Automatic analysis device
The automated analyzer uses an imaging unit to correct the dispensing nozzle's position based on relative height and pixel correction, addressing alignment issues with lightweight devices and improving analysis accuracy.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- HITACHI HIGH TECH CORP
- Filing Date
- 2022-11-07
- Publication Date
- 2026-06-30
AI Technical Summary
Conventional automated analyzers face challenges in accurately adjusting the position of dispensing nozzles due to the limitations of lightweight imaging devices, which can't accurately determine the depth direction, leading to reduced analysis accuracy.
The automated analyzer employs an imaging unit to capture the relative height between the dispensing nozzle and the dispensing target, using a control unit to correct the nozzle's position based on a predetermined relationship between this height and the number of correction pixels, enabling precise alignment without manual intervention.
This approach allows for quick and accurate adjustment of the dispensing nozzle's position, reducing maintenance time and costs while enhancing analysis accuracy, even with lightweight imaging devices like monocular cameras.
Smart Images
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Abstract
Description
Technical Field
[0001] The present invention relates to an automatic analyzer.
Background Art
[0002] An automatic analyzer, such as a biochemical automatic analyzer, analyzes the components of biological samples (hereinafter referred to as "samples") such as serum and urine. In such a biochemical automatic analyzer, generally, a dispensing nozzle is used to dispense a sample and a reagent into a reaction cell for reaction, and the change in color tone or turbidity occurring in the reaction solution is optically measured by a photometric unit such as a spectrophotometer. When the position of the dispensing nozzle coincides with the target position in the object to be dispensed, such as a reaction cell, during dispensing, the dispensing can be performed accurately. Therefore, when there is a deviation between the position of the dispensing nozzle and the target position during dispensing, it affects the accuracy of dispensing, and as a result, it also affects the reliability of the automatic analyzer. In order to correct such a deviation in the position of the dispensing nozzle, generally, an operator (for example, a maintenance person or a user) periodically performs maintenance to adjust the position of the dispensing nozzle. However, in such maintenance, since the operator visually adjusts, it takes time and there are variations in the adjustment positions depending on the operator.
[0003] Therefore, by imaging the tip of the dispensing nozzle using an imaging device such as a CCD camera to determine the position of the dispensing nozzle, it is possible to improve the efficiency of the adjustment work and suppress the decrease in analysis accuracy due to variations in the adjustment positions.
[0004] In a conventional automatic analyzer, an example of a technique for easily and accurately adjusting the position of a moving part such as a dispensing nozzle is described in Patent Document 1. The specimen processing apparatus described in Patent Document 1 includes a moving mechanism movable for processing a specimen, an imaging unit attached so as to be movable integrally with the moving mechanism and imaging an object to which the moving mechanism attempts to access, and an adjustment unit that adjusts the moving mechanism with respect to the object based on an image acquired by the imaging unit.
Prior Art Documents
Patent Documents
[0005] [Patent Document 1] Japanese Patent Publication No. 2012-32310 [Overview of the project] [Problems that the invention aims to solve]
[0006] In automated analyzers, the imaging device that images the tip of the dispensing nozzle is preferably lightweight. Lightweight imaging devices (e.g., monocular cameras) have the advantage of high flexibility in installation location and low cost, but it is difficult to accurately obtain the distance in the depth direction (depth direction) from the captured image. For this reason, in conventional technologies such as the technology described in Patent Document 1, depending on the imaging device used, it may not be possible to accurately adjust the position of the dispensing nozzle relative to the object to be dispensed (e.g., reaction cell), which may reduce the accuracy of the analysis.
[0007] The objective of the present invention is to provide an automated analyzer that can quickly and accurately adjust the position of the dispensing nozzle relative to the substance to be dispensed. [Means for solving the problem]
[0008] The automated analyzer according to the present invention comprises a dispensing device equipped with a dispensing nozzle for aspirating and dispensing liquid, a dispensing target object which is a container for holding the liquid that the dispensing nozzle aspirates and dispensing, an imaging unit for imaging the dispensing nozzle and the dispensing target object, and a control unit for controlling the dispensing device and the imaging unit. The vertical distance between the tip of the dispensing nozzle and the upper end of the dispensing target object is defined as the relative height between the dispensing nozzle and the dispensing target object. The control unit acquires the relative height and, using a predetermined relationship between the relative height and the number of correction pixels, corrects the target position of the tip of the dispensing nozzle on the dispensing target object or corrects the position of the tip of the dispensing nozzle on the image captured by the imaging unit. [Effects of the Invention]
[0009] According to the present invention, it is possible to provide an automated analyzer that can quickly and accurately adjust the position of the dispensing nozzle relative to the object to be dispensed. [Brief explanation of the drawing]
[0010] [Figure 1] This is a schematic diagram showing the configuration of an automated analyzer according to Embodiment 1 of the present invention. [Figure 2] This diagram shows the configuration of the dispensing device included in the automated analyzer according to Example 1. [Figure 3] This diagram shows the configuration of the drive unit of the dispensing device. [Figure 4] This flowchart shows the procedure for adjusting the position of the dispensing nozzle of the dispensing device in the automated analyzer according to Example 1. [Figure 5A] This figure shows the dispensing nozzle approaching the object to be dispensed in step S103 of Figure 4. [Figure 5B] This figure shows the tip of the nozzle as it approaches the object to be dispensed in step S104 of Figure 4. [Figure 6] This figure shows an example of an output image captured by the imaging unit in Example 1. [Figure 7] This figure shows an example of the relationship between relative height L2 and the number of corrected pixels. [Figure 8] This figure shows an example of an output image when the control unit corrects the position of the nozzle tip in Example 1. [Figure 9] This figure shows a configuration in Embodiment 2 of the present invention in which an external imaging unit, located outside the dispensing device of the automated analyzer, measures the relative height L2. [Figure 10] This flowchart shows the procedure for measuring the relative height L2 using the external imaging unit in Example 2. [Figure 11] This figure shows an example of the output image in Example 2. [Figure 12] This flowchart shows the procedure for adjusting the position of the dispensing nozzle of the dispensing device in the automated analyzer according to Embodiment 3 of the present invention. [Figure 13A]It is a diagram showing the dispensing nozzle that has moved above the reference member in step S303 of FIG. 12. [Figure 13B] It is a diagram showing the tip of the nozzle determined to have contacted the reference member in step S305 of FIG. 12. [Figure 14] It is a diagram showing the tip of the nozzle that has approached the dispensing target in step S307 of FIG. 12. [Figure 15] It is a flowchart showing the procedure of the process for measuring the change in posture due to the change in the configuration of the dispensing device in the automatic analyzer according to Example 4 of the present invention. [Figure 16A] It is a diagram showing the arm and the dispensing nozzle of the dispensing device after the end of step S403 in FIG. 15. [Figure 16B] It is a diagram showing the arm and the dispensing nozzle of the dispensing device after the end of step S403 performed after step S407 in FIG. 15. [Figure 17] In Example 4, it is a flowchart showing the procedure of the process for measuring the change in posture due to the change in the configuration of the dispensing device from the image captured by the imaging unit. [Figure 18] In Example 4, it is a diagram showing an example of the output image captured by the imaging unit.
