Conveying device and conveying method

Abstract

The present invention comprises a coil 107 that includes a core 105 and a winding 106, a current detector 109 that detects current flowing through the winding 106 of the coil 107, a drive unit 108 that supplies voltage to the coil 107, and a control unit 110. The control unit 110 estimates the conveying speed of a holder 102 provided with a magnetic body 103 on the basis of the current flowing in one winding 106 due to an electromagnetic induction. The present invention thereby provides a conveying device and a conveying method that can detect the speed of a conveyed object with unprecedented accuracy.

Description

[Technical Field]

[0001] The present invention relates to a conveying device and a conveying method. [Background technology]

[0002] As an example of a conveying device that detects abnormalities in the conveying device caused by changes in the surface condition of the conveying plane of the conveying device and maintains high conveying performance, Patent Document 1 describes a conveying device that has a conveying plane above which a conveying container having a magnetic material is conveyed, a position detection unit that detects the position of the conveying container on the conveying plane, a magnetic pole arranged below the conveying plane and having a core and a coil, a drive unit that applies voltage to the magnetic pole, and a calculation unit that controls the drive unit, and the calculation unit calculates the conveying speed of the conveying container based on the position of the conveying container on the conveying plane and the time it passes the position, and detects the surface condition of the conveying plane based on the calculated conveying speed of the conveying container. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-010254 Summary of the Invention [Problem to be solved by the invention]

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

[0005] This sample analysis system connects devices with multiple functions and automatically performs each process. In other words, to streamline laboratory operations, an analysis section (analysis process) that performs multiple analyses such as biochemistry and immunology, and a pre-processing section (pre-processing process) that performs multiple pre-processing steps required for these analyses are connected by a conveying line and used as a single sample analysis system.

[0006] In recent years, the importance and demand for speed in sample analysis have increased due to factors such as the advancement of medical care and the aging of patients. Therefore, in order to improve the analytical processing capacity of sample analysis systems, there is a demand for high-speed sample transport, large-volume transport, simultaneous transport, and transport in multiple directions.

[0007] One method for transporting such specimens is an electromagnetic transport system using an electromagnetic actuator.

[0008] In order to ensure stable transport in an electromagnetic transport system, transport must be performed at a predetermined speed, making it essential to have a function for estimating the speed of the transported object.

[0009] An example of a method for estimating the speed of an object in a conveying device using such an electromagnetic actuator is the technique described in Patent Document 1.

[0010] In Patent Document 1, the conveying speed is calculated based on the detected positions of two points and the time when the position is passed. However, the technology described in Patent Document 1 requires detecting positions at multiple points to calculate the conveying speed, and it is thought that the accuracy of position detection will affect the calculation of the conveying speed, and there is a concern that errors in position detection will affect the detection accuracy of the conveying speed, so there is room for improvement.

[0011] An object of the present invention is to provide a conveying device and a conveying method that are capable of detecting the speed of an object to be conveyed with higher accuracy than conventional methods. [Means for solving the problem]

[0012] The present invention includes multiple means for solving the above-mentioned problems, and one example thereof is an electromagnet including a core and a winding, a detection unit that detects the current flowing through the winding of the electromagnet, a drive unit that supplies voltage to the electromagnet, and a control unit, wherein the control unit is characterized in that it estimates the transport speed of a transport container equipped with a magnetic body based on the current flowing through one of the windings due to the influence of electromagnetic induction. [Effects of the Invention]

[0013] According to the present invention, the speed of a conveyed object can be detected more accurately than in the past. Problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments. [Brief explanation of the drawings]

