Automatic analysis support robot and automatic analysis system

Abstract

This automated analysis support robot for carrying out an inspection of an analysis module that automatically analyzes a biological sample comprises a vehicle body, a camera mounted on the vehicle body, a communication device which communicates directly or indirectly with the analysis module, and a computer for controlling the vehicle body and the camera, wherein the computer: controls the vehicle body to move to a predetermined operating position and to face an inspection target provided in the analysis module; images the inspection target using the camera; and processes a video of the inspection target to calculate management data relating to the inspection target.

Description

[Technical field]

[0001] The present invention relates to an automatic analysis support robot and an automatic analysis system that support automatic analysis of specimens (biological samples) by an automatic analyzer for clinical testing. [Background technology]

[0002] Automated analyzers automatically analyze specific components contained in samples such as blood and urine, and contribute to the efficiency of testing and analysis work in the medical field. In recent years, robots that support testing and analysis work have also been developed. For example, the transportation of samples, etc., which is also part of the testing and analysis work, is an example of a robot that supports this transportation.

[0003] For example, Patent Document 1 discloses a transport robot that transports liquid with low vibration in an examination room where people enter and exit. Patent Document 2 discloses the configuration and operation of a robot arm that transports sample containers and racks between multiple measurement devices. Patent Document 3 discloses a technique in which a sample pre-processing device to which a sample is to be transported is selected from multiple sample pre-processing devices according to the contents of a measurement request, and the sample is transported to the selected sample pre-processing device using a robot arm. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2016-68233 A [Patent Document 2] JP 2019-197021 A [Patent Document 3] JP 2019-174369 A Summary of the Invention [Problem to be solved by the invention]

[0005] Meanwhile, various maintenance procedures are required for automatic analyzers to ensure that tests and analyses are performed properly. To further improve the efficiency of tests and analyses, it is important to maintain the operation rate of the automatic analyzer at a high level, and maintenance must be performed at an appropriate time before a malfunction that leads to a decrease in operation rate occurs. However, the number of maintenance items tends to increase as the number of items that the automatic analyzer performs automatically increases, and it is also important to reduce the maintenance burden on users.

[0006] An object of the present invention is to provide an automatic analysis support robot and an automatic analysis system that can reduce the burden of maintenance of an automatic analyzer. [Means for solving the problem]

[0007] In order to achieve the above-mentioned objective, the present invention provides an automatic analysis support robot that performs inspections of an analysis module that automatically analyzes biological samples, comprising a vehicle body, a camera mounted on the vehicle body, a communication device that communicates directly or indirectly with the analysis module, and a computer that controls the vehicle body and the camera, wherein the computer controls the vehicle body to move to a predetermined work position and face an inspection object provided in the analysis module, photographs the inspection object with the camera, processes the image of the inspection object, and calculates management data related to the inspection object. Effect of the Invention

[0008] According to the present invention, the burden of maintenance of an automatic analyzer can be reduced. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram showing an entire automatic analysis system according to an embodiment of the present invention. [Figure 2A] FIG. 1 is a front view showing a schematic external appearance of an analysis module provided in an automatic analysis system according to an embodiment of the present invention; [Figure 2B] Enlarged view of part IIB in Fig. 2A [Figure 2C] FIG. 2B shows a modification of the cover of the body of the analysis module of FIG. 2A. [Figure 3A] FIG. 1 is a side view of an automatic analysis support robot according to an embodiment of the present invention. [Figure 3B] FIG. 1 is a front view of an automatic analysis support robot according to an embodiment of the present invention; [Figure 4A] FIG. 1 is an explanatory diagram of a method for opening and closing an opening / closing cover of an analysis module by an automatic analysis support robot according to an embodiment of the present invention. [Figure 4B] FIG. 1 is an explanatory diagram of a method for opening and closing an opening / closing cover of an analysis module by an automatic analysis support robot according to an embodiment of the present invention. [Figure 5A] FIG. 2 is an explanatory diagram of a detergent liquid level detection operation of the automatic analysis support robot according to the embodiment of the present invention; [Figure 5B] FIG. 2 is an explanatory diagram of a detergent liquid level detection operation of the automatic analysis support robot according to the embodiment of the present invention; [Figure 6A] FIG. 1 is an explanatory diagram of a method for calculating the actual remaining amount of detergent by an automatic analysis support robot according to an embodiment of the present invention. [Figure 6B] FIG. 1 is an explanatory diagram of a method for calculating the actual remaining amount of detergent by an automatic analysis support robot according to an embodiment of the present invention. [Figure 7] FIG. 13 is a diagram illustrating an example of a display screen of the actual remaining amount of detergent inspected by the automatic analysis support robot according to the embodiment of the present invention. [Figure 8] FIG. 11 is an explanatory diagram of a method for reflecting the actual remaining amount of detergent inspected by the automatic analysis support robot in the management data of the computer of the analysis module according to the embodiment of the present invention. [Figure 9A] FIG. 1 is an explanatory diagram of a pump pressure reading operation of an automatic analysis support robot according to an embodiment of the present invention. [Figure 9B] FIG. 1 is an explanatory diagram of a pump pressure reading operation of an automatic analysis support robot according to an embodiment of the present invention. [Figure 10] FIG. 13 is a diagram showing the change in pump pressure over a certain period of time calculated from an image captured by an automatic analysis support robot according to an embodiment of the present invention. [Figure 11A] FIG. 13 is a diagram illustrating an example of a display screen of a pump pressure inspected by an automatic analysis support robot according to an embodiment of the present invention. [Figure 11B] FIG. 13 is a diagram illustrating an example of a display of a trend of a pump pressure inspected by an automatic analysis support robot according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0011] -Automatic analysis system- 1 is a schematic diagram showing an entire automatic analysis system according to one embodiment of the present invention. The automatic analysis system shown in the figure includes automatic analyzers 10A and 10B, an automatic analysis support robot 20 (hereinafter, robot 20), a computer 30, and a communication device 40.

[0012] The automatic analyzer 10A is a modular automatic analyzer consisting of multiple analysis modules 11 and 12, and the automatic analyzer 10B is a standalone automatic analyzer consisting of a single analysis module 11. The analysis modules 11 and 12 are devices that automatically analyze (for example, measure a specific component) a specimen (biological sample such as blood or urine). Although the analysis modules may be called automatic analyzers, in this embodiment, in order to distinguish between the automatic analyzers 10A and 10B, the individual automatic analyzers that constitute the automatic analyzers 10A and 10B are described as analysis modules. The analysis module 11 is, for example, a biochemical automatic analyzer, and the analysis module 12 is, for example, an immunoanalysis automatic analyzer. The types and combinations of the analysis modules that constitute the automatic analyzers 10A and 10B can be changed as appropriate.

