Conveyance device, specimen analysis system including the same, specimen pretreatment device and abnormality detection method in conveyance device

Abstract

To provide a conveyance device having high accuracy and high reliability for detecting the condition on a conveyance surface, a specimen analysis system including the same, a specimen pretreatment device, and an abnormality detection method in the conveyance device.SOLUTION: A conveyance device includes: one or more magnetic circuits 2, each having teeth 20 formed of a magnetic material, and a coil 30 wound on an outer peripheral side of the teeth 20; a current detection unit 55 that detects current flowing in the coil 30; and a conveyance surface 15 provided between the teeth 20 and a conveyance object 11, and on which the conveyance object 11 slides. The device detects global maximum or local maximum of a change amount in the current detected by the current detection unit 55 to estimate a thickness of the conveyance surface 15 from the detected global maximum or local maximum.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a transport device suitable for a sample analysis system that analyzes biological samples (hereinafter referred to as samples) such as blood or urine, and a sample pretreatment device that performs pretreatment required for the analysis, as well as a sample analysis system or sample pretreatment device equipped with the same, and a method for detecting abnormalities in the transport device. [Background technology]

[0002] Patent Document 1 describes an example of a transport device and an analytical system equipped with the same that is very flexible and provides high transport performance. The device comprises a transport container having a magnet or magnetic material and containing a sample, a transport unit having multiple magnetic poles each having a core and a coil and moving the transport container on a transport plane, and a control unit that controls the voltage applied to the multiple magnetic poles to detect the position of the transport container on the transport plane and control the movement of the transport container. The control unit detects the amplitude of the current flowing in each coil of the multiple magnetic poles when the transport container approaches each of the multiple magnetic poles, and determines deterioration of the transport plane based on the detected current amplitude. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2023 / 026622 Summary of the Invention [Problem to be solved by the invention]

[0004] In a sample analysis system for clinical testing, specified analysis items are tested on samples such as blood, plasma, serum, urine, and other body fluids.

[0005] This sample analysis system connects devices with multiple functions and can process each process automatically. In other words, in order to streamline laboratory operations, analysis sections for multiple analytical fields such as biochemistry and immunology, and pre-processing sections that perform the pre-processing required for analysis, are connected by a conveying line and operated as a single system.

[0006] With the spread of advanced medical care and the aging society, the importance of sample analysis has increased, and there is a growing demand for improved system processing capabilities, leading to an increased need for equipment capable of transporting large volumes of samples, transporting samples at high speeds, and transporting samples simultaneously. Therefore, in order to improve the analytical processing capabilities of sample analysis systems, there is a demand for high-speed transport of samples, simultaneous transport of large volumes of samples, and transport in multiple directions. Patent Document 1 describes one example of a technology that realizes such transport.

[0007] However, in the above-mentioned Patent Document 1, the amplitude of the current flowing in each coil of the multiple magnetic poles is detected when the transport container approaches each of the multiple magnetic poles, and the distance between the magnetic pole or coil and the permanent magnet is detected based on the detected current amplitude.

[0008] This posed a problem in that it was difficult to determine whether the permanent magnet had moved in a direction approaching the magnetic pole or coil on the conveying surface, or whether the gap had narrowed for some reason and moved closer to the vertical direction relative to the conveying direction.

[0009] In this case, it is possible to calculate the speed of the permanent magnet from the change in the detected distance over time, and based on that calculated value, to determine whether the distance is in the opposing direction or the distance the gap in the vertical direction of the conveying surface has narrowed. However, when the permanent magnet, i.e., the conveyed object, stops, the speed is low, making it difficult to determine whether the distance is in the conveying direction or the distance due to gap fluctuations.

[0010] The present invention provides a highly reliable transport device with high accuracy in detecting the state of the transport surface, a sample analysis system including the same, a sample pretreatment device, and a method for detecting abnormalities in the transport device. [Means for solving the problem]

[0011] The present invention includes multiple means for solving the above-mentioned problems, and one example is a conveying device that has one or more permanent magnets and conveys a transported object that holds the object to be transported, and is equipped with one or more magnetic circuit units having teeth made of a magnetic material and windings wound around the outer periphery of the teeth, a current detection unit that detects the value of the current flowing through the windings, and a conveying surface that is provided between the teeth and the transported object and on which the transported object slides, and detects the maximum or maximal value of the change in current detected by the current detection unit, and estimates the thickness of the conveying surface from the detected maximum or maximal value. [Effects of the Invention]

[0012] According to the present invention, it is possible to provide a highly reliable transport device that detects the state of the transport surface with high accuracy, as well as a sample analysis system and a sample pretreatment device that include the same. Problems, configurations, and effects other than those described above will become clear from the description of the following embodiments. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a plan view showing the overall configuration of a sample analyzing system including a transport device according to a first embodiment. [Figure 2] FIG. 1 is a diagram showing a schematic configuration of a conveying device according to a first embodiment. [Figure 3] FIG. 2 is a diagram showing a schematic configuration of a magnetic circuit of the conveyance device according to the first embodiment. [Figure 4] 2 is a schematic diagram showing two magnetic poles extracted from a magnetic circuit of the conveyance device according to the first embodiment. FIG. [Figure 5] 1 is a schematic cross-sectional view of a conveying device according to a first embodiment. [Figure 6] 6 is a diagram showing a detected value of a change in current when a current is passed through a tooth at position B in FIG. 5. [Figure 7] 10 is a diagram showing the relationship between the amount of change in current detected by the current detection unit and the distance from the coil that detects the current change when the dimension in the thickness direction of the conveying surface changes. FIG. [Figure 8] 10A and 10B are diagrams showing differences in distribution of current change values ​​caused by differences in the vertical distance between the teeth and the object to be conveyed. [Figure 9] FIG. 10 is a diagram showing an example of distribution of current change values ​​with respect to the state of the transport surface. [Figure 10] FIG. 10 is a diagram showing an example of distribution of current change values ​​with respect to the state of the transport surface. [Figure 11] FIG. 10 is a diagram showing an example of distribution of current change values ​​with respect to the state of the transport surface. [Figure 12] FIG. 10 is a diagram showing an example of distribution of current change values ​​with respect to the state of the transport surface. [Figure 13] FIG. 10 is a diagram showing an example of distribution of current change values ​​with respect to the state of the transport surface. [Figure 14] FIG. 11 is a diagram showing a schematic configuration of a transport holder that transports a test tube containing a specimen alone, which is an example of a suitable object to be transported in the transport device of Example 3. [Figure 15] FIG. 10 is a diagram showing a schematic configuration of a state detection holder in a conveyance device according to a third embodiment. [Figure 16] FIG. 10 is a diagram showing a schematic configuration of a state detecting magnet arrangement plate in the conveyance device of the third embodiment. [Figure 17] FIG. 10 is a schematic diagram showing a cross section of a section of three teeth in a conveyance device according to a fourth embodiment. [Figure 18] FIG. 10 is a schematic diagram showing a cross section of a section of three teeth in a conveyance device according to a fourth embodiment. [Figure 19] FIG. 10 is a schematic diagram showing a cross section of a section of three teeth in a conveyance device according to a fourth embodiment. [Figure 20] FIG. 10 is a schematic diagram showing a cross section of a section of three teeth in a conveyance device according to a fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] The following describes embodiments of the transport device, the sample analysis system including the transport device, the sample pretreatment device, and the method for detecting abnormalities in the transport device of the present invention, with reference to the drawings. In the drawings used in this specification, identical or similar reference numerals are used to designate identical or corresponding components, and repeated description of these components may be omitted.