Mode for Carrying Out the Invention
[0011] The automatic analyzer according to the present invention uses an imaging device to image the tip of the dispensing nozzle, adjusts the position of the dispensing nozzle with respect to the dispensing target (for example, a container that holds a liquid such as a reaction cell), and can match the position of the tip of the dispensing nozzle with the target position of the dispensing target. In the automatic analyzer according to the present invention, regardless of the imaging device used, for example, a lightweight imaging device such as a monocular camera can be used to accurately adjust the position of the dispensing nozzle with respect to the dispensing target. The adjustment of the position of the dispensing nozzle is performed automatically by the automatic analyzer using the image captured by the imaging device, without being performed by an operator, and thus can be carried out in a short time. Therefore, the automatic analyzer according to the present invention can reduce the time required for adjusting the position of the dispensing nozzle, and can achieve both a reduction in maintenance cost and an improvement in analysis accuracy.
[0012] Hereinafter, an automated analyzer according to an embodiment of the present invention will be described in detail with reference to the drawings. In the drawings used herein, the same or corresponding components are denoted by the same reference numerals, and repeated descriptions of these components may be omitted. [Examples]
[0013] Figure 1 is a schematic diagram showing the configuration of an automated analyzer 10 according to Embodiment 1 of the present invention. The automated analyzer 10 is a device for dispensing a sample and reagent into a reaction cell 104 using a dispensing mechanism, and for measuring the reaction solution obtained by chemically reacting the sample and reagent inside the reaction cell 104 to perform component analysis.
[0014] The automated analyzer 10 comprises, as its main components, a reaction cell 104, a reaction disk 105, a sample container 100, a sample rack 101, a sample dispensing mechanism 106, a reagent bottle 102, a reagent disk 103, a reagent dispensing mechanism 107, a stirring unit 108, a measurement unit 109, a washing unit 110, a control unit 111, and a storage unit 112.
[0015] The reaction cells 104 are containers for holding the mixed solution of the sample and reagent, and several of them are arranged on top of the reaction disk 105. The mixed solution obtained from the chemical reaction between the sample and reagent is called the reaction solution.
[0016] The reaction disk 105 is a rotatable, disc-shaped component, with multiple reaction cells 104 arranged along its circumference.
[0017] The sample container 100 is a container for holding liquid samples and is placed on the sample rack 101.
[0018] The sample rack 101 is located near the reaction disk 105 and contains multiple sample containers 100 holding samples.
[0019] The sample dispensing mechanism 106 is a mechanism capable of rotational and vertical movement, and is installed between the reaction disk 105 and the sample rack 101. The sample dispensing mechanism 106 moves horizontally (rotationally) in an arc around its axis of rotation, and also moves vertically to dispense the sample aspirated from the sample container 100 into the reaction cell 104.
[0020] The reagent bottle 102 is a container for holding liquid reagents and is placed on the reagent disk 103.
[0021] The reagent disk 103 is a rotatable, disc-shaped storage unit in which multiple reagent bottles 102 containing reagents are arranged along its circumference. The reagent disk 103 can also hold detergent bottles containing detergent, diluent bottles containing diluents, and pretreatment reagent bottles containing pretreatment reagents. The reagent disk 103 is kept refrigerated.
[0022] The reagent dispensing mechanism 107 is a mechanism capable of rotational and vertical movement and is installed between the reaction disk 105 and the reagent disk 103. The reagent dispensing mechanism 107 moves horizontally (rotationally) and vertically to dispense the reagents, detergent solution, diluent, and pretreatment reagents drawn from the reagent bottle 102, detergent bottle, diluent bottle, and pretreatment reagent bottle, respectively, into the reaction cell 104. Note that the detergent bottle, diluent bottle, and pretreatment reagent bottle are not shown in the drawings.
[0023] The stirring unit 108 is a mechanism for mixing the sample and reagent dispensed into the reaction cell 104, and is installed around the reaction disk 105.
[0024] The measurement unit 109 is a mechanism that irradiates light into the reaction solution contained in the reaction cell 104 and measures the absorbance of the light that has passed through the reaction solution, and is installed around the reaction disk 105.
[0025] The cleaning unit 110 is a mechanism for cleaning the inside of the reaction cell 104 and is installed around the reaction disk 105.
[0026] The control unit 111 is connected to the above-mentioned components of the automatic analyzer 10 and controls the operation of these components and analyzes the amount of components in the reaction solution.
[0027] The memory unit 112 is connected to the control unit 111 and stores information related to the control of the components of the automatic analyzer 10 (for example, control parameters and positions for each sequence) and measurement results from the measurement unit 109 (for example, absorbance data).
[0028] The automated analyzer 10 performs the sample analysis process according to the following procedure.
[0029] First, when the sample container 100 placed on the sample rack 101 is transported near the reaction disk 105, the sample dispensing mechanism 106 dispenses the sample contained in the sample container 100 into the reaction cell 104 located on the reaction disk 105. Next, the reagent dispensing mechanism 107 dispenses the reagents to be used for the analysis of the sample from the reagent bottle 102 placed on the reagent disk 103 into the reaction cell 104 into which the sample has been dispensed. Subsequently, the stirring unit 108 stirs the mixture of sample and reagent inside the reaction cell 104.
[0030] Next, the measurement unit 109 irradiates the reaction solution contained in the reaction cell 104 with light generated from the light source and measures the absorbance of the light transmitted through the reaction solution. The control unit 111 analyzes the amount of components contained in the sample based on the absorbance of the reaction solution measured by the measurement unit 109, using calibration curve data and Lambert-Baer's law.
[0031] In this embodiment, an automated analyzer that uses a measurement unit 109 to determine the concentration of a specific component in a sample is described as an example. However, the techniques disclosed herein can be used in automated analyzers that measure samples using measuring devices other than the measurement unit 109 (for example, automated immunoassay analyzers and automated coagulation analyzers).
[0032] Figure 2 shows the configuration of the dispensing device 11 included in the automated analyzer 10 according to this embodiment. Hereafter, the sample dispensing mechanism 106 and the reagent dispensing mechanism 107 will be collectively referred to as the dispensing device 11. In other words, by describing the dispensing device 11, both the sample dispensing mechanism 106 and the reagent dispensing mechanism 107 will be described.
[0033] The dispensing device 11 comprises, as its main components, an arm 114, a shaft 115, a dispensing nozzle 113, a pressure sensor 116, a syringe pump 117, piping 118, a solenoid valve 119, a contact detection sensor 120, and a drive unit 121. The dispensing device 11 further includes an imaging unit 122. The control unit 111 controls the dispensing device 11 and the imaging unit 122.
[0034] The arm 114 is capable of rotational movement (horizontal movement), is mounted on the upper part of the shaft 115, and holds the dispensing nozzle 113. The arm 114 can move up and down as the shaft 115 moves up and down.
[0035] The shaft 115 is a columnar member that can be raised and lowered by moving or extending in the vertical direction.
[0036] The dispensing nozzle 113 is mounted on the arm 114 and is used to aspirate and dispense liquids such as samples and reagents. Hereafter, the dispensing nozzle 113 will also be referred to simply as the nozzle 113.
[0037] The objects to be dispensed by the dispensing device 11 are containers that hold liquids that are aspirated and discharged by the dispensing nozzle 113. In this embodiment, the objects to be dispensed are the reaction cell 104, the sample container 100, and the reagent bottle 102, and detergent bottles, diluent bottles, and pretreatment reagent bottles can also be included as objects to be dispensed.