[0013] The robot 20 is an autonomous robot that performs inspections by the automatic analyzers 10A and 10B and supports automatic analysis by the automatic analyzers 10A and 10B. The computer 30 is a control device that controls the robot 20, and the communication device 40 is a device that directly or indirectly communicates with the automatic analyzers 10A and 10B (strictly speaking, the computer). The communication device 40 may be configured to communicate with the automatic analyzers 10A and 10B by wired communication, but is preferably configured to communicate with the dynamic analysis devices 10A and 10B by wireless communication. In this embodiment, an example in which the computer 30 and the communication device 40 are mounted on the robot 20 will be described. The analysis modules 11 and 12 and the robot 20 will be described later, but here, an overview of the entire automatic analysis system will be described using FIG. 1.

[0014] In the example shown in the figure, the automatic analyzers 10A, 10B are disposed inside an examination room L, with a predetermined space secured around them to allow users to easily operate, maintain, and pass by the automatic analyzers 10A, 10B. This space also serves as a passageway along which the robot 20 travels. In each of the analysis modules 11, 12, a predetermined work area Y where the robot 20 works is set. The work area Y is, for example, a position facing a pressure gauge 18 (FIG. 2A) or a detergent container 17 (FIG. 2A) in the analysis modules 11, 12 with an openable cover 19 (FIG. 2A) sandwiched therebetween.

[0015] In addition, a waiting place X for the robot 20 is set in the examination room L. The position of the waiting place X is set to avoid the expected movement line of the user so as not to interfere with the actions of the user (human). The robot 20 waits at the waiting place X except when maintenance is being performed. A charger (not shown) is installed at the waiting place X, and the battery (not shown) of the robot 20 is charged while waiting at the waiting place X. The waiting place X and each work place Y are connected by a predetermined route R, and the robot 20 moves between the waiting place X and the work place Y through the predetermined route R. Here, the route R can be configured to be a physically drawn route such as a rail, a magnetic line, or a white line, and the robot 20 moves along the route. In addition, the positional relationship between the waiting place X and each work place Y may be stored in the memory of the computer 30 as data on the travel direction and distance, and the computer 30 may run the robot 20 based on the data. Furthermore, the position coordinates of the waiting area X and each work area Y may be stored in the memory of the computer 30, and the robot 20 may travel between the specified coordinates in the local coordinate system of the examination room L.

[0016] Moreover, a stand 51 is installed in the waiting area X, and a console 50 is provided on the stand 51. The console 50 is an operation terminal operated by a user, and various computers equipped with (or externally attached to) an input device, a monitor, and a communication device, such as a tablet PC, a notebook PC, or a desktop PC, can be used. The console 50 is configured to be capable of wireless communication with the robot 20. The communication device provided on the console 50 can be configured to directly or indirectly transmit and receive data with the communication device 40 provided on the robot 20 by a communication method such as Wi-Fi (registered trademark), ZigBee (registered trademark), Bluetooth (registered trademark), or the like.

[0017] The results of the maintenance performed by the robot 20 can be viewed on the monitor of the console 50. In addition, the type of maintenance to be performed by the robot 20, the timing of the maintenance, etc. can be set on the console 50 for each of the analysis modules 11, 12. In accordance with this setting, the robot 20 moves to the work place Y of the target analysis module and performs the set maintenance according to a preset procedure. The timing of inspection by the robot 20 can be, for example, at a set time interval or set time, or when manually instructed by the user.

[0018] Each of the automatic analyzers 10A, 10B is also equipped with a computer 13 and a communication device 14. The computer 13 is an operation terminal that operates the automatic analyzer and at the same time a control device that controls the corresponding automatic analyzer. The computer 13 is equipped with (or connected to) the communication device 14. The computer 13 is configured to be able to wirelessly communicate with the robot 20 via the communication device 14. The analysis results of the sample by the analysis module can be viewed on the monitor of the computer 13, and analysis requests to the automatic analyzer can be set on the computer 13.

[0019] The types, numbers, and layouts of the automatic analyzers and analysis modules, robot 20, and waiting area X arranged in the examination room L are not limited to the example shown in Fig. 1. Data such as the positions and types of analysis modules on which the robot 20 performs maintenance is registered in advance in the computer 30.

[0020] The above is a description of the overall layout of the automatic analysis system in the laboratory.

[0021] -Analysis module- FIG. 2A is a front view showing a schematic appearance of an analysis module provided in an automatic analysis system according to one embodiment of the present invention, FIG. 2B is an enlarged view of part IIB in FIG. 2A, and FIG. 2C is a diagram showing a modified example of the cover of the body of the analysis module in FIG. 2A.

[0022] 2A dispenses a specimen and a reagent into a plurality of reaction vessels (not shown) using a dispenser 15 or the like, and measures the liquid resulting from the reaction between the specimen and the reagent. To wash the reaction vessels in the specimen analysis process, the analysis module 11 is also provided with a waste liquid suction device 16. The waste liquid suction device 16 and the dispenser 15 have the same configuration, and the nozzles 15a, 16a are moved by rotating an arm, and the nozzles 15a, 16a suck in and discharge the liquid.

[0023] In the analysis module 11, detergent (cleaning liquid) is used as a consumable item to clean reaction containers in the sample analysis process. A detergent container 17 containing detergent is set inside the body of the analysis module 11. The detergent container 17 is made of a material that transmits visible light, and the detergent inside can be seen through it.

[0024] The analysis module 11 also includes multiple pumps (not shown) that adjust the suction force (vacuum pressure) of the waste liquid suction device 16 and the discharge force (liquid pressure) of the detergent in order to wash the nozzle 15a of the dispensing device 15 and the reaction vessel. These pumps include many moving parts such as gears, bearings, and diaphragm valves, and if these moving parts wear out or deteriorate, they will not be able to output the required pump pressure. The pump pressure affects the amount of dispensing, etc., and if the accuracy decreases, it will not be possible to properly analyze the sample.

[0025] Therefore, in order to allow the user to check the pump pressure, the analysis module 11 is provided with a pressure gauge 18 for each pump for the purpose of allowing the user to check the pump pressure. Each pressure gauge 18 has an indicator needle 18a that indicates the measured pressure value as shown in Fig. 2B, and the user checks the pump pressure by reading the scale indicated by the indicator needle 18a. These pressure gauges 18 are also disposed inside the body of the analysis module 11.