[0015] Example 1 A first embodiment of a transport device, a sample analyzing system including the transport device, a sample pretreatment device, and a method for detecting abnormalities in the transport device according to the present invention will be described with reference to FIGS. 1 to 7. FIG.

[0016] First, the overall configuration of a sample analysis system equipped with a transport device will be described with reference to Fig. 1. Fig. 1 is a plan view showing the overall configuration of a sample analysis system equipped with a transport device according to this embodiment.

[0017] The sample analysis system 100 of this embodiment shown in FIG. 1 is a system equipped with an analyzer for automatically analyzing components of samples such as blood and urine.

[0018] The main components of the sample analysis system 100 are multiple transport devices 1 (12 in Figure 1) that transport holders carrying sample containers containing samples or empty holders with no sample containers to a predetermined destination, one pre-processing device 70, multiple analysis devices 80 (3 in Figure 1), and a control computer 90 that provides integrated management of the sample analysis system 100.

[0019] The pre-processing device 70 is a device that performs pre-processing required before the analysis of a sample in the analyzer 80. Note that the device may perform not only pre-processing but also post-processing in addition to or instead of pre-processing. The detailed configuration of this pre-processing device 70 is not particularly limited, and the configuration of a known pre-processing device may be adopted.

[0020] The analyzer 80 is a unit that performs qualitative and quantitative analysis of the components of the specimen transported by the transport device 1. The analysis items in this unit are not particularly limited, and the configuration of a known automatic analyzer that analyzes biochemical items or immunological items can be adopted. Furthermore, when multiple analyzers are provided, they may be of the same or different specifications, and are not particularly limited.

[0021] Each transport device 1 transports a specimen container containing a specimen mounted on a holder to a destination (such as a pretreatment device 70 or an analysis device 80) by sliding the specimen container along a transport path due to the interaction between a coil 30 (see FIG. 2, etc.) and a permanent magnet 10 (see FIG. 2, etc.) provided on the holder. Details will be described in detail using FIG. 2 and subsequent figures.

[0022] The control computer 90 controls the operation of the entire system, including the transport device 1 and the analysis device 80, and is composed of a computer having a display device such as a liquid crystal display, an input device, a storage device, a CPU, memory, etc. The control computer 90 controls the operation of each device based on various programs recorded in the storage device.

[0023] The control processes for the operations executed by the control computer 90 may be integrated into one program, or may be divided into multiple programs, or may be a combination of these. Also, some or all of the programs may be realized by dedicated hardware or may be modularized.

[0024] 1, the case where three analyzers 80 and one pre-processing device 70 are provided is described, but the number of analyzers 80 and pre-processing devices 70 is not particularly limited and may be one or more. Similarly, the number of transport devices 1 is not particularly limited and may be one or more.

[0025] Furthermore, when specializing in pretreatment, the system can be configured with a pretreatment device 70 and a transport device 1, and when specializing in analysis, the system can be configured with an analysis device 80 and a transport device 1.

[0026] Next, the schematic configuration of the transport device of this embodiment will be described with reference to FIGS.

[0027] 2, the conveying device 1 is composed of a magnetic circuit 2, a current detection unit 55, a conveying surface 15, etc., and a conveyed object 11 placed on the upper surface of the conveying surface 15, which is installed above the magnetic circuit 2 (in the Z direction), moves on the conveying surface (on the XY plane). One or more permanent magnets 10 are embedded in the conveyed object 11, which holds the object to be conveyed, and the object moves on the conveying surface 15 due to the interaction between the magnetic flux generated by the magnetic circuit 2 and the magnetic flux of the permanent magnets 10.

[0028] For example, the magnetic circuit 2 has magnetic poles formed by teeth 20 made of cylindrical magnetic material and coils 30 wound around the outer periphery of the teeth 20, and each magnetic pole is connected at its bottom (-Z direction) by a magnetic bridge 40.

[0029] The conveying surface 15 is a plate-like member provided between the teeth 20 and the object 11 to be conveyed, and on which the object 11 to be conveyed slides.

[0030] The detailed configuration of the magnetic circuit 2 is shown in Fig. 3. Fig. 3 shows the magnetic circuit 2 of the conveyance device 1 having three rows of conveyance lines in the X direction and three rows in the Y direction. The number of lines and the number of magnetic poles (the teeth 20 themselves and the windings that make up the coil 30) are not limited to this configuration.

[0031] In the magnetic circuit 2, as shown in FIG. 3, the transported object 11 having the permanent magnet 10 embedded therein moves in the X or Y direction along each line on the transport surface 15 installed on the magnetic circuit 2 shown in the figure.

[0032] 4 shows a diagram for explaining a method for driving the transport device 1. In FIG. 4, two magnetic poles in the magnetic circuit 2 are extracted and shown.

[0033] As shown in FIG. 4, a driving device 50 is connected to each of the coils 30 arranged around the teeth 20 to apply a voltage and cause a current to flow.

[0034] The motor also includes a current detection unit 55 that detects the value of the current that flows through the coil 30 when a voltage is applied. The current detection unit 55 detects the current using, for example, a current sensor, a shunt resistor, a current detection means provided in the drive device, a current command value, or the like, but any means may be used as long as the value of the current flowing through the coil can be obtained.