[0038] The dispensing nozzle 113, pressure sensor 116, and syringe pump 117 are connected to each other by piping 118, forming a dispensing channel. This dispensing channel is configured such that the tip end is open by the dispensing nozzle 113, and the base end is opened or closed by the solenoid valve 119.
[0039] The contact detection sensor 120 is mounted on the arm 114 and connected to the dispensing nozzle 113. It is a sensor that detects contact between the dispensing nozzle 113 and liquids (samples or reagents) or objects (e.g., objects to be dispensed). The contact detection sensor 120 can be made up of, for example, a capacitive sensor.
[0040] When dispensing liquid (sample or reagent), the dispensing device 11 immerses the tip of the dispensing nozzle 113 in the liquid based on the signal from the contact detection sensor 120, closes the solenoid valve 119, and uses the syringe pump 117 to aspirate or discharge the liquid.
[0041] The drive unit 121 is equipped with a mechanism for driving the arm 114 and shaft 115, and drives the arm 114 and shaft 115 under the control of the control unit 111. The control unit 111 controls the drive unit 121 by receiving signals from sensors equipped in the automatic analyzer 10 and transmitting drive signals from the motor equipped in the drive unit 121. The storage unit 112 can store signals from sensors and motor drive conditions and drive status (e.g., rotation direction and amount of rotation).
[0042] The imaging unit 122 is an imaging device equipped with an image sensor such as a CCD. The imaging unit 122 is attached, for example, near the tip of the arm 114, and is capable of imaging the area including the dispensing nozzle 113 and the object to be dispensed. Since the imaging unit 122 is fixed to the arm 114, its relative position to the dispensing nozzle 113 does not change even when the arm 114 moves, and it is always possible to image the area including the tip of the dispensing nozzle 113. In this embodiment, the automatic analyzer 10 can obtain an image that allows for the measurement of the positional difference between the object to be dispensed and the tip of the dispensing nozzle 113 using the imaging unit 122.
[0043] Figure 3 shows the configuration of the drive unit 121 of the dispensing device 11. The drive unit 121 includes a rotation drive unit 121a that rotates the arm 114 and a lifting drive unit 121b that raises and lowers the shaft 115.
[0044] The rotary drive unit 121a comprises a rotary motor 123, a rotary transmission mechanism 124, and a rotary origin sensor 125. The rotary motor 123 generates rotational power, which rotates the arm 114 and moves the dispensing nozzle 113 horizontally. The rotary transmission mechanism 124 comprises a mechanism (for example, a belt drive mechanism or a gear mechanism) that reduces the rotational power of the rotary motor 123 and transmits it to the rotation axis of the arm 114. The rotary origin sensor 125 comprises a device (for example, a photointerrupter) that detects the position (position in the rotational direction) of the reference part of the rotary transmission mechanism 124 when the reference part of the arm 114 is at the origin.
[0045] The lifting drive unit 121b comprises a lifting motor 126, a lifting transmission mechanism 127, and a lifting origin sensor 128. The lifting motor 126 generates rotational power to raise and lower the shaft 115, thereby moving the dispensing nozzle 113 vertically. The lifting transmission mechanism 127 comprises a mechanism (for example, a belt drive mechanism or a rack and pinion mechanism) that converts the rotational power of the lifting motor 126 into vertical linear power and transmits it to the shaft 115. The lifting origin sensor 128 comprises a device (for example, a photointerrupter) that detects the position (vertical position) of the reference part of the lifting transmission mechanism 127 when the reference part of the shaft 115 is at the origin.
[0046] The rotation direction and amount of rotation of the rotary motor 123 and the lifting motor 126 are detected by rotary encoders or pulse counters installed on these motors 123 and 126.
[0047] When the reference portion of arm 114 is located at the origin, the tip of the dispensing nozzle 113 is at a predetermined reference position in the horizontal direction. When the reference portion of shaft 115 is located at the origin, the tip of the dispensing nozzle 113 is at a predetermined reference position in the vertical direction.
[0048] Figure 4 is a flowchart showing the procedure for adjusting the position of the dispensing nozzle 113 of the dispensing device 11 in the automated analyzer 10 according to this embodiment. The position of the dispensing nozzle 113 can be adjusted, for example, before the automated analyzer 10 is put into operation or during maintenance of the automated analyzer 10. This process is initiated when the control unit 111 sends a command to the dispensing device 11 to adjust the position of the dispensing nozzle 113.
[0049] In step S101, upon receiving a command from the control unit 111, the dispensing device 11 transitions to nozzle adjustment mode. In nozzle adjustment mode, the position of the dispensing nozzle 113 is adjusted.
[0050] In step S102, the control unit 111 operates the drive unit 121 of the dispensing device 11 to move the reference portion of the arm 114 and shaft 115 to a predetermined origin position (reset of the dispensing device 11).
[0051] In step S103, the control unit 111 operates the drive unit 121 to move the arm 114 horizontally by a distance predetermined by sequence control, bringing the dispensing nozzle 113 closer to the object to be dispensed horizontally. At this time, since the vertical position of the reference part of the shaft 115 remains at the origin, the vertical position of the dispensing nozzle 113 does not change.
[0052] Figure 5A shows the dispensing nozzle 113 approaching the object to be dispensed 200 in step S103 of Figure 4. If the position adjustment of the dispensing nozzle 113 has not been completed, there is a difference in horizontal position (left-right direction in Figure 5A) between the position of the tip 113a of the nozzle 113 and the target position of the tip 113a on the object to be dispensed 200.
[0053] In the state shown in Figure 5A (i.e., when the vertical position of the reference portion of the shaft 115 is the origin), the vertical distance (relative height L0) between the tip 113a of the nozzle 113 and the upper end of the object to be dispensed 200 is a predetermined constant value. The memory unit 112 stores this relative height L0 value.
[0054] Returning to the explanation of Figure 4.
[0055] In step S104, the control unit 111 operates the drive unit 121 to drive the shaft 115 vertically by a distance predetermined by sequence control, thereby moving the dispensing nozzle 113 vertically. For example, the control unit 111 lowers the dispensing nozzle 113. As a result, the tip 113a of the nozzle 113 approaches the object to be dispensed 200 in the vertical direction.
[0056] Figure 5B shows the tip 113a of the nozzle 113 as it approaches the object 200 to be dispensed in step S104. To clearly illustrate the vertical movement of the tip 113a of the nozzle 113, Figure 5B also shows the vertical distance (relative height L0) between the tip 113a of the nozzle 113 and the upper end of the object 200 to be dispensed, as shown in Figure 5A.
[0057] As shown in Figure 5B, let L1 be the distance the shaft 115 moves up and down in step S104. Distance L1 is the vertical movement distance of the dispensing nozzle 113. The control unit 111 can calculate this distance L1 by detecting the rotation direction and amount of rotation of the lifting motor 126. It is assumed that the lifting distance of the shaft 115 per rotation of the lifting motor 126 is known in advance.
[0058] Returning to the explanation of Figure 4.