[0026] The detergent container 17 is a device that requires replacement by the user, and the pressure gauge 18 is a device that requires visual inspection by the user, so they are arranged in positions that are easily accessible to the user on the front side of the analysis module 11. As described above, the analysis module 11 is provided with multiple detergent containers 17 and multiple pressure gauges 18. In this embodiment, the detergent containers 17 and the pressure gauges 18 are the objects to be inspected by the robot 20.

[0027] The front of the body of the analysis module 11 is covered with an opaque open-close cover 19, and the detergent container 17 and pressure gauge 18 to be inspected are also covered with the open-close cover 19, but the detergent container 17 and the pressure gauge 18 can be accessed by opening the open-close cover 19. The open-close cover 19 replaces the original cover of the analysis module 11, and is configured to open and close by rotating in an arc around a vertical rotation axis provided at one of the left and right ends, as shown by the arrows in Fig. 2A.

[0028] The cover 19 is equipped with a user handle 19A on which the user places his / her hand, as well as a robot handle 19B on which the hand 23a of the robot 20 is placed. The user handle 19A is located on the upper part of the cover 19, on the opposite side to the rotation axis. The robot handle 19B is located on the lower part of the cover 19, on the opposite side to the rotation axis. The robot handle 19B is configured such that part of the opening of a recess provided in the cover 19 is blocked by a plate-shaped pull tab 19b.

[0029] Also, instead of the openable cover 19, the front of the analysis module 11 may be covered with a partially transparent fixed cover 19' as shown in FIG. 2C. The cover 19' has a window 19C in which a transparent material such as acrylic or glass is fitted, and covers the detergent container 17 and the pressure gauge 18, while allowing the detergent container 17 and the pressure gauge 18 to be seen through the window 19C from the work place Y. The entire cover 19' may be made of a transparent material such as acrylic. The cover 19' may be removable, or may be configured to open and close like the openable cover 19. If the cover 19' is removable, the user handle 19A and the robot handle 19B of the cover 19' may be omitted.

[0030] The analytical module 11 has been described above, but the analytical module 12 is also equipped with detergent and a pump, and similarly, the detergent container 17 and pressure gauge 18 are laid out behind the opening / closing cover 19 or cover 19' for easy access by the user.

[0031] The above is a description of the schematic configuration of the analysis modules 11 and 12, and the arrangement of the detergent container 17 and the pressure gauge 18.

[0032] -Regarding remaining detergent amount management in the analysis module- Here, since the analysis modules 11 and 12 cannot perform normal analysis when the detergent runs out, they are often configured to stop the analysis operation when the detergent required for the analysis cannot be supplied. If the analysis operation stops suddenly, the samples and reagents being analyzed will be wasted. In response to this, the computer 13 may be provided with a function to calculate the remaining amount of detergent from the amount of detergent consumed based on the number of analyses performed for each detergent container 17 of the analysis modules 11 and 12, and to recommend the user to replace the detergent container 17 when the remaining amount of detergent falls below a predetermined value.

[0033] However, since the remaining amount of detergent calculated by this function is an estimated value and has an error with respect to the actual remaining amount of detergent, it is necessary to set a margin and underestimate the remaining amount of detergent to avoid running out of detergent during analysis. Therefore, if the remaining amount of detergent calculated by computer 13 is excessively less than the actual remaining amount, surplus detergent will be generated, increasing the waste of detergent and its purchase cost, and the environmental cost of detergent disposal will also increase. It is possible to collect the surplus detergent for secondary use, but in this case there is a concern that the deterioration of the detergent quality will affect the analytical accuracy. Therefore, it is important to accurately grasp the remaining amount in real time and use up the detergent.

[0034] In addition, after replacing the detergent container 17, the user must operate the computer 13 of the analysis modules 11, 12 to reset the calculation data of the remaining amount of detergent. If this operation is forgotten, the computer 13 will mistakenly recognize that the remaining amount of detergent is still low even immediately after replacing the detergent container 17, and the analysis operation of the analysis modules 11, 12 will stop due to insufficient detergent remaining, with a large amount of detergent remaining. As a countermeasure to this, it is possible to provide the analysis module 11 with an optical or contact sensor that measures the liquid level of the detergent in each detergent container 17. However, since a sensor needs to be installed for each detergent container 17 and the user needs to frequently replace the detergent container 17, there is a concern that installing a sensor will make it difficult to replace the detergent container 17.

[0035] -Regarding pump pressure management in the analysis module- The pressure gauge 18 described above is an indicator for the user to visually check the pump pressure. The analysis module 11 does not have a transducer that converts the pump pressure measured by this pressure gauge 18 into an electrical signal. Therefore, the computer 13 of the analysis module 11 cannot acquire the pump pressure measured by the pressure gauge 18 as data. As described above, the analysis module 11 generally has a plurality of pumps, and even if a transducer is provided, it is necessary for each pump, which increases the manufacturing cost of the analysis module 11. As illustrated in FIG. 1, many analysis modules 11 and 12 are often arranged in the examination room L, so if the price per analysis module 11 and 12 increases, the economic burden on the user also increases.

[0036] -Automatic analysis support robot- Fig. 3A is a side view of an automatic analysis support robot according to an embodiment of the present invention, and Fig. 3B is a front view. In these figures, the right and left of Fig. 3A correspond to the front and back of the robot 20, and the right and left of Fig. 3B correspond to the left and right of the robot 20.

[0037] The robot 20 is an autonomous robot that inspects the remaining amount of detergent and the pump pressure in the analysis modules 11 and 12 on behalf of the user, and is configured to include a vehicle body 21, a camera 22, a manipulator 23, a communication device 40, and a computer 30.

[0038] Body The vehicle body 21 is a wheel-type traveling device having left and right front wheels 21a and left and right rear wheels 21b, but may be replaced with a crawler-type traveling device having left and right crawlers. The front wheels 21a and rear wheels 21b are each configured so that the rotation speed and rotation direction can be controlled independently on the left and right, and thus the distance and azimuth angle traveled by the robot 20 can be controlled by combining forward, backward and turning movements. If necessary, the robot 20 is provided with a magnetic or optical sensor for detecting the route R.

[0039] ·camera The camera 22 is mounted on the vehicle body 21 via a post 26 that extends vertically. The post 26 is rotatable about its central axis relative to the vehicle body 21. The camera 22 is disposed on the upper part of this post 26 with its optical axis generally horizontal, and the field of view of the camera 22 can be rotated together with the post 26 in the horizontal direction relative to the vehicle body 21. Data of still images and videos captured by the camera 22 is recorded in a memory provided in the camera 22 or in the memory of the computer 30.