[0035] Furthermore, it has a calculation unit 53 that detects the current value detected by the current detection unit 55, the value of the current that actually flows in response to the voltage command value and the current command value, and characteristics such as the current value in response to each command value and its change over time, and estimates the state of the conveyance surface using the detected information. This calculation unit 53 may be, for example, a part of the control computer 90 described above, or may have a separate configuration.

[0036] In the conveying device 1 of this embodiment, the calculation unit 53 detects the maximum or local maximum value of the amount of change in current detected by the current detection unit 55, and estimates the thickness of the conveying surface 15 from the detected maximum or local maximum value. The calculation unit 53 also compares the amount of change in current detected by the current detection unit 55 with a current command value to calculate the ratio of the amount of change to the command value, and can estimate the thickness of the conveying surface 15 from the maximum or local maximum value for each ratio.

[0037] Next, a method for estimating the thickness of the conveying surface 15 and the distance from the upper surface of the teeth 20 to the permanent magnet 10 of the conveyed body 11 will be described with reference to FIGS.

[0038] 5 is a schematic diagram showing a cross section of the conveying device 1 in the horizontal direction when explaining a method for estimating the thickness of the conveying surface 15 and the distance from the top surface of the teeth 20 to the permanent magnet 10 of the conveyed object 11. In FIG. 5, cross sections of the teeth 20a, 20b, and 20c are shown to explain the case where the conveying path in FIG. 3 is, for example, teeth 20a ⇒ teeth 20b ⇒ teeth 20c.

[0039] In Fig. 5, the object 11 to be transported, on which the permanent magnet 10 is mounted, is transported in the X direction along the transport path A⇒B⇒C in that order. At this time, the current value flowing through the coil 30 wound around the tooth 20b at the central position B in the X direction is detected. The current to be flowed varies depending on the speed or speed fluctuation to be controlled, and a constant current is passed or the current is varied depending on the required operation.

[0040] First, the current change values ​​detected in the teeth 20b at a constant current or voltage are shown in Figure 6. The distance between X-direction position B and X-direction position C (the pitch between each tooth 20) is normalized to 20 (pu). Figure 6 shows the detected current change values ​​when a current is passed through the teeth 20b at position B.

[0041] 6 indicates the ratio of the current or voltage flowing through the coil wound around tooth 20b. For example, a wire with a ratio of 0.2 indicates that the maximum current or voltage is 1.0 (100%), and a current of 20% of that value flows steadily between positions B and C.

[0042] At this time, the inductance of the magnetic circuit 2 changes depending on the distance between the permanent magnet 10 and the teeth 20, and the detected value of the current change changes. In other words, the distance between the permanent magnet 10 and the teeth 20 can be estimated from the detected value of the current change. In this case, it is unclear whether the distance between the permanent magnet 10 and the teeth 20 is in the X direction, which is the conveying direction, or in the thickness direction of the conveying surface 15, which is the vertical gap between the permanent magnet 10 and the teeth 20. In other words, the distance between the permanent magnet 10 and the teeth 20 in the Z direction cannot be estimated from this value alone.

[0043] Therefore, by using the maximum value or the local maximum value when the object 11 passes directly above the teeth 20b at the position B, it is possible to estimate the distance in the Z direction.

[0044] The waveform in Figure 6 shows the case of a positive x-axis value, but because the detected current change value also changes depending on the distance in the negative direction, the graph in Figure 6 shows a change that is symmetrical about the y-axis. For this reason, a peak value is shown at position B. By using this value, it is possible to estimate the distance between the permanent magnet 10 and the teeth 20 in the z-direction, which is necessary to estimate the thickness of the conveying surface 15, without taking into account the distance in the x-direction.

[0045] Next, a case where the current and voltage change when the sheet is conveyed in the X direction and passes through the teeth 20 at position B will be described.

[0046] Since the transported object 11 repeats speed control and acceleration / stop, the required thrust may change depending on the required operation, and the current and voltage may change depending on the position in the transport direction (X direction or Y direction). In Figure 6, if the required thrust changes when passing over the teeth 20b at position B, and the current and voltage change, the detected value of the current change also changes.

[0047] In FIG. 6, the maximum voltage of the current or voltage is set to 1.0 (100%), and the detected value of the current change when the current or voltage changes from 0.2 (20%) to 0.6 (60%) of that is also shown.

[0048] That is, when the current required for driving varies, it is very convenient to use the current or voltage value required for that driving in order to estimate the distance between the permanent magnet 10 and the teeth 20 in the Z direction required at position B. Using this current or voltage value, the detected value of the current change can be corrected, and the distance in the Z direction required at position B can be estimated with high accuracy.

[0049] For example, the change in current detected by the current detection unit 55 is compared with the current command value, the ratio of the change in current to the current command value (or voltage value, etc.) is calculated, the maximum value or maximal value of the ratio is detected, and the thickness of the conveying surface is estimated from the maximum value or maximal value of the detected ratio.

[0050] When the current required for driving changes, the correction based on the current or voltage value required for driving can be determined by creating a map and comparing it with that map, or by creating a function and comparing it with that function.

[0051] That is, in order to estimate the distance in the Z direction, the thickness of the conveying surface 15, and the vertical distance between the teeth 20 and the permanent magnets 10 of the conveyed body 11, it is desirable to perform correction using the current value or voltage value required for driving. This improves the accuracy of estimating the distance in the Z direction, the thickness of the conveying surface 15, and the vertical distance between the teeth 20 and the permanent magnets 10 of the conveyed body 11.

[0052] The current and voltage generated in the coil 30 of the conveying device 1 shown in Figure 2 are generally an RL equivalent circuit, and the amount of change in current di / dt is determined by the applied voltage E, the current i that steadily flows through the coil 30, the resistance R of the coil 30, and the inductance L that changes depending on the distance between the permanent magnet 10 of the conveyed object 11 and the tooth 20 on which the coil 30 is arranged, and is therefore expressed by the following equation (1).

[0053]

number

[0054] In the target conveying device 1, when the object to be detected passes directly above the teeth 20, the distance across the thickness of the conveying surface 15, i.e., the distance between the teeth 20 and the permanent magnet 10 at that time, is at its shortest. Therefore, by using the maximum value of the detected current change near the teeth 20, corrected using the driving voltage and current, the distance between the teeth 20 and the permanent magnet 10 at that time, which is equivalent to the distance across the thickness of the conveying surface 15, can be accurately estimated.