[0014] [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] 1 is a top view illustrating an example of the configuration of a conveying device according to a first embodiment. [Figure 3] 4 is a diagram schematically illustrating the difference between an applied voltage waveform and a corresponding current waveform depending on the magnitude of inductance in the conveyance device according to the first embodiment. FIG. [Figure 4] 4 is a diagram illustrating a relationship between a current flowing through a coil detected by a current detection unit and a distance between a holder and the coil in the transport device according to the first embodiment. FIG. [Figure 5] 4 is a diagram showing the relationship between the speed of an object to be conveyed and the minimum value of the current flowing through the coil at that conveying speed in the conveying device according to the first embodiment. FIG. [Figure 6] 4 is a waveform diagram showing an example of the relationship between the waveform of a current flowing through a coil when a pulse voltage is applied, its envelope waveform, and the distance between the coil and a holder in the conveying device according to the first embodiment. FIG. [Figure 7] 4 is a waveform diagram showing an example of the relationship between the waveform of a current flowing through a coil when a pulse voltage is applied, its envelope waveform, and the distance between the coil and a holder in the conveying device according to the first embodiment. FIG. [Figure 8] 4 is a flowchart illustrating a flow of a process for estimating the speed of a transported object in the transport device according to the first embodiment. [Figure 9] 10 is a diagram illustrating the relationship between the differential waveform of the current flowing through the coil detected by the current detection unit and the distance between the holder and the coil in the transport device according to the second embodiment. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0015] The following describes an embodiment of the conveying device and conveying method 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 explanations of these components may be omitted.

[0016] Furthermore, it goes without saying that in the following examples, the components (including element steps, etc.) are not necessarily essential unless otherwise specified or unless they are clearly considered essential in principle.

[0017] Example 1 A first embodiment of a conveying device and a conveying method according to the present invention will be described with reference to FIGS.

[0018] 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.

[0019] The sample analysis system 1000 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.

[0020] The main components of the sample analysis system 1000 are a plurality of transport devices 100 (12 in FIG. 1) that transport holders 102 (see FIG. 2) containing sample containers 101 (see FIG. 2, etc.) or empty holders 102 without sample containers 101 to a predetermined destination, a plurality of analytical devices 800 (4 in FIG. 1), and a control computer 900 that manages the sample analysis system 1000 in an integrated manner.

[0021] The analyzer 800 is a unit that performs qualitative and quantitative analysis of the components of the specimen transported by the transport device 100. 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 have the same specifications or different specifications, and are not particularly limited.

[0022] Each transport device 100 is a device that transports a specimen container 101 containing a specimen, which is mounted on a holder 102, to a destination (such as an analyzer 800 or an outlet) by sliding the specimen on a transport path due to the interaction between a coil 107 (see FIG. 2) and a magnetic body 103 (see FIG. 2) provided on the holder 102. Details will be described in detail using FIG. 2 and subsequent figures.

[0023] The control computer 900 controls the operation of the entire system, including the transport device 100 and the analysis device 800, 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 900 controls the operation of each device based on various programs recorded in the storage device.

[0024] The control processes for the operations executed by the control computer 900 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.

[0025] 1, the case where four analyzers 800 are provided is described, but the number of analyzers 800 is not particularly limited and may be one or more. Similarly, the number of transport devices 100 is not particularly limited and may be one or more.

[0026] Furthermore, various specimen pre-processing / post-processing sections that perform pre-processing and post-processing on specimens can be provided in the specimen analysis system 1000. The detailed configuration of the specimen pre-processing / post-processing section is not particularly limited, and the configuration of a known pre-processing device can be adopted.

[0027] Next, the configuration of the transport device 100 of this embodiment will be described with reference to FIG. 2 and subsequent figures.

[0028] First, a conveying device according to an embodiment of the present invention will be described with reference to Fig. 2. Fig. 2 is a configuration diagram of the conveying device according to the present invention.

[0029] 2, a specimen container 101 containing a specimen is mounted on a holder 102. A magnetic body 103 is provided on the bottom surface of the holder 102.

[0030] The magnetic body 103 can be made up of a permanent magnet, another magnet, a soft magnetic body, etc. Although the magnetic body 103 does not need to be provided on the bottom surface of the holder 102, it is desirable to provide it on the bottom surface from the viewpoint of efficiently applying the conveying force in the conveying method of the present invention.

[0031] The holder 102 slides on the conveying surface 104. To this end, a plurality of coils 107 are arranged below the conveying surface 104, each of which includes a cylindrical core 105 and a winding 106 wound around the outer periphery of the core 105.