[0040] ·manipulator The manipulator 23 is a working arm for opening and closing the opening / closing cover 19 of the analysis modules 11, 12, and extends horizontally. It is equipped with a hand 23a that is hung on the robot handle 19B of the opening / closing cover 19. The hand 23a rotates in a vertical plane with a rotation axis (not shown) that extends in the extension direction of the manipulator 23 (main body arm) as a fulcrum. The hand 23a may be configured to rotate independently, or the entire manipulator 23 may be configured to rotate. The rotation axis of the hand 23a is offset from the center of the hand 23a, and has an asymmetric shape with respect to the rotation axis.

[0041] In addition, the manipulator 23 can be raised and lowered along rails 23b extending vertically, and even if the height of the robot handle 19B from the ground changes, the height of the manipulator 23 can be controlled to adjust the position of the hand 23a relative to the robot handle 19B.

[0042] Communication equipment The communication device 40 is a device for directly or indirectly communicating with the computer 13 of the analysis modules 11 and 12. As a communication method of the communication device 40, for example, a wireless communication method such as Wi-Fi (registered trademark), ZigBee (registered trademark), Bluetooth (registered trademark), etc. can be adopted.

[0043] ·computer The computer 30 is a control device that controls the vehicle body 21 and the camera 22 as well as the post 26 and the manipulator 23, and is also an arithmetic device that processes images from the camera 22. When inspecting the detergent container 17 or the pressure gauge 18, the computer 30 first controls the vehicle body 21 so that the robot 20 moves along the route R to the target work location Y and faces the detergent container 17 or the pressure gauge 18 to be inspected. The computer 30 is equipped with a CPU that serves as both an arithmetic device and a control device, and a memory that is a storage device. In this specification, various volatile and non-volatile storage devices such as RAM, ROM, HDD, SSD, etc. are collectively referred to as memory.

[0044] Next, the computer 30 photographs the detergent container 17 or the pressure gauge 18 with the camera 22, processes the image of the detergent container 17 or the pressure gauge 18, and calculates (i.e., reads from the image) management data related to the inspection object. The management data related to the inspection object is the actual amount of detergent remaining inside the detergent container 17 and the displayed value of the pressure gauge 18. After calculating the management data, the computer 30 transmits the management data to the computer 13 of the corresponding analysis module via the communication device 40.

[0045] The robot 20 is provided with a function for measuring the distance to an obstacle using a distance sensor such as an ultrasonic sensor, or a function for detecting humans using a human sensor. When the robot 20 is provided with a human sensor, it can be configured to stop moving if it detects a user (human) within a predetermined distance in the direction of travel while moving. If the robot 20 works in the same examination room L as the user, the robot 20 may interfere with the user's movement and disturb the user's work, but by utilizing the human sensor to operate while avoiding the user, it is possible to avoid disturbing the user's work.

[0046] The above is a description of the configuration of the robot 20.

[0047] -Cover opening and closing operation- 4A and 4B are explanatory diagrams of a method for the robot 20 to open and close the cover of the analysis module. Although these figures show the case where the analysis module 11 is the target, the cover opening and closing operation is the same when the analysis module 12 is the target.

[0048] Unlike the cover 19' shown in Fig. 2B, in the case of an analysis module employing the open-close cover 19 shown in Fig. 2A, before approaching the detergent container 17 or pressure gauge 18 to be inspected, it is necessary to open the open-close cover 19 in order to photograph the detergent container 17 or the pressure gauge 18. In executing the operation of opening the open-close cover 19, the computer 30 controls the vehicle body 21 to move the robot 20 to the target work place Y, and makes it face the robot handle 19B as shown in Fig. 4A.

[0049] After that, the computer 30 controls the manipulator 23 so that the hand 23a is hooked onto the robot handle 19B. To be more specific, the computer 30 first adjusts the height of the manipulator 23 to the height of the robot handle 19B based on data on the height of the robot handle 19B from the ground that is pre-recorded in memory for each analysis module. Then, the computer 30 controls the body 21 to move the robot 20 straight toward the opening and closing cover 19, and inserts the hand 23a into the robot handle 19B (left diagram in FIG. 4B). After inserting the hand 23a into the robot handle 19B, the computer 30 rotates the hand 23a inside the robot handle 19B to hook it onto the pull tab 19b (right diagram in FIG. 4B).

[0050] When the hand 23a is hooked onto the robot handle 19B, the computer 30 controls the vehicle body 21 to travel (move backward in an arc) a set distance along the predetermined opening and closing track of the opening and closing cover 19 with the hand 23a hooked onto the robot handle 19B, thereby opening the opening and closing cover 19. While opening the opening and closing cover 19, the computer 30 controls the vehicle body 21 to maintain a posture in which the manipulator 23 is perpendicular to the opening and closing cover 19.

[0051] Once the opening / closing cover 19 has been opened to a predetermined angle, the computer 30 rotates the hand 23a to remove it from the pull tab 19b of the robot handle 19B, and then moves the robot 20 back to the work area Y to face the detergent container 17 and the pressure gauge 18.

[0052] When closing the open-close cover 19 after checking the remaining detergent amount or the pump pressure, the computer 30 closes the open-close cover 19 by executing the above-mentioned procedure in reverse, and moves to the next work location Y or the waiting location X. At this time, when closing the open-close cover 19, the angle of the open-close cover 19 may have changed since it was opened. This can be dealt with by configuring the robot to start moving forward from an angle position larger than the angle of the open-close cover 19 when it was opened, to recognize the robot handle 19B from the image captured by the camera 22, or to measure the distance to the open-close cover 19 with a distance sensor, or by other preliminary operations.

[0053] The above is a description of the opening and closing operation of the opening and closing covers 19 of the analysis modules 11 and 12 by the robot 20.

[0054] -Detergent level detection- 5A and 5B are explanatory diagrams of the detergent liquid level detection operation of the robot 20. In Fig. 5A, the body of the analysis module 11 is partially cut away to show the detergent container 17 inside in solid lines. In Fig. 5B, an image of the detergent container 17 (left) and an image processing image (right) are shown together. Although Figs. 5A and 5B show the case where the analysis module 11 is the target, the detergent liquid level detection operation is the same when the analysis module 12 is the target.