[0055] Fig. 7 shows an example of the detected value of the current change when estimating the thickness of the conveying surface 15 in Example 1 of the present invention. Fig. 7 shows the relationship between the amount of change in current detected by the current detection unit 55 and the distance from the coil 30 that detects the current change when the vertical distance between the teeth 20 and the permanent magnets 10 of the conveyed object 11, i.e., the dimension in the thickness direction (Z direction) of the conveying surface 15, changes.

[0056] The dotted line graph with the legend ● in Figure 7 shows an example of the detected current change value when there is no change (±0.0 mm) from the reference gap at the time of design. Also in the same Figure 7, there is a line (solid line with legend ■) that assumes a case where the conveying surface is 0.5 mm thinner than the reference gap, and a line (solid line with legend ▲) that assumes a case where the conveying surface has risen 1.0 mm (the conveying surface has become 1.0 mm thicker) due to improper installation of the conveying surface, etc.

[0057] As shown in Figure 7, when moving away from the detection position, in this case in a direction farther than 10 p.u., the change in distance in the direction of travel (X direction) is large compared to the change in the thickness direction of the conveying surface 15, making it difficult to detect changes in the thickness of the conveying surface 15 or in the gap direction (Z direction).

[0058] On the other hand, at the 0 mm position, the distance in the X direction is theoretically 0 mm, and the value of the current change relative to the distance only in the thickness direction of the conveying surface and the gap direction (Z direction) can be detected.

[0059] In other words, by using the maximum value of the waveform of this current change, even if the position in the X direction is unknown or regardless of the value of the conveying speed, it is possible to accurately detect the distance in the Z direction when passing through the point closest to the thickness of the conveying surface 15 or the gap direction (Z direction). In particular, it is possible to clearly detect when the conveying surface 15 has been worn down by 0.5 mm or when it has lifted up by 1.0 mm.

[0060] In this way, it is desirable to estimate the amount or degree of wear of the conveying surface 15 from the maximum or local maximum value. In addition, the maximum value or the local maximum value may be used, or, for example, the difference between the minimum value of the current change (the value when the permanent magnet 10 of the transported body 11 is at an infinite distance) and the maximum value of the current change may be used, or the difference from a certain reference point (the magnitude of the change) may also be used to make the judgment.

[0061] Furthermore, if the limit values ​​of the maximum and minimum values ​​within the normal range are determined in advance according to the damage state of the actual machine, an alarm can be issued or a notification can be sent when the limit values ​​are reached.

[0062] In this way, it is desirable to detect the state of the conveying surface 15 from the maximum or local maximum value, and to issue an abnormality alarm when wear exceeds a threshold value.

[0063] Furthermore, by detecting the change in the value over time and the change in the number of transports, it becomes possible to predict the timing when the value will deviate from the normal range and to locally identify areas where deterioration is likely to progress, thereby enabling transport to be carried out while avoiding locally deteriorated areas, thereby extending the life of the transport equipment and extending maintenance intervals.

[0064] In this way, the wear state of each path of the detected conveying surface 15 can be detected, and the conveying path can be determined according to the wear state. Also, the thickness of the conveying surface 15 at each position on the conveying surface 15 can be estimated from the maximum or local maximum value, and the current command supplied to the coil 30 can be changed based on the estimated value. Furthermore, the conveying path of the conveyed object 11 can be changed based on the thickness of the conveying surface 15 at each position on the conveying surface 15.

[0065] Furthermore, in the conveying device 1 of this embodiment, the object 11 is conveyed by the force caused by the change in magnetic flux generated in the magnetic circuit 2 and the permanent magnet 10 of the object 11, and at this time, two components are generated: a force in the conveying direction (thrust force) and a force in the gap direction (force pressing against the conveying surface 15).

[0066] The values ​​of these two components change greatly with changes in the gap, and for stable conveyance, the current value is controlled according to the estimated gap, and the thrust and the force pressing against the conveying surface 15 are adjusted. This suppresses vibration during conveyance, optimizes the conveyance time, and controls wear by adjusting the force pressing against the conveying surface 15, and the braking force of the conveyed object 11 due to frictional force can be precisely adjusted, which has the advantage of allowing the construction of a highly reliable, high-performance conveying device 1.

[0067] Furthermore, for transported objects 11 equipped with permanent magnets 10 having the same performance, such as changes in magnetic properties due to magnetic force and temperature changes, the maximum or maximal value of the ratio derived from the amount of change in current detected by the current detection unit 55 at the same location, or the ratio of the amount of change in current to the current command value obtained by comparing the amount of change in current with the current command value, is detected, and although the maximum or maximal value of the detected ratio is the same, if a difference occurs in a specific transported object 11, an abnormality in that transported object 11 can be inferred.

[0068] For example, if the detection value detected at the same location is different for only one of multiple transported bodies 11, it is possible that there is an abnormality in the specific transported body 11 with the different detection value. If the magnetic force of the permanent magnet 10 of a specific transported body 11 weakens for some reason, in the case of a weak magnet, the amount of magnetic flux affecting the coil 30 decreases, and a change in current is detected that indicates a distant position.

[0069] Since it is impossible for the gap or the thickness of the conveying surface 15 at the same location to differ for each conveyed object 11, if a wide gap is detected only for a specific conveyed object 11, an abnormality in that conveyed object 11 is suspected.

[0070] Furthermore, if a narrow gap or a thin conveying surface 15 is detected only for a specific conveyed body 11, it can be inferred that an abnormality has occurred, such as the permanent magnet 10 installed in the conveyed body 11 being shifted downward, or wear occurring due to scraping of the underside of the conveyed body 11.

[0071] In this way, by comparing the maximum or local maximum values ​​for each of the multiple transported objects 11, if the detected values ​​differ for each of the transported objects 11, it is possible to infer an abnormality such as deterioration of the transported objects 11, including the permanent magnets 10.

[0072] Next, the effects of this embodiment will be described.

[0073] The conveying device 1 of the above-mentioned embodiment 1 of the present invention comprises one or more magnetic circuits 2 having teeth 20 made of a magnetic material and coils 30 wound around the outer periphery of the teeth 20, a current detection unit 55 that detects the current value flowing through the coils 30, and a conveying surface 15 that is provided between the teeth 20 and the conveyed object 11 and on which the conveyed object 11 slides, and detects the maximum or maximal value of the change in current detected by the current detection unit 55, and estimates the thickness of the conveying surface 15 from the detected maximum or maximal value.