[0059] In step S105, the control unit 111 obtains the vertical distance (relative height L2) between the tip 113a of the nozzle 113 and the upper end of the object to be dispensed 200. As shown in Figure 5B, the relative height L2 is obtained as the difference between the relative height L0 stored in the memory unit 112 and the distance L1 calculated by the control unit 111 (L2 = L0 - L1). The tip 113a of the nozzle 113 is located above the object to be dispensed 200 by a relative height of L2.
[0060] In step S106, the imaging unit 122 images the region including the object to be dispensed 200 and the tip 113a of the nozzle 113. The control unit 111 detects the target position of the object to be dispensed 200 on the image from the output image, which is the image captured by the imaging unit 122. This target position is the target position of the tip 113a of the nozzle 113 for accurate dispensing. The target position of the tip 113a of the nozzle 113 is a predetermined position, and can be set as, for example, the center of the object to be dispensed 200.
[0061] Figure 6 shows an example of an output image 201 captured by the imaging unit 122. The output image 201 includes the object to be dispensed 200, the target position 202 on the object to be dispensed 200, and the tip 113a of the nozzle 113.
[0062] However, the target position 202 on the output image 201 is not the true target position. That is, even if the position of the tip 113a of the nozzle 113 is aligned with the target position 202 on the output image 201, the position of the tip 113a of the nozzle 113 may not actually align with the target position 202 when dispensing is performed. This is because the output image 201 does not include information in the depth direction (depth direction), and the target position 202 on the output image 201 does not take into account information about the relative height L2 (the vertical distance between the tip 113a of the nozzle 113 and the upper end of the object to be dispensed 200).
[0063] Therefore, in this embodiment, the target position 202 is corrected using the position correction direction 203 and the position correction amount 204 as described below, and the corrected target position 205 is obtained. The corrected target position 205 is the target position of the tip 113a of the nozzle 113 on the output image 201. When the position of the tip 113a of the nozzle 113 on the output image 201 is matched with the corrected target position 205, the tip 113a of the nozzle 113 will coincide with the actual target position 202 (for example, the center position of the object to be dispensed 200) when dispensing is actually performed.
[0064] Returning to the explanation of Figure 4.
[0065] In step S107, the control unit 111 acquires the position correction direction 203 and position correction amount 204 in the output image 201. The control unit 111 uses the relationship between relative height L2 and the number of correction pixels, as shown in Figure 7, to determine the position correction direction 203 and position correction amount 204 from the relative height L2. The relationship between relative height L2 and the number of correction pixels is given in advance.
[0066] Figure 7 shows an example of the relationship between the relative height L2 (the vertical distance between the tip 113a of the nozzle 113 and the upper end of the object to be dispensed 200) and the number of correction pixels. In the relationship shown in Figure 7, a positive or negative number of correction pixels is given for each value of the relative height L2. When the number of correction pixels is positive, the position correction direction 203 is upward in the output image 201 of Figure 6, and when the number of correction pixels is negative, the position correction direction 203 is downward in the output image 201 of Figure 6. The position correction amount 204 is given by the value of the number of correction pixels (the number of pixels in the output image 201).
[0067] The relationship between the relative height L2 and the number of correction pixels shown in Figure 7 can be determined in advance through experiments or other means. For example, the relationship shown in Figure 7 can be obtained by determining the change in the position of the tip 113a of the nozzle 113 on the output image 201 in terms of pixels when the relative height L2 is increased from zero. The storage unit 112 stores the data of the relationship shown in Figure 7.
[0068] Returning to the explanation of Figure 4.
[0069] In step S108, the control unit 111 calculates the corrected target position 205 on the output image 201 using the target position 202 on the output image 201, the position correction direction 203, and the position correction amount 204 (Figure 6). The control unit 111 sets the corrected target position 205 to a position obtained by moving the target position 202 by a distance (number of pixels) of the position correction amount 204 in the direction of the position correction direction 203. The corrected target position 205 is the target position of the tip portion 113a of the nozzle 113 after the position of the dispensing nozzle 113 has been adjusted.
[0070] In step S109, the control unit 111 adjusts the position of the tip 113a of the nozzle 113 in the output image 201 (Figure 6) to match the corrected target position 205. The control unit 111 adjusts the position of the tip 113a of the nozzle 113 by moving the arm 114 horizontally. This adjustment of the position of the tip 113a of the nozzle 113 may be performed automatically by the control unit 111, or it may be performed by an operator operating the control unit 111.
[0071] In step S110, the control unit 111 determines whether the position of the tip 113a of the nozzle 113 has been adjusted to match the corrected target position 205 in the output image 201 (Figure 6). For example, the control unit 111 uses the output image 201 captured by the imaging unit 122 to compare the position of the tip 113a of the nozzle 113 with the corrected target position 205 to determine whether the adjustment has been made. If the position of the tip 113a of the nozzle 113 has been adjusted, the adjustment is considered complete and the process proceeds to step S111. If the position of the tip 113a of the nozzle 113 has not been adjusted, the adjustment is considered incomplete and the process proceeds to step S109.
[0072] In step S111, the control unit 111 stores the position of the tip 113a of the nozzle 113 after the adjustment is complete in the storage unit 112.
[0073] In step S112, the control unit 111 operates the drive unit 121 to move the reference portion of the arm 114 and shaft 115 to the origin position, thereby transitioning the dispensing device 11 to standby mode. In standby mode, the dispensing device 11 is in a waiting state where dispensing processing can be performed.
[0074] The above procedure completes the adjustment process for the position of the dispensing nozzle 113.
[0075] The above description concerns a process to adjust the position of the dispensing nozzle 113 by correcting the target position 202 of the tip 113a of the nozzle 113 to the corrected target position 205 in the output image 201, thereby eliminating the positional difference between the position of the tip 113a of the nozzle 113 and the target position of the tip 113a in the object to be dispensed 200.
[0076] In this embodiment, the position of the dispensing nozzle 113 can be adjusted by correcting the position of the tip 113a of the nozzle 113 in the output image 201, thereby eliminating the positional difference between the position of the tip 113a of the nozzle 113 and the target position of the tip 113a in the object to be dispensed 200.
[0077] Figure 8 shows an example of an output image 201 when the control unit 111 corrects the position of the tip portion 113a of the nozzle 113.
[0078] The control unit 111 can determine the position of the tip 113a of the corrected nozzle 113 (hereinafter referred to as the "corrected tip position 207") in the same manner as determining the corrected target position 205. That is, the control unit 111 uses the relationship between the relative height L2 and the number of correction pixels shown in Figure 7 to determine the position correction direction 203 and the position correction amount 204 from the relative height L2, and uses the position correction direction 203 and the position correction amount 204 to determine the corrected tip position 207 from the position of the tip 113a of the nozzle 113. However, the position correction direction 203 is inverted vertically compared to when determining the corrected target position 205.
[0079] When correcting the position of the tip 113a of the nozzle 113, it is not necessary to correct the target position 202 of the tip 113a of the nozzle 113 in the output image 201.
[0080] In step S109 of Figure 4, the control unit 111 adjusts the corrected tip position 207 in the output image 201 (Figure 8) to match the target position 202. The control unit 111 adjusts the corrected tip position 207 by moving the arm 114 horizontally.
[0081] In step S110 of Figure 4, the control unit 111 determines whether the corrected tip position 207 in the output image 201 has been adjusted to match the target position 202.