[0055] When the openable cover 19 is opened as necessary and the robot 20 faces the detergent container 17 set in the analysis module 11 (FIG. 5A), the computer 30 controls the camera 22 to take an image (still image or video) showing the entire detergent container 17 and records it in memory. At this time, data on the position, type, and number of the detergent containers 17 set in the analysis module 11 are recorded in the memory of the computer 30. Based on this data, the computer 30 moves to a position suitable for photographing the target detergent container 17 in the work place Y, faces the target detergent container 17, and photographs the detergent container 17. The detergent containers 17 may be photographed one by one, or multiple detergent containers 17 may be photographed together. When multiple detergent containers 17 are photographed together, if various aberrations such as distortion aberration affect image processing due to the angle of view of the camera 22, these aberrations may be corrected and stored in memory.

[0056] As shown in FIG. 5B, the image captured by the robot 20 is an image of the detergent container 17 taken from the front. In order to process the image of the detergent container 17 and perform liquid level image processing, an image processing judgment range J is set in advance for each type of detergent container 17 in the image of the detergent container 17. The image processing judgment range J is an image area vertically traversing the detergent container 17, and is set to avoid unevenness such as the mouth 17a so that the image area is limited to the outer wall surface of the detergent container 17 as much as possible. The computer 30 performs edge processing on this image processing judgment range J, using the magnitude of the rate of change in image brightness as the signal strength, to obtain data G of signal strength and height. In the data G shown in FIG. 5B, the horizontal axis represents signal strength and the vertical axis represents height position.

[0057] When edge processing is performed, a strong signal is obtained at the height where the brightness of the image changes significantly, and therefore, as shown in the figure, a strong edge detection signal S is obtained at the upper end and lower end of the detergent container 17, the bent portion of the outer wall surface, and the detergent liquid surface. Except for the detergent liquid surface, the upper end and lower end of the detergent container 17 and the bent portion of the outer wall surface are known for each type of detergent container 17, and data on their height positions or relative positional relationships is recorded in memory in advance. In addition, the height range J1 that the detergent liquid surface can take in the image processing judgment range J is also set in advance for each type of detergent container 17 and stored in memory. In the example of FIG. 5B, the range J1 is set between the height of the lower end of the detergent container 17 and the height of the bent portion of the outer wall surface. In other words, the edge detection signal S detected in the range J1 is the detergent liquid surface position.

[0058] The computer 30 calculates the vertical distance (height difference) between the position where the edge detection signal S is detected in range J1 and the position where the edge detection signal S corresponding to the bottom end of the detergent container 17 is detected as the detergent liquid level height H and records it in memory.

[0059] Depending on the shape of the detergent container 17, multiple edge detection signals may appear in the range J1 described above. In this case, data obtained by photographing an image of the same empty detergent container 17 and processing the image (obtained in the same manner as data G) is stored in memory as reference data. Then, by calculating the difference between data G obtained for the detergent container 17 to be inspected for the remaining detergent amount and the reference data, the detergent liquid level position can be detected.

[0060] The above is a description of the operation of detecting the detergent liquid level inside the detergent container 17 of the analysis modules 11 and 12.

[0061] -Calculates the actual amount of detergent remaining- 6A and 6B are explanatory diagrams of a method for calculating the actual remaining amount of detergent in the robot 20. These diagrams show data that defines the relationship between the detergent liquid level height (horizontal axis) and the remaining amount of detergent (vertical axis). Since the shape of the detergent container 17 (i.e., the change in cross-sectional area due to height) differs depending on the type, such data is defined in advance for each type of detergent container 17 and recorded in memory. In other words, the data shown in FIG. 6A represents data for type A of detergent container 17, and the data shown in FIG. 6B represents data for type B of detergent container 17. These data may be created by calculation from known shape data of the detergent container 17, or may be created experimentally by actually pouring liquid into the detergent container 17. When the data shown in FIG. 6A or FIG. 6B is defined by calculation, it can be defined by the following calculation formula. V = ∫[0,H]Da(h)dh / 1000 where V is the remaining amount of detergent [mL], H is the detergent liquid level [mm], Da(h) is the cross-sectional area of ​​the detergent container at height h [mm 2 ].

[0062] The computer 30 converts the detergent liquid level H calculated by detecting the detergent liquid level into the remaining amount of detergent based on the relationship data exemplified in FIGS. 6A and 6B.

[0063] The above is an explanation of the method for calculating the actual remaining amount of detergent from the detergent container liquid level.

[0064] -Displays remaining detergent amount- FIG. 7 is a diagram showing an example of a display screen showing the actual remaining amount of detergent inspected by the automatic analysis support robot according to one embodiment of the present invention.

[0065] The computer 30 communicates with the console 50, and displays on the console 50 the latest actual remaining amount of detergent inspected by the above-mentioned method and the inspection time for each type of detergent (or detergent container 17). The computer 30 also reads out the inspection history of each detergent container 17 from memory, and calculates the time when the remaining amount of detergent will be 0 based on the actual remaining amount of detergent from multiple inspections and the detergent consumption pace calculated from the inspection times, and displays this on the console 50. The expected detergent disappearance time t3 can be calculated, for example, by the following calculation formula. t3 = (V2 x t1 - V1 x t2) / (V2 - V1) where t2 is the detergent inspection time of the latest inspection, t1 is the detergent inspection time of the previous inspection, V2 is the actual remaining amount of detergent in the latest inspection, and V1 is the actual remaining amount of detergent in the previous inspection.

[0066] If the actual remaining amount of detergent V2 from the latest test is equal to or greater than the actual remaining amount of detergent V1 from the previous test (V2≧V1), the predicted time t3 of detergent disappearance cannot be calculated, so [-] will be displayed in the predicted time of detergent disappearance on the actual remaining amount of detergent screen of the console 50.

[0067] The computer 30 stores inspection data on the actual remaining amount of detergent in each detergent container 17 (or each type of detergent) for all of the analysis modules 11, 12 arranged in the inspection room L. For example, by operating the console 50 (selecting the tabs displayed as "Module A", "Module B", ... in the example of FIG. 7), the inspection data on the actual remaining amount of detergent in each analysis module can be switched and displayed on the console 50. For example, when "Module B" is selected in the state of FIG. 7, a request signal is sent from the console 50 to the computer 30, and in response, the data of the analysis module selected from the computer 30 is sent to the console 50 and displayed.

[0068] The above is an explanation of the display screen of the actual remaining amount of detergent checked by the robot 20.

[0069] -Updated detergent remaining amount data- Fig. 8 is an explanatory diagram of a method for reflecting the actual remaining amount of detergent inspected by the robot 20 in the management data of the computer 13 of the analysis module. Although the figure illustrates a case where the target is the analysis module 11, the detergent liquid level detection operation is the same when the target is the analysis module 12. The data in Fig. 8 is exchanged between the computer 30 mounted on the robot 20 and the computer 13 that manages the analysis module 11 via their respective communication devices 40, 14.