[0032] A driving unit 108 is connected to the windings 106 that make up each coil 107, and a predetermined current can be passed through the coils 107 by applying a predetermined voltage to the coils 107 using the driving unit 108. At this time, the coils 107 are excited and act as electromagnets, attracting the magnetic material 103 provided on the underside of the holder 102 on the transport surface 104. By repeating this procedure for all of the coils 107 that make up the coils 107 up to the target position, the sample container 101 mounted on the holder 102 can be transported to the destination on the transport surface 104.

[0033] Generally, when a voltage is applied to coil 107 and a current flows through it, a magnetic field is generated around it, and the magnitude of the generated magnetic flux is proportional to the value of the current that flows. This proportionality constant is called inductance.

[0034] When holder 102 is located near coil 107, a magnetic flux (magnetic field) created by magnetic body 103 is generated in core 105. Therefore, the magnetic flux (magnetic field) caused by magnetic body 103 and the magnetic flux (magnetic field) generated by the current flowing through coil 107 are generated in core 105. In particular, the magnitude of the magnetic flux generated in core 105 changes depending on the relative positions of magnetic body 103 and coil 107.

[0035] On the other hand, core 105 is made of a magnetic material, and as the magnetic flux passing through core 105 increases, it becomes more difficult for the magnetic flux to pass through. This characteristic is known as magnetic saturation. For this reason, in a magnetic circuit having a magnetic material such as core 105, when the magnetic flux generated in core 105 increases and core 105 becomes saturated, the inductance decreases. In other words, when the magnetic field from magnetic material 103 increases and core 105 becomes magnetically saturated, the magnetic permeability decreases, causing a change in the current flowing through winding 106 (coil 107).

[0036] Fig. 3 is a waveform diagram illustrating a voltage waveform 201 applied to the coil 107 by the transport device and a corresponding current waveform. Fig. 3(a) shows the voltage waveform 201 applied to the coil 107 and a current waveform 202a that flows through the coil 107 when the holder 102 is not present near the coil 107. Fig. 3(b) shows the voltage waveform 201 applied to the coil 107 and a current waveform 202b that flows through the coil 107 when the magnetic body 103 of the holder 102 approaches the coil 107 and the core 105 is magnetically saturated.

[0037] That is, when the coil 107 is not affected by the magnetic body 103 of the holder 102, the current amplitude is as shown in Fig. 3(a). On the other hand, when the magnetic body 103 of the holder 102 is present near the coil 107 and is affected by it, the current amplitude is larger than that of Fig. 3(a), as shown in Fig. 3(b).

[0038] The current flowing through the winding 106 of the coil 107 during this transport is detected by the current detection unit 109. The current flowing through the winding 106 of the coil 107 detected by the current detection unit 109 is digitized by the control unit 110.

[0039] The control unit 110 of this embodiment executes a process of estimating the conveying speed of the holder 102 based on a predetermined current value that flows through the winding 106 of the coil 107 due to the influence of electromagnetic induction, which is detected by the current detection unit 109 when a voltage is applied to the coil 107.

[0040] FIG. 4 is a graph showing the relationship between the current flowing through coil 107 detected by current detection unit 109 and the distance between holder 102 and coil 107 when a constant voltage is applied to coil 107, a steady state is reached, and then holder 102 having magnetic material 103 passes over coil 107.

[0041] 4, even though a constant voltage is applied, the current flowing through the coil 107 pulsates. This is because the current pulsates due to the induced current generated by the influence of electromagnetic induction when the holder 102 having the magnetic body 103 passes near the coil 107.

[0042] The faster the conveying speed, the greater the influence of electromagnetic induction, so the faster the speed of the holder 102 carrying the magnetic material 103 being conveyed, the greater the linear pulsation.

[0043] For example, if there are three speeds of the holder 102 carrying the magnetic body 103 being transported, namely, low speed, medium speed, and high speed, the magnitude of the pulsation will be low speed waveform 301a < medium speed waveform 301b < high speed waveform 301c, as shown in Figure 4.

[0044] In a conventional method such as that described in Patent Document 1, the position of the holder 102 having the magnetic body 103 is detected two or more times, and the transport speed is estimated by dividing the distance traveled by the time required for detection. This method has the problem that the transport speed is highly dependent on the accuracy of position detection.