[0082] As described above, the automatic analyzer 10 according to this embodiment corrects the target position 202 of the tip 113a of the nozzle 113 or the position of the tip 113a of the nozzle 113 on the output image 201, using the relative height L2 (the vertical distance between the tip 113a of the nozzle 113 and the upper end of the object to be dispensed 200) calculated by the control unit 111 and the output image 201 captured by the imaging unit 122. Therefore, the automatic analyzer 10 according to this embodiment can adjust the position of the dispensing nozzle 113 relative to the object to be dispensed 200 in a short time with high accuracy, regardless of the type of imaging unit 122 used, for example, even if a lightweight imaging device such as a monocular camera is used as the imaging unit 122. This prevents variations in the adjustment position of the dispensing nozzle 113 and suppresses a decrease in analysis accuracy. [Examples]
[0083] The automated analyzer 10 according to Embodiment 2 of the present invention will be described below. The differences between the automated analyzer 10 according to Embodiment 1 and the automated analyzer 10 according to Embodiment 1 will be mainly described below.
[0084] In Example 1, the relative height L2 (the vertical distance between the tip 113a of the nozzle 113 and the upper end of the object to be dispensed 200) is determined as the difference between the relative height L0 stored in the memory unit 112 and the distance L1 calculated by the control unit 111.
[0085] In this embodiment, the relative height L2 is determined by measurement using a sensor. The automated analyzer 10 according to this embodiment may be equipped with a sensor outside the dispensing device 11, and the relative height L2 is measured using this sensor. This sensor may be provided for purposes other than measuring the relative height L2. For example, the automated analyzer 10 may be equipped with an imaging unit (external imaging unit) outside the dispensing device 11 that is different from the imaging unit 122, and the relative height L2 is measured using this external imaging unit.
[0086] In this embodiment, the flowchart for the procedure for adjusting the position of the dispensing nozzle 113 of the dispensing device 11 is the same as the flowchart shown in Figure 4, except for the method of determining the relative height L2, so a detailed explanation is omitted.
[0087] Figure 9 shows the configuration in this embodiment in which the external imaging unit 300, which is provided outside the dispensing device 11 of the automatic analyzer 10, measures the relative height L2 (the vertical distance between the tip 113a of the nozzle 113 and the upper end of the object to be dispensed 200).
[0088] The external imaging unit 300 is an imaging device equipped with an image sensor such as a CCD. The external imaging unit 300 is mounted at any location in the automatic analyzer 10 other than the dispensing device 11, and is capable of imaging the area including the dispensing nozzle 113 and the object to be dispensed 200.
[0089] Figure 10 is a flowchart showing the procedure for measuring the relative height L2 using the external imaging unit 300 in this embodiment.
[0090] In step S201, the control unit 111 acquires the output image, which is the image captured by the external imaging unit 300.
[0091] Figure 11 shows an example of output image 301. Output image 301 captures both the tip 113a of the nozzle 113 and the upper end of the object to be dispensed 200. In output image 301, the number of pixels in the vertical direction between the tip 113a of the nozzle 113 and the upper end of the object to be dispensed 200 is P0.
[0092] Returning to the explanation of Figure 10.
[0093] In step S202, the control unit 111 obtains the number of pixels P0 in the vertical direction between the tip 113a of the nozzle 113 and the upper end of the object to be dispensed 200 from the output image 301.
[0094] In step S203, the control unit 111 calculates the relative height L2 from the number of pixels P0. It is assumed that the relationship between the number of pixels and the distance (length) in the output image 301 of the external imaging unit 300 is known in advance.
[0095] In this embodiment, the relative height L2 is measured using the external imaging unit 300 by the procedure described above. Then, using this relative height L2 and the output image 201 captured by the imaging unit 122 fixed to the arm 114 of the dispensing device 11, the target position 202 of the tip 113a of the nozzle 113 or the position of the tip 113a of the nozzle 113 on the output image 201 is corrected. [Examples]
[0096] The automated analyzer 10 according to Embodiment 3 of the present invention will be described below. The differences between the automated analyzer 10 according to Embodiment 1 and the automated analyzer 10 according to Embodiment 1 will be mainly described below.
[0097] In Example 1, the relative height L2 (the vertical distance between the tip 113a of the nozzle 113 and the upper end of the object to be dispensed 200) is determined using the distance L1 by which the shaft 115 moves up and down. The distance L1 is calculated by detecting the rotation direction and amount of rotation of the lifting motor 126, and the lifting distance of the shaft 115 per rotation of the lifting motor 126 is known in advance.
[0098] In this embodiment, the lifting distance of the shaft 115 per rotation of the lifting motor 126 is calculated by the control unit 111 using a reference member that can be installed in the dispensing device 11. By calculating this lifting distance, the control unit 111 can take into account differences in the lifting drive unit 121b and aging, correct the target position 202 of the tip 113a of the nozzle 113 or the position of the tip 113a of the nozzle 113 on the output image 201, and adjust the position of the dispensing nozzle 113.
[0099] The reference member can be placed on the dispensing device 11 and can be made of any object that the tip 113a of the nozzle 113 can come into contact with. The reference member may also be an object that is not used in the dispensing process of the dispensing device 11.
[0100] Figure 12 is a flowchart showing the procedure for adjusting the position of the dispensing nozzle 113 of the dispensing device 11 in the automated analyzer 10 according to this embodiment. Below, we will mainly explain the differences between the flowchart shown in Figure 12 and the flowchart shown in Figure 4 (Embodiment 1). A reference member is installed in the dispensing device 11.
[0101] Steps S301 to S302 perform the same processing as steps S101 to S102 in Figure 4.
[0102] In step S303, the control unit 111 operates the drive unit 121 to move the arm 114 horizontally, moving the dispensing nozzle 113 above the reference member. At this time, since the vertical position of the reference portion of the shaft 115 remains at the origin, the vertical position of the dispensing nozzle 113 does not change.
[0103] Figure 13A shows the dispensing nozzle 113 after it has moved above the reference member 400 in step S303. In the state shown in Figure 13A (i.e., when the vertical position of the reference portion of the shaft 115 is the origin), the vertical distance (relative height L3) between the tip 113a of the nozzle 113 and the upper surface of the reference member 400 is a predetermined constant value. The memory unit 112 stores this relative height L3 value.
[0104] Returning to the explanation of Figure 12.
[0105] In step S304, the control unit 111 operates the drive unit 121 to drive the shaft 115 vertically by a distance predetermined by sequence control, thereby moving the dispensing nozzle 113 vertically. For example, the control unit 111 lowers the dispensing nozzle 113. As a result, the tip 113a of the nozzle 113 approaches the reference member 400 in the vertical direction.
[0106] In step S305, the control unit 111 uses the contact detection sensor 120 (Figure 2) provided on the arm 114 to determine whether the tip 113a of the nozzle 113 has come into contact with the upper surface of the reference member 400. If the tip 113a of the nozzle 113 has come into contact with the upper surface of the reference member 400, the process proceeds to step S306. If the tip 113a of the nozzle 113 has not come into contact with the reference member 400, the process proceeds to step S304.
[0107] Figure 13B shows the tip 113a of the nozzle 113, which was determined to have made contact with the upper surface of the reference member 400 in step S305. The dispensing nozzle 113 has descended by a distance of relative height L3 shown in Figure 13A, and its tip 113a is in contact with the reference member 400. The lifting distance of the shaft 115 (i.e., the distance traveled by the tip 113a of the nozzle 113) is L3.