[0070] After inspecting the actual remaining amount of detergent as described above, the robot 20 transmits a signal of a detergent information reception request to the computer 13 that manages the remaining amount of detergent in the analysis module whose data is to be updated. The analysis module whose data is to be updated is, for example, the analysis module 11 that has finished inspecting the actual remaining amount of detergent, and can be, for example, the analysis module 11 that the robot 20 is currently facing.

[0071] When the computer 13 that has received the request signal is in a state in which it can transmit detergent information for the target analysis module, it transmits a detergent information reception response signal to the computer 30 of the robot 20. However, when the computer 30 is stopped, or when the analysis module 11 is powered off or in a similar state, there are cases in which the computer 13 on the analysis module side cannot receive the signal or cannot respond even if it receives it. For example, in such a case, if a signal from the computer 13 on the analysis unit side is not received within a certain period of time, the computer 30 mounted on the robot 20 will end the process as a communication error.

[0072] When a detergent information reception possible response signal is received from the analysis module-side computer 13, the computer 30 transmits the latest data on the actual remaining amount of detergent as detergent information to the analysis module-side computer 13. The analysis module-side computer 13 reflects the received data on the actual remaining amount of detergent in the management data of the target analysis module, and updates the management data on the remaining amount of detergent that it manages. Until the next opportunity to update the actual remaining amount of detergent inspected by the robot 20 arrives, the computer 13 updates the management data on the remaining amount of detergent using a method of estimating the detergent consumption amount based on the number of analyses performed.

[0073] Furthermore, the computer 30 of the robot 20 is unable to grasp the actual value of the remaining amount of detergent in the target analysis module until the next time the robot 20 checks the actual remaining amount of detergent, and the data of the actual remaining amount of detergent that it holds will deviate from the actual remaining amount of detergent. In this case, the value on the actual remaining amount screen displayed on the console 50 will deviate from the actual value.

[0074] Therefore, from the time when the robot 20 finishes testing the actual remaining amount of detergent until the next testing opportunity, a synchronization process is performed with the management data on the remaining amount of detergent in the computer 13 on the analysis module side. At regular intervals or in response to a user's operation on the console 50, the computer 30 sends a detergent information transmission request signal to the computer 13 on the analysis module side. The computer 13 that receives the signal transmits the data on the remaining amount of detergent, which is continually updated by estimation calculation based on the number of analyses performed as described above, to the computer 30 on the robot side as detergent information. The computer 30 records the received data in the management data on the remaining amount of detergent that it stores.

[0075] The above is an explanation of the method for reflecting the actual remaining amount of detergent inspected by the robot 20 in the management data of the computer 13 of the analysis module.

[0076] -Pump pressure reading- 9A and 9B are explanatory diagrams of the pump pressure reading operation of an automatic analysis support robot according to one embodiment of the present invention. In FIG. 9A, the body of the analysis module 11 is partially cut away to show the internal pressure gauge 18 in solid lines. In FIG. 9B, an image of the pressure gauge 18 (left diagram) is shown together with data (right diagram) defining the relationship between the angle of the indicator needle 18a and the pump pressure. Although FIGS. 9A and 9B show the case where the analysis module 11 is the target, the pump pressure reading operation is the same when the analysis module 12 is the target.

[0077] When the openable cover 19 is opened as necessary and the robot 20 faces the pressure gauge 18 provided in the analysis module 11 (FIG. 9A), the computer 30 controls the camera 22 to take an image (still image or video) of the pressure gauge 18 and records it in memory. At this time, data on the position, type, and number of the pressure gauges 18 provided in the analysis module 11 are recorded in the memory of the computer 30. Based on this data, the computer 30 moves to a position suitable for photographing the target pressure gauge 18 in the work place Y, faces the target pressure gauge 18, and photographs the pressure gauge 18 for a certain period of time. The pressure gauges 18 may be photographed one by one, or multiple pressure gauges 18 may be photographed together. When multiple pressure gauges 18 are photographed together, if various aberrations such as distortion aberration affect image processing due to the angle of view of the camera 22, these aberrations may be corrected and stored in memory.

[0078] During the operation of the analysis module 11, the indicator 18a of the pressure gauge 18 moves, and the computer 30 captures a video using the camera 22 to obtain necessary information. The video capture time is set to a preset number of cycles based on the analysis cycle time of the analysis module 11. For example, if the analysis cycle time of the analysis module 11 is set to 1.8 seconds and the preset number of cycles is set to 10 cycles, the capture time will be 18 seconds. The preset number of cycles is set in advance taking into consideration the amplitude and swing of the indicator 18a. In addition, the sampling frames for capturing the video are set to be sufficient to capture the movement of the indicator 18a. The numerous still images that make up the captured video are stored in memory together with the capture time of each image. The content of the series of image processing is explained below.

[0079] As shown in FIG. 9B, the image captured by the robot 20 is an image of the pressure gauge 18 taken from the front. In order to process the image of the pressure gauge 18 to read the pump pressure, an image processing judgment range K is set in advance in the image of the pressure gauge 18 so that the entire pressure gauge 18 fits within the image processing judgment range K. A needle tracking point K1 is set inside the image processing judgment range K. The needle tracking point K1 is the tip of the needle 18a searched for by the computer 30 based on the shape characteristic points of the needle 18a stored in advance in memory. Data on the XY coordinates of the needle tracking point K1 within the image processing judgment range K is identified for each still image constituting the captured video and recorded in memory.

[0080] Next, the computer 30 obtains the origin O (corresponding to the center of rotation of the pointer 18a) from the coordinate data of the pointer tracking point K1 of the three still images selected according to a predetermined algorithm. Specifically, a triangle is imagined with the pointer tracking point K1 of the three images as the apex angle, and the intersection of the perpendicular bisectors of the two sides of the imagined triangle, excluding the longest side, can be obtained as the origin O. In order to ensure the calculation accuracy of the coordinate of the origin O, it is desirable to specify an algorithm for selecting the three still images so that the two sides of the above virtual triangle are as long as possible. In addition, the calculation accuracy of the origin O can be further improved by selecting more still images to calculate the coordinate of the origin O multiple times and averaging the coordinates of the origin O. After obtaining the origin O, the computer 30 converts the XY coordinate system (orthogonal coordinate system) of each still image into a polar coordinate system with the origin O as the origin, calculates the angle θ of the line segment (corresponding to the pointer 18a) connecting the pointer tracking point K1 and the origin O in each still image, and records it in memory.