[0074] This makes it possible to improve the accuracy of estimating the thickness of the conveying surface 15 and the accuracy of detecting the state of the conveying surface 15 compared to the conventional art.

[0075] In addition, the change in current detected by the current detection unit 55 is compared with the current command value to calculate the ratio of the change in current to the command value, and the thickness of the conveying surface 15 is estimated from the maximum value or local maximum value for each ratio, thereby enabling the thickness of the conveying surface 15 to be estimated with higher accuracy.

[0076] Furthermore, by estimating the amount or degree of wear of the conveying surface 15 from the maximum or local maximum value, the state of the conveying surface 15 can be grasped more accurately.

[0077] In addition, the thickness of the conveying surface 15 at each position on the conveying surface 15 can be estimated from the maximum or local maximum value, and the current command supplied to the coil 30 can be changed based on the estimated value, or the conveying path of the conveyed object 11 can be changed based on the thickness of the conveying surface 15 at each position on the conveying surface 15, and the wear state of each detected path of the conveying surface 15 can be detected and the conveying path can be determined based on the wear state, thereby realizing conveying control according to the state of the conveying surface 15.

[0078] Furthermore, by detecting the condition of the conveying surface 15 from the maximum or local maximum value and issuing an abnormality alarm when wear exceeds a threshold, appropriate maintenance measures such as replacing the conveying surface 15 can be taken, thereby further improving the stability of the conveyance of the conveyed object 11.

[0079] In addition, by comparing the maximum or local maximum values ​​for each of the multiple transported objects 11 to estimate the deterioration of the transported objects 11, including the permanent magnets 10, and particularly by using information on the distance from the teeth 20 to the permanent magnets 10 at the positions of two or more teeth 20, abnormalities in the transported objects 11, including deterioration of the permanent magnets 10, it becomes possible to take appropriate measures, such as replacing the transported objects 11 in addition to the transport surface 15, thereby achieving even more stable transport of the transported objects 11.

[0080] <Example 2> A transport device according to a second embodiment of the present invention, a sample analysis system including the transport device, a sample pretreatment device, and an abnormality detection method in the transport device will be described with reference to Figures 8 to 13. Note that the configuration of the transport device other than the processing in the calculation unit 53 is the same as in the first embodiment, and therefore a description thereof will be omitted in this embodiment.

[0081] First, using Figure 8, we will explain the distribution of current change values ​​when a constant current value is passed through the coil 30 of the corresponding tooth 20 when a transported object 11 equipped with a permanent magnet 10 passes through the transport surface 15 above the tooth 20.

[0082] An appropriate gap is defined as a state in which the thickness of the conveying surface 15 is within a normal range, and the vertical distance between the teeth 20 and the conveyed object 11 is within a normal range. In this case, the distribution of current change values ​​in the case of an appropriate gap is a normal distribution 60 with a convex change having a certain peak value, as shown by the dotted line in Figure 8.

[0083] On the other hand, if the gap narrows relative to the appropriate gap for some reason, the magnetic flux of the permanent magnets 10 attached to the object to be transported 11 acts more strongly on the teeth 20. Normally, during transport, the magnetic flux of the permanent magnets 10 and the magnetic flux generated in the teeth 20 are controlled to be of the same polarity, and the object to be transported is transported by the attractive force. This promotes saturation of the teeth 20 due to the magnetic flux, reducing the inductance of the coils 30 wound around the teeth 20, resulting in a larger change in current. The distribution of the current change at this time, as shown by the thick solid line in Figure 8, takes the form of an abnormal distribution 61, in which the general shape of the convex distribution does not change relative to the current change at the appropriate gap, but the peak becomes larger.

[0084] On the other hand, if the gap widens relative to the appropriate gap for some reason, the peak will tend to become smaller, and the distribution of the current change values ​​at this time will have a waveform similar to abnormal distribution 62, as shown by the thin solid line in Figure 8, in which the general shape of the convex distribution does not change but the peak becomes smaller.

[0085] These characteristics can be used to detect various conditions of the conveying surface 15. For example, the tilt or lift of the conveying surface 15 can be estimated from the maximum or local maximum value. In this case, it is preferable to detect the tilt of the conveying surface 15 or the installation condition of the conveying surface 15 using information on the distance from the teeth 20 to the permanent magnet 10 at the positions of two or more teeth 20.

[0086] Examples of detecting the state of the transport surface 15 will be described below with reference to Figures 9 to 13. As examples, five states of the transport surface 15 are shown in Figures 9 to 13.

[0087] FIG. 9 shows a method for detecting whether the installation condition and degree of deterioration of the conveying surface 15 are within a normal range, that is, whether the conveyed object 11 can be conveyed normally according to specifications.

[0088] It is possible to detect physical conditions such as the accuracy of the thickness direction of the conveying surface 15, installation tolerances, and dimensional allowances, as well as whether the spacing between the permanent magnets 10 and the teeth 20 is appropriate, i.e., whether it is within a range that can be stably controlled. By taking these physical phenomena and control capabilities into consideration, upper and lower limits for normal operation can be set, and whether these limits are exceeded can be used to detect abnormalities and prompt maintenance.

[0089] Furthermore, by logging these maximum values, local maximum values, and the difference between the maximum and minimum values, and monitoring their trends over time and for each number of transports, it becomes possible to predict deterioration and estimate the appropriate timing for maintenance. In other words, the lifespan can be extended by minimizing the frequency of use of specific deteriorated parts and prioritizing the use of other routes.

[0090] Furthermore, since the conveying force of the conveyed object 11 (the force acting on the conveyed object 11) changes depending on the distance between the permanent magnet 10 and the teeth 20, by detecting this distance and feeding back the distance information to the force control system, it is possible to optimize the conveying force, thereby achieving more stable conveyance.

[0091] FIG. 10 shows a case where, when passing over three teeth 20, the detected values ​​of the current changes are equally small in the three coils 30 of each of the three teeth 20.