[0108] In step S306, the control unit 111 detects the amount of rotation of the lifting motor 126 from the time the dispensing nozzle 113 moves up and down until the tip 113a of the nozzle 113 contacts the upper surface of the reference member 400. Using this amount of rotation and the relative height L3 stored in the storage unit 112, the control unit 111 calculates the lifting distance of the shaft 115 per rotation of the lifting motor 126.
[0109] In step S307, the control unit 111 operates the drive unit 121 to move the arm 114 horizontally by a distance predetermined by sequence control, bringing the dispensing nozzle 113 closer to the object to be dispensed 200 in the horizontal direction. As a result, the tip 113a of the nozzle 113 approaches the object to be dispensed 200 in the horizontal direction.
[0110] Figure 14 shows the tip 113a of the nozzle 113 as it approaches the object 200 to be dispensed in step S307. To clearly illustrate the vertical movement of the tip 113a of the nozzle 113, Figure 14 also shows the tip 113a of the nozzle 113 and the reference member 400, as shown in Figure 13B.
[0111] The vertical distance (relative height L4) between the upper surface of the reference member 400 and the upper end of the object to be dispensed 200 is a predetermined, fixed value. The storage unit 112 stores this relative height L4 value.
[0112] Returning to the explanation of Figure 12.
[0113] In step S308, the control unit 111 operates the drive unit 121 to drive the shaft 115 vertically, moving the dispensing nozzle 113 vertically. For example, the control unit 111 lowers the dispensing nozzle 113 by a distance predetermined by sequence control. As a result, the tip 113a of the nozzle 113 approaches the object to be dispensed 200 in the vertical direction.
[0114] As shown in Figure 14, assume that in step S308 the dispensing nozzle 113 moved vertically by a distance L5. Distance L5 is the vertical distance the dispensing nozzle 113 moved vertically in step S308 from the position where the tip portion 113a contacts the upper surface of the reference member 400.
[0115] Returning to the explanation of Figure 12.
[0116] In step S309, the control unit 111 detects the amount of rotation of the lifting motor 126 when the dispensing nozzle 113 was moved vertically in step S308. Then, using this amount of rotation and the lifting distance of the shaft 115 per rotation of the lifting motor 126 calculated in step S306, the control unit 111 calculates the distance L5 shown in Figure 14 (the vertical movement distance of the dispensing nozzle 113 in step S308).
[0117] In step S310, the control unit 111 obtains the relative height L2 (the vertical distance between the tip 113a of the nozzle 113 and the upper end of the object to be dispensed 200). As shown in Figure 14, the relative height L2 is obtained as the difference between the relative height L4 stored in the memory unit 112 and the distance L5 calculated by the control unit 111 (L2 = L4 - L5).
[0118] After step S310, the same process as steps S106 to S113 in Figure 4 is performed.
[0119] In the automated analyzer 10 according to this embodiment, the control unit 111 calculates the lifting distance of the shaft 115 per rotation of the lifting motor 126, and uses this lifting distance to obtain the relative height L2. Therefore, in this embodiment, the relative height L2 is calculated taking into account differences in the lifting drive unit 121b and changes over time, and based on this relative height L2, the target position 202 of the tip 113a of the nozzle 113 or the position of the tip 113a of the nozzle 113 on the output image 201 can be corrected, and the position of the dispensing nozzle 113 can be adjusted. [Examples]
[0120] The automated analyzer 10 according to Embodiment 4 of the present invention will be described below. The differences between the automated analyzer 10 according to Embodiment 1 and the automated analyzer 10 according to Embodiment 1 will be mainly described below.
[0121] In the automated analyzer 10 according to this embodiment, the imaging unit 122 is detachable from the dispensing device 11. Below, as an example, an example in which the imaging unit 122 is detachable from the arm 114 will be described.
[0122] The imaging unit 122 is not installed on the arm 114 when the automatic analyzer 10 is operating and performing analysis, and is only installed on the arm 114 when adjusting the position of the dispensing nozzle 113 relative to the object to be dispensed 200. Therefore, the dispensing device 11 has a different configuration when the automatic analyzer 10 is operating and when the position of the dispensing nozzle 113 is being adjusted. For this reason, in the automatic analyzer 10 according to this embodiment, it is necessary to adjust the position of the dispensing nozzle 113, taking into account the change in the posture of the dispensing device 11 due to this change in configuration (i.e., whether or not the imaging unit 122 is installed on the arm 114).
[0123] In this embodiment, the adjustment of the position of the dispensing nozzle 113 using an imaging unit 122 that is detachable from the arm 114 will be described. The vertical position of the tip 113a of the nozzle 113 changes depending on whether the imaging unit 122 is installed on the arm 114 or not. In the automatic analyzer 10 according to this embodiment, this change in position can be measured using the reference member 400 described in Embodiment 3, thereby adjusting the position of the dispensing nozzle 113 while taking into account the change in the posture of the dispensing device 11.
[0124] Figure 15 is a flowchart showing the procedure for measuring the change in posture due to a change in the configuration of the dispensing device 11 in the automated analyzer 10 according to this embodiment.
[0125] In step S401, the control unit 111 puts the dispensing device 11 into standby mode (waiting state) in the same state as when the automatic analyzer 10 is operating. Since the automatic analyzer 10 is in the operating state (the state in which analysis is performed), the imaging unit 122 is not installed on the arm 114.
[0126] In step S402, the control unit 111 operates the drive unit 121 to move the reference portion of the arm 114 and shaft 115 to a predetermined origin position (reset of the dispensing device 11).
[0127] In step S403, the control unit 111 operates the drive unit 121 to move the arm 114 horizontally, moving the dispensing nozzle 113 above the reference member 400. At this time, since the vertical position of the reference portion of the shaft 115 remains at the origin, the vertical position of the dispensing nozzle 113 does not change.
[0128] Figure 16A shows the arm 114 and dispensing nozzle 113 of the dispensing device 11 after the completion of step S403. The arm 114 does not have an imaging unit 122. The reference portion of the shaft 115 is at the origin in the vertical direction. The tip portion 113a of the nozzle 113 is located above the reference member 400.
[0129] Returning to the explanation of Figure 15.
[0130] In step S404, the control unit 111 operates the drive unit 121 to drive the shaft 115 vertically by a distance predetermined by sequence control, thereby moving the dispensing nozzle 113 vertically. For example, the control unit 111 lowers the dispensing nozzle 113. As a result, the tip 113a of the nozzle 113 approaches the reference member 400 in the vertical direction.
[0131] In step S405, the control unit 111 uses the contact detection sensor 120 (Figure 2) provided on the arm 114 to determine whether the tip 113a of the nozzle 113 has come into contact with the upper surface of the reference member 400. If the tip 113a of the nozzle 113 has come into contact with the upper surface of the reference member 400, the process proceeds to step S406. If the tip 113a of the nozzle 113 has not come into contact with the reference member 400, the process proceeds to step S404.
[0132] In step S406, the control unit 111 calculates the lifting distance L6 (Figure 16A) of the tip 113a of the nozzle 113, from the position of the reference portion of the shaft 115 at the origin in the vertical direction until the tip 113a of the nozzle 113 contacts the upper surface of the reference member 400. The control unit 111 can calculate the lifting distance L6 as the lifting distance of the shaft 115 obtained by detecting the rotation direction and amount of rotation of the lifting motor 126. The control unit 111 stores the calculated lifting distance L6 in the storage unit 112.