[0081] Data defining the relationship between the angle of the indicator needle 18a and the pump pressure as shown on the right side of Fig. 9B is stored in the memory of the computer 30. Since the scale of the pressure gauge 18 varies depending on the type, such data is defined in advance for each type of pressure gauge 18 and recorded in the memory. Based on the relationship data exemplified in Fig. 9B, the computer 30 converts the angle of the indicator needle 18a into pump pressure, and reads the pump pressure indicated by the indicator needle tracking point K1 in each still image.

[0082] The above is an explanation of how to detect the indicator needle 18a of the pressure gauge 18 and how to read the pump pressure indicated by the indicator needle 18a.

[0083] -Pump pressure calculation- FIG. 10 is a graph showing the change in pump pressure over a certain period of time calculated from images captured by the robot 20. In FIG.

[0084] As described above, data on the time of shooting is associated with each still image constituting the video, and when the pressure and time data of each image are plotted in a coordinate system with the horizontal axis as the time axis and the vertical axis as the pressure axis, data on the change over time of the pump pressure (actual display value of the pressure gauge 18) is obtained (FIG. 10). The computer 30 stores in memory the analysis cycle time CT of the analysis module 11, and calculates the maximum pressure Pmax, minimum pressure Pmin, and stable pressure Pst for each analysis cycle time CT from the pump pressure and time data of each image.

[0085] As described above, the video capture time is set to a time equivalent to a predetermined number of cycles (e.g., 10 cycles) based on the analysis cycle time CT, so the maximum pressure Pmax, minimum pressure Pmin, and stable pressure Pst for each of the predetermined number of cycles (e.g., 10) are calculated. The maximum pressure Pmax and minimum pressure Pmin are the maximum and minimum values ​​of the pump pressure in one cycle time CT. The stable pressure Pst is, for example, the most frequent value when the pump pressure in one cycle time CT is analyzed in a histogram. In this way, the computer 30 obtains the maximum pressure Pmax, minimum pressure Pmin, and stable pressure Pst for each analysis cycle time CT, and calculates the average values ​​of the maximum pressure Pmax, minimum pressure Pmin, and stable pressure Pst. The average values ​​of the maximum pressure Pmax, minimum pressure Pmin, and stable pressure Pst are linked to the inspection date and time and recorded in memory as the inspection value of the pump pressure (the reading of the display of the pressure gauge 18).

[0086] The above is an explanation of the method for calculating the pump pressure from the images captured by the robot 20.

[0087] -Pump pressure display- FIG. 11A is a diagram showing an example of a display screen of a pump pressure inspected by the automatic analysis support robot according to one embodiment of the present invention.

[0088] The computer 30 communicates with the console 50 and displays on the console 50 the latest pump pressure inspected by the above-mentioned method and the inspection time for each pressure gauge 18 (or the pump corresponding to the pressure gauge 18). In FIG. 11A, the stable pressure Pst is displayed as the pump pressure. This is because it is common to use the stable pressure as an index in the operation of an analysis module. However, it is possible to display the maximum pressure Pmax and the minimum pressure Pmin by performing a predetermined operation.

[0089] The computer 30 stores pump pressure inspection data for each pressure gauge 18 (or the pump corresponding to the pressure gauge 18) for all of the analysis modules 11, 12 arranged in the inspection room L. For example, by operating the console 50 (selecting tabs displayed as "Module A", "Module B" ... in the example of FIG. 11A), the pump pressure inspection data for each analysis module can be switched and displayed on the console 50. For example, when "Module B" is selected in the state of FIG. 11A, a request signal is sent from the console 50 to the computer 30, and in response to this, data of the selected analysis module is sent to the console 50 and displayed.

[0090] Furthermore, the computer 30 stores the history of pump pressure inspection data in memory. As shown in Fig. 11A, the pump pressure display screen of this embodiment displays a display button Bt for displaying the long-term trend of the pump pressure inspection value. Operating this display button Bt displays a screen (Fig. 11B) that displays the trend of the pump pressure for a specified period (e.g., the most recent few months) based on the history data stored in the computer 30, with time (e.g., date) on the horizontal axis and pump pressure on the vertical axis. The user can infer signs of pump abnormality or deterioration from the screen of Fig. 11B.

[0091] In order to know the signs of pump abnormality or deterioration more accurately, it is possible to evaluate the state of the pump by the difference between the pump pressure data shown in FIG. 10 and reference pump pressure data previously acquired for a normal pump. It is also possible to incorporate Mahalanobis distance evaluation by the Mahalanobis Taguchi method for the pump pressure test value and test time data. In addition, the pump pressure data acquired by the inspection by the robot 20 is associated with data such as the model of the analysis module, the environment of the inspection room L, and operation information, and is accumulated as big data. In this case, applying AI data analysis to the big data is useful for exploring more accurate and efficient operation methods of the analysis modules 11 and 12 and the inspection room L.

[0092] The above is a description of the display of pump pressure checked by the robot 20.

[0093] -effect- (1) As described above, the robot 20 can photograph inspection objects such as the detergent container 17 and the pressure gauge 18 with the camera 22, process the photographed images with the computer 30, and read management data such as the actual remaining amount of detergent and the displayed value of the pressure gauge 18 on behalf of the user. This can reduce the burden on the user regarding the maintenance of the automatic analyzer.

[0094] In addition, the robot 20 performs the user's work such as visually checking the detergent container 17 and the pressure gauge 18. This allows inspection of the detergent container 17 and the pressure gauge 18, which may or may not be performed depending on the user's convenience, to be performed daily at a mechanically stable timing (for example, every hour).

[0095] Furthermore, by setting the timing of inspection by the robot 20 in consideration of the user's work schedule, the robot 20 can perform the inspection without interfering with the user's work. By utilizing the robot 20, which can be introduced at low cost, there is no need to provide a liquid level sensor for each detergent container 17 or a transducer for each pressure sensor, and the operating rate of the automatic analyzer can be improved while suppressing increases in the cost of the automatic analyzer.

[0096] (2) Even if the detergent container 17 or pressure gauge 18 to be inspected is covered by the opening / closing cover 19 of the analysis modules 11 and 12 and cannot be photographed, the robot 20 can open and close the opening / closing cover 19 by itself using the manipulator 23. This eliminates the need for a user to perform preparatory work such as opening and closing the opening / closing cover 19 for inspection by the robot 20.