[0045] Therefore, the present invention utilizes the fact that the pulsation of the current flowing through the coil 107 increases linearly in proportion to the transport speed.

[0046] Fig. 5 is a graph showing the relationship between the speed of the transported object and the minimum value of the current flowing through coil 107 at that transport speed in the graph of Fig. 4. As shown in Fig. 5, by preparing in advance the minimum value of the current flowing through coil 107 for each transport speed, it becomes possible to estimate the transport speed with high accuracy.

[0047] In creating the graph of FIG. 5, it is not necessary to use the minimum value of the graph of FIG. 4, and it is also possible to create a graph that shows a similar trend by using the maximum value, and estimate the conveying speed.

[0048] 6 and 7 are waveform diagrams showing the relationship between the current waveform 501 flowing through the coil 107 for transporting the holder 102 having the magnetic material 103 when a pulse voltage is applied to the coil 107, its envelope waveform, and the distance between the coil 107 and the holder 102 having the magnetic material 103.

[0049] In a stationary state (a state where there is no influence of electromagnetic induction), as shown in Fig. 6, when a pulse voltage is applied to coil 107 and holder 102 is stopped and measurements are taken, the flowing current increases as holder 102 approaches directly above coil 107, and reaches its maximum and minimum values ​​directly above coil 107. That is, upper waveform 502a of the line (envelope) connecting the extreme values ​​of the current flowing through coil 107 increases as it approaches directly above coil 107, and reaches its peak (maximum value) directly above coil 107. Similarly, lower waveform 503a of the envelope decreases as it approaches directly above coil 107, and reaches its peak (minimum value) directly above coil 107.

[0050] On the other hand, in a conveying state where the holder 102 is moving (a state where there is an influence of electromagnetic induction), the absolute value of the maximum value of the waveform increases and the absolute value of the minimum value decreases due to the influence of electromagnetic induction.

[0051] In addition, the peak position also transitions and is no longer directly above coil 107. Specifically, as shown in Fig. 7, due to the influence of electromagnetic induction, both upper waveform 502b and lower waveform 503b have the characteristic of reaching a minimum value before holder 102 having magnetic body 103 reaches directly above coil 107, and reaching a maximum value after passing directly above coil 107.

[0052] Therefore, in this embodiment, a correspondence equation is prepared in advance that expresses the degree of increase in coil 107 current depending on the speed of holder 102 for the corresponding coil 107 (FIGS. 4 and 5), and control unit 110 measures the value of the current flowing through winding 106 when a pulse voltage is applied to coil 107, creates its envelope (upper waveforms 502a, 502b or lower waveforms 503a, 503b), and can estimate the conveying speed based on the envelope. In this case, it is desirable for control unit 110 to estimate the conveying speed based on the maximum or minimum value of the envelope, i.e., the extreme value.

[0053] The lower waveform 503b of the envelope created based on the speed of the holder 102 having the transported magnetic body 103 and the current flowing through the coil 107 has a waveform roughly similar to that shown in FIG.

[0054] Generally, the faster the conveying speed, the greater the effect of electromagnetic induction, so the faster the speed of the holder 102 carrying the magnetic material 103 being conveyed, the greater the amplitude of the lower waveform 503b of the envelope created based on the current flowing through the coil 107.

[0055] Furthermore, the thrust of the electromagnet (coil 107) is controlled by controlling the current flowing through the coil 107. When a constant voltage is continuously applied to the coil 107, the current flowing through the coil 107 also becomes constant, and therefore the thrust of the coil 107 cannot be changed and remains constant.

[0056] On the other hand, when a pulse voltage is applied, the current flowing through the coil 107 can be controlled by controlling the pulse width of the pulse voltage, and any force can be generated on the holder 102, making it possible to transport the holder 102 at any speed.

[0057] Furthermore, when a pulse voltage is applied, it is possible to estimate the position of the holder 102 having the magnetic body 103 from the waveform of the current flowing through the coil 107 without adding a new sensor.

[0058] Next, a sample transport method according to this embodiment, which is preferably performed by the transport device 100 according to the first embodiment, will be described with reference to Fig. 8. Fig. 8 is a flowchart illustrating the flow of processing for estimating the speed of the transported object according to this embodiment.