[0133] In step S407, the control unit 111 puts the dispensing device 11 into standby mode (waiting state) with the dispensing nozzle 113 in the position adjustment state. Since the dispensing device 11 is in the position adjustment state of the dispensing nozzle 113, the imaging unit 122 is installed on the arm 114 by the operator.
[0134] After step S407, the control unit 111 performs the same processing as in steps S402 to S406.
[0135] Figure 16B shows the arm 114 and dispensing nozzle 113 of the dispensing device 11 after step S407 and the completion of step S403. The dispensing device 11's posture has changed from that of the arm 114 shown in Figure 16A, which does not have the imaging unit 122, because the arm 114 is equipped with the imaging unit 122.
[0136] Figure 16B shows the arm 114 and dispensing nozzle 113 shown in Figure 16A as dashed lines to clearly illustrate the change in posture due to the change in the configuration of the dispensing device 11 (presence or absence of the imaging unit 122). When the arm 114 is equipped with the imaging unit 122, the orientation of the arm 114 changes compared to when the arm 114 is not equipped with the imaging unit 122, and the vertical position of the tip 113a of the nozzle 113 also changes.
[0137] Returning to the explanation of Figure 15.
[0138] In step S406, which follows step S407, the control unit 111 calculates the lifting distance L7 (Figure 16B) of the tip 113a of the nozzle 113 from the position of the vertical origin of the reference portion of the shaft 115 until the tip 113a of the nozzle 113 contacts the reference member 400, and stores the calculated lifting distance L7 in the storage unit 112.
[0139] In step S408, the control unit 111 calculates the difference L8 between the lifting distance L6 and the lifting distance L7. This difference L8 in lifting distance represents the change in the vertical position of the tip 113a of the nozzle 113 caused by the presence or absence of the imaging unit 122, and represents the change in the posture of the dispensing device 11 due to the change in the configuration of the dispensing device 11.
[0140] As described above, the automatic analyzer 10 according to this embodiment can measure the change in posture due to the change in the configuration of the dispensing device 11 (presence or absence of the imaging unit 122). In the example shown in FIG. 16B, an example is shown in which the tip 113a of the nozzle 113 approaches the reference member 400 due to the change in the posture of the dispensing device 11, that is, an example in which the lifting distance L7 is smaller than the lifting distance L6. In this case, the control unit 111 calculates and obtains the difference L8 between the lifting distance L6 and the lifting distance L7 as L8 = L6 - L7. When the posture of the dispensing device 11 changes, the tip 113a of the nozzle 113 may move away from the reference member 400, that is, the lifting distance L7 may be larger than the lifting distance L6. In this case, the control unit 111 calculates and obtains the difference L8 between the lifting distance L6 and the lifting distance L7 as L8 = L7 - L6.
[0141] In the automatic analyzer 10 according to this embodiment, when correcting the target position 202 of the tip 113a of the nozzle 113 or the position of the tip 113a of the nozzle 113 on the output image 201, the difference L8 between the lifting distance L6 and the lifting distance L7 is obtained, and in the same manner as the automatic analyzer 10 according to Embodiments 1 to 3, the relative height L2 (the vertical distance between the tip 113a of the nozzle 113 and the upper end of the dispensing object 200) is obtained using the imaging unit 122. Then, the control unit 111 obtains a new relative height L2r by adding or subtracting the difference L8 from the relative height L2, and obtains the position correction direction 203 and the position correction amount 204 using the new relative height L2r (step S107 in FIG. 4, FIG. 7). For example, in the case of the example shown in FIG. 16B (L7 < L6), the control unit 111 obtains the new relative height L2r as L2r = L2 + L8, and in the case of L7 > L6, the control unit 111 obtains the new relative height L2r as L2r = L2 - L8.
[0142] The lifting distances L6 and L7 are not obtained from the rotation direction and the rotation amount of the lifting motor 126, but can be obtained in the same procedure as described in Embodiment 2 using a sensor provided outside the dispensing device 11, for example, the external imaging unit 300 (FIG. 9) described in Embodiment 2. Therefore, the difference L8 between the lifting distance L6 and the lifting distance L7 can be obtained using a sensor (for example, the external imaging unit 300) provided outside the dispensing device 11.
[0143] Furthermore, the change in posture due to a change in the configuration of the dispensing device 11 (presence or absence of the imaging unit 122) can be determined from the image captured by the imaging unit 122, rather than by the procedure shown in Figure 15. For example, if the difference L8 between the lifting distance L6 and the lifting distance L7 is small, it may be difficult to determine the difference L8 using the procedure shown in Figure 15. In such cases, it is preferable to determine the change in posture due to a change in the configuration of the dispensing device 11 (change in the position of the tip 113a of the nozzle 113) from the image captured by the imaging unit 122.
[0144] Figure 17 is a flowchart showing the procedure for measuring the change in posture due to a change in the configuration of the dispensing device 11 from the image captured by the imaging unit 122. In the procedure shown in Figure 17, the change in the position of the tip 113a of the nozzle 113 is measured using the reference member 400.
[0145] A target, which is a reference point for determining the position of the tip 113a of the nozzle 113, is set on the upper surface of the reference member 400. The dispensing nozzle 113 is adjusted so that when the tip 113a of the nozzle 113 contacts the upper surface of the reference member 400 during the operation of the automatic analyzer 10 (when the imaging unit 122 is not installed on the arm 114), the position of the tip 113a coincides with the position of the target. For example, a contact detection sensor 120 can be used to adjust the position of the tip 113a.
[0146] In step S501, the control unit 111 puts the dispensing device 11 into standby mode (waiting state) with the dispensing nozzle 113 in the position adjustment state. Since the dispensing device 11 is in the position adjustment state of the dispensing nozzle 113, the imaging unit 122 is mounted on the arm 114.
[0147] Steps S502 to S505 execute the same process as steps S402 to S405 in Figure 15.
[0148] In step S506, the imaging unit 122 images the region including the reference member 400 and the tip 113a of the nozzle 113, with the tip 113a of the nozzle 113 in contact with the upper surface of the reference member 400. The control unit 111 obtains the difference P1 between the position of the tip 113a of the nozzle 113 and the position of the target on the output image captured by the imaging unit 122.
[0149] Figure 18 shows an example of an output image 401 captured by the imaging unit 122. The output image 401 includes a reference member 400, a target 500 set on the reference member 400, and the tip portion 113a of the nozzle 113.
[0150] The dispensing device 11 in the output image 401 shown in Figure 18 is in the state when the position of the dispensing nozzle 113 is being adjusted (the imaging unit 122 is installed on the arm 114). Therefore, the position of the tip 113a of the nozzle 113 in Figure 18 is different from the position when the automatic analyzer 10 is in operation (the imaging unit 122 is not installed on the arm 114). In other words, the position of the tip 113a of the nozzle 113 in Figure 18 does not coincide with the position of the target 500 because the posture of the dispensing device 11 has changed.
