection is possible without being affected by individual differences, environmental factors, background, etc. Automatic setting, automatic recognition, and automatic discrimination can reduce erroneous judgments due to lack of operator knowledge or experience.

[0076] The centrifugal separator according to this embodiment is equipped with a sensor and a moving device, and can be placed on the side of other processing equipment and retrofitted to existing equipment. For example, by providing a transport path on the top surface and forming the unit, it can be attached to the side of an existing transport path, making it highly versatile.

[0077] The present invention is not limited to the above-described embodiments, and in the implementation stage, the components can be modified and embodied without departing from the spirit of the invention.

[0078] For example, in the above embodiment, the sensor processing unit 43 having an AI function transmits the judgment result at a predetermined carry-in position to the control unit 51, and the control unit 51 performs a comprehensive judgment based on the judgment result, but the present invention is not limited to this. For example, the control unit can also make a judgment including image judgment. Also, while the present invention has been described with an example in which the sensor processing unit 43 is disposed on the control device 50 side, the present invention is not limited to this and may be mounted on the image sensor 14 side, for example. Furthermore, the registered image is not limited to an OK image, which is an image of a normal state, but an NG image, which is an image of an abnormal state, may be registered as a reference, or reference data may be set based on both an OK image and an NG image.

[0079] Furthermore, in the above embodiment, in addition to detecting the state after the loading process, the presence or absence of a specimen container may also be detected, for example, at the pickup position before loading. For example, by further detecting the presence or absence of a specimen container before loading using a photoelectric sensor or the like provided on the hand arm 31, the state before and after the transfer process can be detected, allowing for more accurate error detection.

[0080] In addition, each component exemplified in the above embodiment may be deleted, or the shape, structure, etc. of each component may be changed. Also, various inventions may be formed by appropriate combinations of multiple components disclosed in the above embodiment. [Explanation of symbols]

[0081] 1...sample processing device, 10...centrifugal separator, 11...housing, 11a...opening, 11b...lid, 12...centrifuge, 13...transfer mechanism, 14...image sensor, 20...transport device, 21...motor, 22...rotating frame, 23...oscillating holder, 24...bucket, 25...sample container, 26...holder, 30...transfer device, 31...hand arm, 31a...opening / closing claw, 41...sensor head, 42...moving part, 42a...support base, 42b...extendable arm, 43...sensor processing part, 51...control part, 61...transport mechanism, 62...belt conveyor, 63...guide rail, P0...pickup position, P1...loading position, P2...imaging position, P3...waiting position.

Claims

1. a centrifugal separator including a holder that holds a workpiece and a rotor that rotates the holder, and an imaging unit that detects an image of a carry-in position where the holder is disposed; a transfer mechanism that performs a carry-in process to carry the workpiece into the centrifugal separator; a sensor processing unit that detects a state of the workpiece after the carry-in process based on a detection image obtained by capturing an image of the holding unit, after a carry-in process in which the workpiece is transferred to the holding unit, and before a rotation process in which the rotating body is rotated; A centrifugal separator comprising:

2. 2. The centrifugal separator according to claim 1, wherein the sensor processing unit detects the state of the workpiece based on the degree of coincidence between the detected image and reference data.

3. the reference data is a reference image based on a registered image set in advance, The sensor processing unit adjusts the criteria for determining the degree of match or the reference data based on a determination item including at least one of color, contour, color area, and edge. The centrifugal separator according to claim 1 or 2.

4. the centrifuge includes a housing having an opening that opens above the holding part and a lid that can open and close the opening, The centrifugal separator according to claim 2 or 3, wherein the imaging unit is configured to be movable between an imaging position above the opening and a retracted position retracted from the imaging position.

5. 5. The centrifuge device according to claim 1, further comprising a control unit that detects whether or not there is an error in the loading process from the state of the workpiece at the loading position after the loading process, and controls the centrifuge device based on the presence or absence of the error.

6. The workpiece to be processed is placed into the rotating body of the centrifuge. After a predetermined number of the workpieces have been carried in, an image is captured from above the carrying-in position to detect the image; Detecting the state of the workpiece based on the detected image; A centrifugal separation method, comprising controlling the operation of the rotating body based on the state of the workpiece.

7. the centrifuge includes a housing having an opening that opens above the holding part and a lid that can open and close the opening, After a predetermined number of the workpieces have been carried in, the imaging unit is moved to an imaging position above the opening to capture an image, and during the carrying-in process, the imaging unit is moved to a standby position away from the imaging position; 7. The centrifugation method according to claim 6, wherein, when the condition of the workpiece is normal, the rotating body of the centrifuge is rotated to perform centrifugation, and when the condition of the workpiece is abnormal, at least one of an alarm process and a stop process is performed.

Images