[0059] After the start of transport, the control unit 110 of this embodiment outputs a command signal to the drive unit 108 to apply a constant voltage to the coil 107, as shown in Fig. 8. At this time, the peak value of the current waveform 301 flowing through the coil 107 detected by the current detection unit 109 is recorded for each position of the holder 102 having the magnetic body 103, and an envelope curve such as that shown in Fig. 6 or 7 is created in order to extract the influence of electromagnetic induction from the current waveform 501 (step S1).

[0060] Next, the control unit 110 determines whether or not there is an extreme value in the envelope created in step S1 (step S2). If it is determined that there is an extreme value, the process proceeds to step S3. On the other hand, if it is determined that there is no extreme value, the process returns to step S1 and is repeated until an extreme value is detected.

[0061] Next, the control unit 110 estimates the transport speed of the holder 102 having the magnetic body 103 from the maximum value or the minimum value of the envelope determined to have an extreme value (step S3).

[0062] The control unit 110 continuously executes the above process while the transport device 100 is running, or from the time a transport instruction is input until a transport stop instruction is input.

[0063] Next, the effects of this embodiment will be described.

[0064] The conveying device 100 of the above-described first embodiment of the present invention includes a coil 107 including a core 105 and a winding 106, a current detection unit 109 that detects the current flowing through the winding 106 of the coil 107, a drive unit 108 that supplies voltage to the coil 107, and a control unit 110, and the control unit 110 estimates the conveying speed of the holder 102 provided with the magnetic body 103 based on the current flowing through one of the windings 106 due to the influence of electromagnetic induction.

[0065] In this way, the current flowing through the coil due to the influence of electromagnetic induction is utilized, so the speed of the holder 102 can be estimated with higher accuracy than in the past.

[0066] In addition, the control unit 110 creates an envelope of the current flowing through the winding 106 when a pulse voltage is applied to the coil 107, and estimates the conveying speed based on the envelope, thereby more accurately extracting the effects of electromagnetic induction and more accurately estimating the speed of the holder 102.

[0067] Furthermore, the control unit 110 can estimate the conveying speed based on the maximum or minimum value of the envelope, thereby realizing speed estimation with higher accuracy.

[0068] <Example 2> Second Embodiment A transport device and a transport method according to a second embodiment of the present invention will be described with reference to FIG.

[0069] In the above-described first embodiment, the control unit 110 uses the magnitude of the peak of the current waveform 301 affected by electromagnetic induction to estimate the speed of the holder 102. In contrast, in the second embodiment, the control unit 110 creates a differential waveform 601 of the current waveform 301 affected by electromagnetic induction and uses this to estimate the speed.

[0070] 9 is a waveform diagram showing a differential waveform 601 of a current waveform 301 affected by electromagnetic induction. As with the current waveform 301 affected by electromagnetic induction, the magnitude of the peak of the differential waveform 601 of the current waveform 301 affected by electromagnetic induction varies depending on the speed, with the slow-speed waveform 601a < medium-speed waveform 601b < high-speed waveform 601c.

[0071] Therefore, in this embodiment, a correspondence equation is prepared in advance that expresses the degree of increase in the derivative of the current waveform of the corresponding coil 107 depending on the speed of the holder 102 (similar relationships to those shown in FIGS. 4 and 5), and the control unit 110 measures the value of the current flowing through the winding 106 when a pulse voltage is applied to the coil 107, creates its envelope (upper waveforms 502a, 502b or lower waveforms 503a, 503b), and can estimate the conveying speed based on the slope of the envelope. In this case, it is desirable for the control unit 110 to estimate the conveying speed based on the maximum or minimum value of the slope of the envelope.

[0072] The other configurations and operations are substantially the same as those of the transport device and transport method of the first embodiment, and the details thereof will be omitted.

[0073] The transfer device and transfer method according to the second embodiment of the present invention also provide substantially the same effects as those of the transfer device and transfer method according to the first embodiment described above.