[0151] Therefore, the control unit 111 calculates the difference P1 between the position of the tip 113a of the nozzle 113 and the position of the target 500 in the output image 401. The difference P1 can be expressed, for example, as the number of pixels in the output image 401. This difference P1 is a value that represents the change in the vertical position of the tip 113a of the nozzle 113 caused by the presence or absence of the imaging unit 122, and represents the change in the posture of the dispensing device 11 due to the change in the configuration of the dispensing device 11. If the imaging unit 122 is not installed on the arm 114, the difference P1 = 0.
[0152] Thus, the change in posture due to a change in the configuration of the dispensing device 11 (presence or absence of the imaging unit 122) can also be measured as a difference P1 by the procedure shown in Figure 17.
[0153] When the control unit 111 corrects the target position 202 of the tip 113a of the nozzle 113 or the position of the tip 113a of the nozzle 113 on the output image 201, it calculates the difference P1 between the position of the tip 113a of the nozzle 113 and the position of the target 500 on the output image 401, and acquires the output image 201 (step S106 in Figure 4, Figure 6) using the imaging unit 122 in the same manner as the automatic analyzer 10 in Examples 1 to 3. Then, the control unit 111 calculates a new position correction amount 204 by adding or subtracting the difference P1 to the position correction amount 204 (step S107 in Figure 4, Figures 6 and 7) in the acquired output image 201, and calculates the corrected target position 205 on the output image 201 using the position correction direction 203 and the new position correction amount 204 (step S108 in Figure 4, Figure 6).
[0154] In the example shown in Figure 18, the position of the tip 113a of the nozzle 113 is above the position of the target 500 in the output image 401. In this case, the control unit 111 obtains a new position correction amount 204 by subtracting the difference P1 from the position correction amount 204 obtained in step S107 of Figure 4. The position correction direction 203 reverses if the sign of the value changes between the position correction amount 204 obtained in step S107 of Figure 4 and the new position correction amount 204.
[0155] In this embodiment, the automated analyzer 10 can adjust the position of the dispensing nozzle 113, taking into account changes in posture due to changes in the configuration of the dispensing device 11 (whether or not the imaging unit 122 is installed on the arm 114), even when using an imaging unit 122 that is detachable from the arm 114. When the automated analyzer 10 is performing analysis, the imaging unit 122 is not installed on the arm 114, so the burden on the arm 114 from the imaging unit 122 can be reduced.
[0156] As described above, in the automated analyzer 10 according to Examples 1 to 4, the position of the dispensing nozzle 113 can be adjusted in consideration of the change in posture due to the change in the configuration of the dispensing device 11 (whether or not the imaging unit 122 is installed on the arm 114), and the position of the dispensing nozzle 113 relative to the object to be dispensed 200 can be adjusted accurately in a short time.
[0157] It should be noted that the present invention is not limited to the embodiments described above, and various modifications are possible. For example, the embodiments described above are explained in detail to make the present invention easier to understand, and the present invention is not necessarily limited to embodiments having all the configurations described. Furthermore, it is possible to replace parts of the configuration of one embodiment with the configuration of another embodiment. It is also possible to add configurations from other embodiments to the configuration of one embodiment. Furthermore, it is possible to delete parts of the configuration of each embodiment, or to add or replace other configurations. [Explanation of symbols]
[0158] 10...Automatic analyzer, 11...Dispensing device, 100...Sample container, 101...Sample rack, 102...Reagent bottle, 103...Reagent disc, 104...Reaction cell, 105...Reaction disc, 106...Sample dispensing mechanism, 107...Reagent dispensing mechanism, 108...Agitation unit, 109...Measurement unit, 110...Washing unit, 111...Control unit, 112...Storage unit, 113...Dispensing nozzle, 113a...Nozzle tip, 114...Arm, 115...Shaft, 116...Pressure sensor, 117...Syringe pump, 118...Piping, 119...Solenoid valve, 120...Contact detection sensor S, 121...Drive unit, 121a...Rotation drive unit, 121b...Lifting drive unit, 122...Imaging unit, 123...Rotation motor, 124...Rotation transmission mechanism, 125...Rotation origin sensor, 126...Lifting motor, 127...Lifting transmission mechanism, 128...Lifting origin sensor, 200...Dispensing target, 201...Output image, 202...Target position, 203...Position correction direction, 204...Position correction amount, 205...Target position after correction, 207...Tip position after correction, 300...External imaging unit, 301...Output image, 400...Reference member, 401...Output image, 500...Target.
Claims
1. A dispensing device equipped with a dispensing nozzle for aspirating and dispensing liquid, The object to be dispensed is a container that holds the liquid that the dispensing nozzle aspirations and dispenses, The dispensing nozzle and the imaging unit for imaging the object to be dispensed, The dispensing device and the control unit that controls the imaging unit, A motor for moving the dispensing nozzle in the vertical direction, Equipped with, The vertical distance between the tip of the dispensing nozzle and the upper end of the object to be dispensed is defined as the relative height between the dispensing nozzle and the object to be dispensed. The control unit moves the dispensing nozzle vertically from a reference position using the motor, calculates the vertical movement distance of the dispensing nozzle from the amount of rotation of the motor, and obtains the relative height using the movement distance. The control unit corrects the target position of the tip of the dispensing nozzle on the object to be dispensed on the image captured by the imaging unit, or corrects the position of the tip of the dispensing nozzle, using a predetermined relationship between the relative height and the number of correction pixels. An automated analyzer characterized by the following features.
2. It includes a second imaging unit different from the aforementioned imaging unit, The second imaging unit images the dispensing nozzle and the object to be dispensed, The control unit calculates the relative height from the image captured by the second imaging unit. The automated analyzer according to claim 1.
3. The tip of the dispensing nozzle is provided with a reference member which is an object that can come into contact with it. The control unit calculates the relative height from the vertical distance between the upper surface of the reference member and the upper end of the object to be dispensed, and the vertical distance the dispensing nozzle moves when it is moved vertically from the position where its tip contacts the upper surface of the reference member. The automated analyzer according to claim 1.
4. The tip of the dispensing nozzle is provided with a reference member which is an object that can come into contact with it. The imaging unit is detachable from the dispensing device. The control unit calculates a value representing the change in the vertical position of the tip of the dispensing nozzle when the imaging unit is installed in the dispensing device and when it is not installed, and uses the value representing the change to correct the target position or the position of the tip. The automated analyzer according to claim 1.
5. The control unit determines the vertical movement of the tip of the dispensing nozzle when the dispensing nozzle is moved vertically from a reference position to the upper surface of the reference member, in both cases where the imaging unit is not installed in the dispensing device and when it is installed. The control unit calculates the difference between the lifting distance when the imaging unit is not installed in the dispensing device and the lifting distance when the imaging unit is installed in the dispensing device as a value representing the change. The automated analyzer according to claim 4.
6. A reference point is set on the upper surface of the reference member, which is the position of the tip of the dispensing nozzle when it comes into contact with the upper surface of the reference member, in the case when the imaging unit is not installed in the dispensing device. When the imaging unit is installed in the dispensing device, the control unit moves the dispensing nozzle vertically from a reference position so that the tip of the dispensing nozzle contacts the upper surface of the reference member, and calculates the difference between the position of the tip of the dispensing nozzle and the position of the reference point in the image captured by the imaging unit while the tip is in contact with the upper surface of the reference member as a value representing the change. The automated analyzer according to claim 4.