[0092] In this case, it can be detected that the conveying surface 15 is thinning evenly at each point on the three teeth 20. In other words, since the conveying surface 15 is thinning almost evenly at multiple points, it can be estimated that this is due to wear caused by the passage of the conveyed object 11 along that path. Therefore, it is possible to predict the timing for maintenance, such as replacing the conveying surface 15, based on the timing when the conveying surface 15 began to be used and the estimated timing, and take measures such as issuing an alert.

[0093] FIG. 11 shows a case where the detected values ​​of the current changes are equally large in the three coils 30 of each of the three teeth 20 when the conveying surface 15 above the three teeth 20 passes through.

[0094] In this case, if the conveying surface 15 is raised due to some influence or if a plate-shaped object is incorrectly installed uniformly underneath the conveying surface 15, it can be detected that the distance between the permanent magnet 10 of the conveyed object 11 and the teeth 20 is uniformly widening at each point of the three teeth 20, and it is therefore desirable to issue a notification such as reconfirming the installation status of the conveying surface 15.

[0095] Figure 12 shows a case where, when passing over three teeth 20, the distance between the permanent magnet 10 of the transported object 11 and the teeth 20 on the transport surface 15 above the central tooth 20 is normal, but shows different trends before and after the tooth 20.

[0096] The detection result shows that the gap between the permanent magnet 10 and the teeth 20 is wider on the conveying surface 15 above the left-hand teeth 20 compared to the central teeth 20 in Fig. 12. The detection result also shows that the gap between the permanent magnet 10 and the teeth 20 is narrower on the conveying surface 15 above the right-hand teeth 20 compared to the central teeth 20 in Fig. 12. In such cases, since it can be detected that the conveying surface 15 is installed at an angle, it is desirable to issue a notification to recheck the installation state of the conveying surface 15, etc.

[0097] FIG. 13 shows a case where, when passing over three teeth 20, the detected value of the current change in the central tooth 20 was large, and the values ​​before and after that were within the normal range.

[0098] In this case, localized wear and abrasion near the central tooth 20, or wear on a line perpendicular to the direction of continuous passage of the three teeth 20, can be considered, and this can be determined in conjunction with the detected value of the current change on the line perpendicular to the central tooth 20. Therefore, it is possible to predict the timing of maintenance such as replacing the conveying surface 15 from the estimated timing and the timing when the conveying surface 15 began to be used, and take measures such as issuing an alert.

[0099] The other configurations and operations are substantially the same as those of the transport device of the first embodiment, the sample analysis system equipped with the same, the sample pretreatment device, and the method for detecting abnormalities in the transport device, and details thereof will be omitted.

[0100] The transport device of Example 2 of the present invention, the sample analysis system equipped with the same, the sample pre-treatment device, and the method for detecting abnormalities in the transport device also provide effects that are substantially similar to those of the transport device of Example 1 described above, the sample analysis system equipped with the same, the sample pre-treatment device, and the method for detecting abnormalities in the transport device.

[0101] In addition, by estimating the inclination or lift of the conveying surface 15 from the maximum or local maximum value, and in particular by using information on the distance from the teeth 20 to the permanent magnet 10 at the position of two or more teeth 20 to detect the inclination of the conveying surface 15 or the installation state of the conveying surface 15, measures can be taken to avoid problems caused by abnormal installation states, thereby further stabilizing the conveying.

[0102] Example 3 A transport device according to a third embodiment of the present invention, a sample analyzing system including the transport device, a sample pretreatment device, and an abnormality detection method in the transport device will be described with reference to FIGS.

[0103] Regarding the detection of the gap between the permanent magnet 10 and the teeth 20 using the magnetic flux of the permanent magnet 10 provided on the transported object 11, by estimating the thickness of the transport surface 15 each time the transported object 11 passes over the teeth 20, it becomes possible to detect sudden changes in the gap, such as when a person or object bumps into the gap and the gap changes, which has the advantage of avoiding damage caused by a sudden change in the gap and its impact on subsequent transported objects 11.

[0104] If data is acquired for each tooth 20 for each transfer, the amount of data increases and the load of data transmission and reception, such as communication, increases.

[0105] On the other hand, by acquiring data discretely at specified intervals or for a set number of conveyances, for example, at the start or end of a day or a week, or by estimating the thickness of the conveying surface 15 when the conveyed object 11 has been conveyed a set number of times, it is possible to effectively acquire, with a small amount of data, conditions such as relatively gradual changes over time and deterioration and abrasion due to wear.

[0106] Here, when the interval is not detected by the permanent magnets 10 provided on each of the transported objects 11, the sensitivity and range of the detection can be expanded by using a dedicated member at a specific timing. Examples of the dedicated member will be described with reference to Figs. 14 to 16.

[0107] Figure 14 is a schematic diagram of a transport holder 16 that transports a test tube 18 containing a sample by itself. The transport holder 16 that transports samples and the like must minimize pulsations and sudden changes in speed to prevent the test solution or sample from scattering during transport. For this reason, it is designed so that the magnetic flux acting on the magnetic circuit of the permanent magnet 10 during transport moves smoothly with respect to positional changes. For this reason, there are cases where restrictions are placed on the shape and strength of the permanent magnet 10.

[0108] When the distance between the permanent magnet 10 and the teeth 20 is detected using the permanent magnet 10 provided in the transport holder 16, there is an advantage in that the distance between the permanent magnet 10 and the teeth 20 can be detected at all times during transport, but due to restrictions on the shape and strength of the permanent magnet 10, the detection range may be narrow and the detection sensitivity may be low.

[0109] Therefore, it is possible to provide a thickness detecting magnet 12 for detecting the distance between the magnet and the teeth 20, which is not used for transporting the specimen or test tube 18. By scanning the transport surface 15 using a holder 17 for detecting the distance between the thickness detecting magnet 12 and the teeth 20, as shown in Figure 15, it becomes possible to detect the distance between the thickness detecting magnet 12 and the teeth 20 over a wide range with high sensitivity.

[0110] 15 is larger and / or thicker than the permanent magnet 10, the magnetic flux of the permanent magnet 10 is strengthened, and it is possible to increase the range of change in inductance due to magnetic saturation. In addition, the current and voltage values ​​during detection can be set independently of the transport speed and force, making it possible to perform detection under appropriate conditions that prioritize detection performance.

[0111] When detecting the gap between the thickness-detecting magnet 12 and the teeth 20 of the transported object 11 using the thickness-detecting magnet 12, the detection does not have to be performed while the transported object 11 is moving. For example, when installing or performing maintenance on the device, it is desirable to be able to check whether the magnetic circuit and transport surface 15 are in an appropriate state, and whether the gap and thickness that allow normal transport are maintained.