[0074] Furthermore, by estimating the conveying speed based on the maximum or minimum value of the slope of the envelope, the control unit 110 is able to estimate the speed of the holder 102 having the magnetic body 103 even at a position farther away than the estimated position of the conveyed object in Example 1, although the accuracy of the speed estimation is lower than in Example 1, which uses a current waveform 301 that has a large variation and is affected by electromagnetic induction.

[0075] Example 3 A conveying device and a conveying method according to a third embodiment of the present invention will be described.

[0076] In the first embodiment, the magnitude of the peak of the current waveform 301 affected by electromagnetic induction is used to estimate the speed, and in the second embodiment, the magnitude of the peak of the differential waveform 601 of the current waveform 301 affected by electromagnetic induction is used to estimate the speed.

[0077] The features of each embodiment include that in the case of Example 1, the speed of the holder 102 having the magnetic body 103 can be estimated with high accuracy, and in the case of Example 2, the speed can be estimated at a position where the holder 102 having the magnetic body 103 is located farther away than in the case of Example 1.

[0078] In the third embodiment, these two methods are combined to estimate the speed of the holder 102 having the magnetic body 103.

[0079] The control unit 110 estimates the conveying speed using either the maximum or minimum value of the envelope curve or the maximum or minimum value of the gradient of the envelope curve.

[0080] In other words, at the position where the differential waveform 601 of the current waveform 301 influenced by electromagnetic induction reaches a peak, the differential waveform 601 of the current waveform 301 influenced by electromagnetic induction is used to estimate the speed of the holder 102 having the magnetic body 103, and at the position where the current waveform 301 influenced by electromagnetic induction reaches a peak, the current waveform 301 influenced by electromagnetic induction is used to estimate the speed of the holder 102 having the magnetic body 103.

[0081] Here, the difference between the "current waveform" and the "differential waveform" is that the "differential waveform" is normally used to detect the holder 102 up to a long distance, and once the holder 102 is detected, or once the holder 102 is detected and it is determined that the distance to the holder 102 is smaller than a predetermined threshold, the "current waveform" is used to ensure accuracy. Then, when the holder 102 is no longer detected, or when the distance to the holder 102 exceeds a predetermined threshold, it is desirable to switch back to the "differential waveform."

[0082] The other configurations and operations are substantially the same as those of the transport device and transport method of the first embodiment, and the details thereof will be omitted.

[0083] The transfer device and transfer method according to the third embodiment of the present invention also provide substantially the same effects as those of the transfer device and transfer method according to the first embodiment described above.

[0084] In addition, by estimating the conveying speed using either the maximum or minimum value of the envelope or the maximum or minimum value of the slope of the envelope, the control unit 110 can estimate the speed of the holder 102 having the magnetic material 103 more times, and the control unit 110 can perform speed control feedback more times, thereby enabling more stable conveying.

[0085] Example 4 A conveying device and a conveying method according to a fourth embodiment of the present invention will be described.

[0086] In the conveying device 100, even if no voltage is applied to the coil 107, assuming that the holder 102 is equipped with a magnetic body 103, when the holder 102 having the magnetic body 103 is conveyed on the coil 107, the current detection unit 109 detects the induced current generated by the influence of electromagnetic induction.

[0087] As mentioned above, the induced current generated by the influence of electromagnetic induction depends on the speed of the holder 102 having the magnetic body 103, and the waveform of the induced current flowing at that time has a waveform similar to the current waveform 301 influenced by electromagnetic induction shown in Figure 9, depending on the speed.

[0088] In other words, even if no voltage is applied to the coil 107, it is possible to estimate the speed of the holder 102 having the magnetic body 103 using the peak of the current waveform detected by the current detection unit 109 or the peak of the differential waveform of the current waveform detected by the current detection unit 109.

[0089] Therefore, in this embodiment, the control unit 110 estimates the transport speed based on the current flowing through the winding 106 of the coil 107 as the holder 102 is transported. Here, the control unit 110 can estimate the transport speed based on the maximum or minimum value of the current flowing through the winding 106, or the maximum or minimum value of the slope of the current flowing through the winding 106.