[0097] (3) By transmitting the actual remaining amount of detergent inspected by the robot 20 to the computer 13 of the analysis modules 11 and 12 as feedback, the actual remaining amount of detergent that cannot be obtained by the analysis module side can be appropriately reflected in the management data. This makes it possible to prevent discrepancies between the remaining amount of detergent managed by the computer 13 and the actual remaining amount.

[0098] (4) If the existing covers of the bodies of the analysis modules 11 and 12 are not suitable for opening and closing by the robot 20, the existing covers can be replaced with openable covers 19 (FIG. 2A) having a robot handle 19B, thereby supporting the autonomous structure of the robot 20. Furthermore, by replacing the existing covers with cover 19' as shown in FIG. 2B, opening and closing of the cover becomes unnecessary to photograph the subject, which supports the autonomous structure of the robot 20 and also makes it possible to omit the manipulator 23 of the robot 20, leading to a reduction in the cost of the robot 20.

[0099] -Variations- In the above embodiment, the robot 20 is equipped with the computer 30 that controls the robot 20 and processes images. However, the functions of the computer 30 may be shared by a plurality of computers. For example, the computer 30 may be the first computer, and a computer (e.g., the console 50) installed separately from the automatic analyzers 10A and 10B and the robot 20 may be the second computer, and the functions may be shared by these two computers. In this case, the first computer installed in the robot 20 photographs an inspection target such as the detergent container 17 with the camera 22 in response to a command from the second computer, and transmits the image of the inspection target to the second computer via the communication module (communication device 40) without performing image processing. Then, the second computer processes the image of the inspection target to calculate management data (actual remaining amount of detergent, etc.) related to the inspection target, and transmits the management data to the computer 13 of the analysis module via the communication device. Regarding the running and photographing operations of the robot 20 during this time, either a configuration in which the first computer controls the body 21, etc. in response to a trigger signal from the second computer, or a configuration in which the first computer drives the body 21, etc. in response to a control command value from the second computer can be applied.

[0100] Furthermore, in the case where the pump pressure is managed by the computer 13 that manages the analysis modules 11 and 12, data on the pump pressure inspected using the robot 20 may be transmitted to the computer 13.

[0101] Furthermore, for example, if the robot 20 is configured so that the position of the hand 23a can be aligned with the user handle of the original opening and closing cover of the body of the analysis modules 11, 12, there is no need to replace the body cover of the analysis modules 11, 12 with a dedicated opening and closing cover 19. [Explanation of symbols]

[0102] Reference Signs List: 11, 12...Analysis module, 17...Detergent container (inspection object), 18...Pressure gauge (inspection object), 19...Opening and closing cover, 19'...Cover, 19B...Robot handle (handle), 20...Automatic analysis support robot, 21...Vehicle body, 22...Camera, 23...Manipulator, 23a...Hand, 30...Computer (computer, first computer), 40...Communication device (communication device, communication module), 50...Console (second computer, communication device), Y...Working position

Claims

1. An automatic analysis support robot that performs an inspection of an analysis module that automatically analyzes a biological sample, The car body and A camera mounted on the vehicle body; a communication device in direct or indirect communication with said analysis module; a computer that controls the vehicle body and the camera; The computer includes: storing an analysis cycle time of the analysis module in a memory; Controlling the vehicle body to move to a predefined working position and to face an inspection object provided in the analysis module; The camera captures an image of the test object for a predetermined number of cycles based on the analysis cycle time, Each still image of the inspection object constituting the video is processed to calculate management data relating to the inspection object, and data on the time change of the management data is obtained. An automatic analysis support robot characterized by:

2. 2. The automatic analysis support robot according to claim 1, a manipulator having a hand to be hooked onto a handle of an opening / closing cover of the analysis module which covers the test object; The computer includes: Before approaching the subject of the test, Controlling the vehicle body to move to the working position; Controlling the manipulator so that the hand is attached to the handle; The vehicle body is controlled so as to travel along an opening / closing track of the opening / closing cover with the hand on the handle, thereby opening the opening / closing cover. An automatic analysis support robot characterized by:

3. 2. The automatic analysis support robot according to claim 1, The automatic analysis support robot is characterized in that the computer transmits the management data to the analysis module via the communication device.

4. 2. The automatic analysis support robot according to claim 1, 2. An automatic analysis support robot, wherein the management data is an actual remaining amount of detergent in a detergent container provided in the analysis module.

5. 2. The automatic analysis support robot according to claim 1, 2. An automatic analysis support robot, wherein the management data is a reading of a pressure gauge provided in the analysis module.

6. an analysis module for automatically analyzing the biological sample; an automatic analysis support robot that performs an inspection of the analysis module; A computer that controls the automatic analysis support robot; and a communication device that communicates directly or indirectly with the analysis module, The automatic analysis support robot comprises: The car body and A camera mounted on the vehicle body, The computer includes: storing an analysis cycle time of the analysis module in a memory; Controlling the vehicle body so that the automatic analysis support robot moves to a predetermined working position and faces an inspection target provided in the analysis module; The camera captures an image of the test object for a predetermined number of cycles based on the analysis cycle time, Each still image of the inspection object constituting the video is processed to calculate management data relating to the inspection object, and data on the time change of the management data is obtained. An automated analysis system comprising:

7. 7. The automated analysis system of claim 6, The analysis module includes an opening and closing cover for covering the test object, the automatic analysis support robot includes a manipulator having a hand that is hooked onto a handle of the opening and closing cover, The computer includes: Before approaching the subject of the test, Controlling the vehicle body so that the automatic analysis support robot moves to the work position; Controlling the manipulator so that the hand is attached to the handle; The vehicle body is controlled so as to travel along an opening / closing track of the opening / closing cover with the hand on the handle, thereby opening the opening / closing cover. An automated analysis system comprising:

8. 7. The automated analysis system of claim 6, The analysis module is provided with a cover that covers the test object and is at least partially transparent so that the test object can be viewed.

9. 7. The automated analysis system of claim 6, The automatic analysis system is characterized in that the computer and the communication device are mounted on the automatic analysis support robot.

10. 7. The automated analysis system of claim 6, The computer includes a first computer mounted on the automatic analysis support robot, and a second computer installed separately from the analysis module and the automatic analysis support robot, The automated analysis support robot includes a communication module that communicates with the second computer, The first computer photographs the inspection object with the camera in response to a command from the second computer, and transmits the image of the inspection object to the second computer via the communication module; The second computer processes the image of the inspection object to calculate management data related to the inspection object. An automated analysis system comprising:

Images