[0112] Here, in the conveying device 1, the conveying surface 15 is installed on the magnetic circuit 2, so it is difficult to measure the distance and positional relationship between the conveying surface 15 and the magnetic circuit 2 after the conveying surface 15 is installed.

[0113] Therefore, it is possible to use a conveying surface condition detecting member 13 that can be placed on the conveying surface 15. An example of the conveying surface condition detecting member 13 is shown in FIG.

[0114] 16 is a member having an area equal to or smaller than the size of the conveying surface 15, and is provided with a thickness detection magnet 12 at the position of each tooth 20 of the conveying surface 15, or at the position of the teeth 20 where it is desired to detect the state of the conveying surface 15, such as its thickness. The thickness detection magnet 12 does not have to be located above all of the teeth 20.

[0115] When it is desired to detect the overall tilt of the size of the range to be detected, the thickness detecting magnet 12 may be placed, for example, above the teeth 20 at the four corners. The thickness detecting magnet 12 of the conveying surface condition detecting member 13 can perform measurements at the position where it is placed on the conveying surface condition detecting member 13, allowing for highly accurate positional measurements.

[0116] In detection using the permanent magnet 10 of the transported object 11, there are cases where the detected value varies due to positional deviation during movement and fluctuations over time. For this reason, by using a transport surface condition detection member 13 equipped with a thickness detection magnet 12 to obtain the range and sensitivity required for detection, it is possible to accurately detect the thickness of the transport surface at the desired detection location and the distance between the permanent magnet 10 and the teeth 20 when the transported object 11 passes over the transported surface.

[0117] The thickness detecting magnets 12 provided on the conveying surface condition detecting member 13 do not have to be provided above all of the teeth 20. The thickness detecting magnets 12 may be installed in the necessary locations to detect the tilt, wear, etc. of the conveying surface in the necessary areas.

[0118] The other configurations and operations are substantially the same as those of the transport device of the first embodiment, the sample analysis system equipped with the same, the sample pretreatment device, and the method for detecting abnormalities in the transport device, and details thereof will be omitted.

[0119] The transport device of Example 3 of the present invention, the sample analysis system equipped with the same, the sample pre-treatment device, and the method for detecting abnormalities in the transport device also provide effects that are substantially similar to those of the transport device of Example 1 described above, the sample analysis system equipped with the same, the sample pre-treatment device, and the method for detecting abnormalities in the transport device.

[0120] Furthermore, by estimating the thickness of the conveying surface 15 each time the conveyed object 11 passes over the top of the teeth 20, the condition of the conveying surface 15 can be constantly grasped, and extremely stable conveying control can be achieved that does not overlook even the slightest abnormality.

[0121] Furthermore, by estimating the thickness of the conveying surface 15 at regular intervals or for a predetermined number of conveyances, it is no longer necessary to constantly estimate the thickness of the conveying surface 15, and the calculation load on the calculation unit 53 can be reduced.

[0122] In addition, by further providing a holder 17 for detecting the gap between the conveying surface 15 or a conveying surface state detection member 13, and estimating the state of the conveying surface 15 based on the detection value when the gap detection holder 17 is moved along the conveying surface 15 or the detection value when the conveying surface state detection member 13 is placed on it, it becomes possible to estimate with higher accuracy the thickness of the conveying surface 15 and various states of the conveying surface 15 based on that thickness using a jig specialized for detection.

[0123] Furthermore, by detecting the installation state of the conveying surface 15 using a conveying surface state detection member 13 equipped with thickness detection magnets 12 at multiple tooth 20 positions of the conveying unit, the thickness of many locations can be evaluated at once, allowing the state of the conveying surface 15 to be grasped in a shorter time.

[0124] Example 4 A transport device according to a fourth embodiment of the present invention, a sample analysis system including the transport device, a sample pretreatment device, and an abnormality detection method in the transport device will be described with reference to Figures 17 to 20. Figures 17 to 21 are cross-sectional views schematically illustrating a section of three teeth of the transport device shown in Figure 2.

[0125] The conveying device 1 according to the present invention realizes conveyance by the change in magnetic flux generated between the permanent magnet 10 provided on the object 11 to be conveyed and the teeth 20 arranged discretely in the magnetic circuit.

[0126] At this time, a thrust force in the X or Y direction in the figure, which is the propulsive force required for conveyance, is generated, and at the same time, a normal force is generated that affects the frictional force between conveyance surface 15 and conveyed object 11. Generally, in linearly driven equipment, the force between permanent magnet 10 and the magnetic body is such that the normal force that affects the frictional force between conveyance surface 15 and conveyed object 11 is greater than the thrust force in the X or Y direction. In other words, the wear and deterioration of conveyance surface 15 due to the frictional force between conveyance surface 15 and conveyed object 11 becomes significant.

[0127] 17 and 18 show the force F acting between the permanent magnet 10 and the attracting tooth 20b when the object 11 to be transported moves from position A to position B in the X direction.

[0128] Figure 17 shows the timing when the object to be transported 11, i.e., the permanent magnet 10, is positioned at a position far from the target position B. At this time, the force F acting between the permanent magnet 10 and the attracting teeth 20b is a relatively small vertical force acting in the Z direction.

[0129] In contrast, Figure 18 shows the timing when the transported object 11 and permanent magnet 10 are positioned close to the target position B, and at this time, the vertical force acting in the Z direction of the force F acting between the permanent magnet 10 and the attracting tooth 20b is larger than in Figure 17.

[0130] In this way, the normal force directly above the attracted teeth 20 is large, and a frictional force is generated that is the product of the normal force due to the magnetic force plus the force of the teeth's own weight and the friction coefficient. In other words, the frictional force directly above the teeth 20 is large, and significant wear occurs at that point.

[0131] Therefore, by detecting the maximum or local maximum value of the change in current detected by the current detection unit 55 and estimating the thickness of the conveying surface 15 from the detected maximum or local maximum value, it is possible to detect the state of the conveying surface 15 directly above the tooth 20 where the permanent magnet 10 is closest to the tooth 20 showing the maximum or local maximum value. This detection method has many advantages for the configuration of the conveying device 1 of the present invention.