[0090] The conveying device of this embodiment is not limited to electromagnetic conveying as in the first to third embodiments, and by providing the coil 107 as a speed sensor, it is also suitable for conveying devices that do not use magnetic poles to drive the holder 102, such as belt-type or self-propelled types.

[0091] The other configurations and operations are substantially the same as those of the transport device and transport method of the first embodiment, and the details thereof will be omitted.

[0092] The conveying device and conveying method according to the fourth embodiment of the present invention also provide substantially the same effects as those of the conveying device and conveying method according to the first embodiment described above.

[0093] <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.

[0094] 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. [Explanation of symbols]

[0095] 100...Transportation device 101...Specimen container 102...Holder (transport container) 103...Magnetic material 104...Transport surface 105...Core 106...winding 107...Coil (electromagnet) 108...Drive unit 109...Current detection unit 110...Control unit 201...Voltage waveform applied to the coil 202a, 202b...Current waveform flowing through the coil changes depending on whether or not transportation is in progress 301...Current waveform including the influence of electromagnetic induction flowing through the coil during transport 301a…Low speed waveform 301b…Medium speed waveform 301c…High speed waveform 501...Current waveform flowing through the coil during transport 502a, 502b...Upper waveform of the envelope created from the current flowing through the coil 503a, 503b...lower waveform of the envelope created from the current flowing through the coil 601... Differential waveform of the envelope waveform flowing through the coil during transport 601a…Low speed waveform 601b…Medium speed waveform 601c…High speed waveform 800…Analyzer 900...Control computer 1000...Sample analysis system

Claims

1. an electromagnet including a core and a winding; a detection unit that detects a current flowing through the winding of the electromagnet; a driving unit that supplies a voltage to the electromagnet; a control unit, The control unit estimates the transport speed of the transport container provided with the magnetic body based on a current flowing through one of the windings due to the influence of electromagnetic induction. A conveying device characterized by:

2. 2. The conveying device according to claim 1, The control unit creates an envelope of a current flowing through the winding when a pulse voltage is applied to the electromagnet, and estimates the transport speed based on the envelope. A conveying device characterized by:

3. 3. The conveying device according to claim 2, The control unit estimates the conveying speed based on the maximum or minimum value of the envelope. A conveying device characterized by:

4. 3. The conveying device according to claim 2, The control unit estimates the conveying speed based on a maximum value or a minimum value of the gradient of the envelope. A conveying device characterized by:

5. 3. The conveying device according to claim 2, The control unit estimates the conveying speed using either a maximum value or a minimum value of the envelope curve or a maximum value or a minimum value of the gradient of the envelope curve. A conveying device characterized by:

6. 2. The conveying device according to claim 1, The control unit estimates the transport speed based on a current flowing through the winding when a voltage is applied to the electromagnet. A conveying device characterized by:

7. 2. The conveying device according to claim 1, The control unit estimates the transport speed based on a current flowing through the winding of the electromagnet when the transport container is transported. A conveying device characterized by:

8. 8. The conveying device according to claim 7, The control unit estimates the transport speed based on a maximum or minimum value of the current flowing through the winding. A conveying device characterized by:

9. 8. The conveying device according to claim 7, The control unit estimates the transport speed based on a maximum value or a minimum value of a gradient of the current flowing through the winding. A conveying device characterized by:

10. A method for transporting a transport container having a magnetic body, comprising: The transport speed of the transport container is estimated based on the current flowing through a winding of an electromagnet including a core and a winding due to the influence of electromagnetic induction. A transport method characterized by:

11. The conveying method according to claim 10, An envelope of a current flowing through the winding when a pulse voltage is applied to the electromagnet is created, and the transport speed is estimated based on the envelope. A transport method characterized by:

12. The conveying method according to claim 11, The conveying speed is estimated based on the maximum or minimum value of the envelope. A transport method characterized by:

13. The conveying method according to claim 11, The conveying speed is estimated based on the maximum or minimum value of the gradient of the envelope. A transport method characterized by:

14. 6. The conveying device according to claim 5, The control unit switches between using either the maximum value or the minimum value of the envelope curve and the maximum value or the minimum value of the gradient of the envelope curve depending on the distance between the transport container and the winding. A conveying device characterized by:

Images