[0132] 19 and 20 show the force F acting between the permanent magnet 10 and the attracting tooth 20b when the object to be conveyed 11 moves in the X direction from position C to position B. As shown in Fig. 19 and 20, regardless of the direction from which the object to be conveyed 11 approaches the target position, the normal force acting between the permanent magnet 10 and the attracting tooth 20b tends to increase as the object to be conveyed 11 approaches the target tooth 20.

[0133] Therefore, when utilizing magnetic attraction force on the target teeth 20, wear is noticeable in the vicinity of the area directly above, and it is very important to detect wear directly above. For this reason, by applying the present invention, a highly reliable transport device 1 can be provided.

[0134] The other configurations and operations are substantially the same as those of the transport device of the first embodiment, the sample analysis system equipped with the same, the sample pretreatment device, and the method for detecting abnormalities in the transport device, and details thereof will be omitted.

[0135] The transport device of Example 4 of the present invention, the sample analysis system equipped with the same, the sample pre-treatment device, and the method for detecting abnormalities in the transport device also provide effects that are substantially similar to those of the transport device of Example 1, the sample analysis system equipped with the same, the sample pre-treatment device, and the method for detecting abnormalities in the transport device.

[0136] <Other> It should be noted that the present invention is not limited to the above-described embodiment, and includes various modifications. The above-described embodiment has been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to an embodiment having all of the described configurations.

[0137] It is also possible to replace part of the configuration of one embodiment with the configuration of another embodiment, or to add the configuration of another embodiment to the configuration of one embodiment, or to add, delete, or replace part of the configuration of each embodiment with the configuration of another embodiment.

[0138] For example, in Examples 1 to 4, the case where the transported object 11 transported by the transport device is a sample rack or a sample holder has been described, but the transported object is not limited to a rack, holder, etc. that holds sample containers, and various objects that require large-scale transport can be transported. [Explanation of symbols]

[0139] 1...Transportation device 2...Magnetic circuit (magnetic circuit section) 10...Permanent magnet 11...Transported object 12...Thickness detection magnet (detection permanent magnet) 13...Conveying surface state detection member (state detection magnet arrangement plate, state detection panel) 15...Transport surface 17...Gap detection holder (state detection holder) 18...Test tube 20,20a,20b,20c...teeth (magnetic pole) 30...Coil (winding) 40...Bridge 50...Driver 53...Arithmetic section 55...Current detection section 60…Normal distribution 61,62…abnormal time distribution 70...Pretreatment device 80…Analyzer 90...Control computer 100...Sample analysis system

Claims

1. A conveying device that has one or more permanent magnets and conveys a conveyed object that holds a conveying target, one or more magnetic circuit units each having teeth made of a magnetic material and a winding wound around an outer periphery of the teeth; a current detection unit that detects a value of a current flowing through the winding; a conveyance surface provided between the teeth and the object to be conveyed, on which the object to be conveyed slides; The maximum or local maximum value of the change in the current detected by the current detection unit is detected, and the thickness of the conveying surface is estimated from the detected maximum or local maximum value. Conveying device.

2. 2. The conveying device according to claim 1, comparing the amount of change in current detected by the current detection unit with a current command value to calculate a ratio of the amount of change to the command value; The thickness of the conveying surface is estimated from the maximum value or the local maximum value for each of the ratios. Conveying device.

3. 3. The conveying device according to claim 1, The amount or degree of wear of the conveying surface is estimated from the maximum value or the local maximum value. Conveying device.

4. 3. The conveying device according to claim 1, The tilt or lift of the conveying surface is estimated from the maximum value or the local maximum value. Conveying device.

5. 3. The conveying device according to claim 1, The thickness of the transport surface at each position on the transport surface is estimated from the maximum value or the local maximum value, and a current command to be supplied to the winding is changed based on the estimated value. Conveying device.

6. 3. The conveying device according to claim 1, A transport path of the transported object is changed based on the thickness of the transport surface at each position on the transport surface. Conveying device.

7. 3. The conveying device according to claim 1, The maximum value or the local maximum value is compared for each of the plurality of transported objects to estimate deterioration of the transported objects including the permanent magnet. Conveying device.

8. 3. The conveying device according to claim 1, The state of the conveying surface is detected from the maximum value or the local maximum value, and an abnormality alarm is issued when wear exceeds a threshold value. Conveying device.

9. 3. The conveying device according to claim 1, The wear state of the detected conveying surface for each path is detected, and the conveying path is determined in accordance with the wear state. Conveying device.

10. 3. The conveying device according to claim 1, The conveying surface state detection holder or the state detection magnet arrangement plate is further provided, The state of the conveying surface is estimated based on the detection value when the state detecting holder is conveyed on the conveying surface or the detection value when a state detecting magnet arrangement plate is placed on the state detecting holder. Conveying device.

11. 3. The conveying device according to claim 1, The thickness of the conveying surface is estimated each time the conveyed object passes over the teeth. Conveying device.

12. 3. The conveying device according to claim 1, The thickness of the conveying surface is estimated at every specified time or every predetermined number of conveyances. Conveying device.

13. 3. The conveying device according to claim 1, The tilt of the conveying surface or the installation state of the conveying surface is detected using information on the distances from the teeth to the permanent magnet at the positions of two or more of the teeth. Conveying device.

14. 3. The conveying device according to claim 1, The installation state of the transport surface is detected using a state detection panel provided with permanent magnets for detection at multiple tooth positions of the transport unit. Conveying device.

15. 3. The conveying device according to claim 1, Using information on the distances from the teeth to the permanent magnet at the positions of two or more of the teeth, an abnormality in the transported object, including deterioration of the permanent magnet, is detected. Conveying device.

16. A sample analysis system comprising the transport device according to claim 1 or 2.

17. A specimen pretreatment device comprising the transport device according to claim 1 or 2.

18. A method for detecting an abnormality in a conveying device that has one or more permanent magnets and conveys a conveyed object that holds a conveyance target, comprising: The conveying device includes one or more magnetic circuit units having teeth made of a magnetic material and windings wound around the outer periphery of the teeth, a current detection unit that detects the value of a current flowing through the windings, and a conveying surface that is provided between the teeth and the object to be conveyed and on which the object to be conveyed slides, The maximum or local maximum value of the change in the current detected by the current detection unit is detected, and the thickness of the conveying surface is estimated from the detected maximum or local maximum value. A method for detecting abnormalities in a transport device.

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