Sample conveyance system, sample conveyance carrier, and method for conveying sample container

Abstract

The present invention comprises: a sample conveyance carrier 4 on which a container 3 with a sample stored therein is mounted; a sample conveyance plane 1 on which the sample conveyance carrier 4 can move; and a plurality of permanent magnets 6 arranged on the lower surface of the sample conveyance plane 1 along the movement path of the sample conveyance carrier 4. The sample conveyance carrier 4 includes three or more electromagnetic coils 12 arranged side by side in the conveyance direction of the sample conveyance carrier 4, a storage battery 17 that supplies power to the electromagnetic coils 12 and a control unit 16, and the control unit 16 that controls the excitation state of the electromagnetic coils 12. By controlling the excitation state of the electromagnetic coils 12 and causing the permanent magnets 6 to apply magnetic force, the sample conveyance carrier 4 moves on the upper surface of the sample conveyance plane 1.

Description

Sample transport system, sample transport carrier, and sample container transport method

[0001] The present invention relates to a sample transport system connected to an automatic analyzer that performs clinical tests, etc., a sample transport carrier suitable for the sample transport system, and a method for transporting sample containers.

[0002] As an example of a laboratory sample delivery system that is highly flexible and provides high transport performance, Patent Document 1 describes a laboratory sample delivery system that includes several container carriers, each of which has at least one magnetically active device, preferably at least one permanent magnet, and is adapted to transport sample containers; a transport plane adapted to transport the container carriers; and several electromagnetic actuators that are stationary and arranged below the transport plane, and are adapted to move the container carriers above the transport plane by applying a magnetic force to the container carriers.

[0003] JP 2017-77971 A

[0004] In an automatic analyzer for performing clinical tests or the like, a plurality of automatic analyzers, pre-processing devices for performing pre-processing required for analysis, or post-processing devices for performing post-processing may usually be connected by a sample transport system.

[0005] Biological samples (hereinafter referred to as samples) to be tested, such as blood, plasma, serum, urine, and other bodily fluids, are usually stored in containers such as blood collection tubes and loaded onto dedicated sample transport carriers. These sample transport carriers are transported to the target automated analyzer by the sample transport unit of the sample transport system, allowing for efficient analysis.

[0006] The above-mentioned Patent Document 1 proposes a sample transport system in which the sample transport section of the sample transport system is configured with a sample transport plane, and a number of electromagnetic coils are arranged directly below the sample transport plane.

[0007] In this invention, a sample transport carrier with a permanent magnet built into its bottom surface is used, and the excitation state of the electromagnetic coil is controlled, and a magnetic force is applied to the permanent magnet of the sample transport carrier, causing the sample transport carrier to move in any direction on the sample transport plane.

[0008] In a sample transport system such as that described in Patent Document 1, electromagnetic coils must be arranged over the entire range of the sample transport plane along which the sample transport carrier moves, which requires a large number of electromagnetic coils, which raises concerns about an increase in the mass of the entire sample transport system, an increase in manufacturing costs, and the complexity of excitation control of the electromagnetic coils, and leaves room for improvement.

[0009] An object of the present invention is to provide a flexible, inexpensive, and simple sample transport system, a sample transport carrier that realizes the system, and a method for transporting a sample container.

[0010] The present invention includes multiple means for solving the above-mentioned problems, and one example thereof is a sample transport carrier that carries a sample container containing a sample, a sample transport plane along which the sample transport carrier can move, and a plurality of permanent magnets arranged on the underside of the sample transport plane along the movement path of the sample transport carrier, wherein the sample transport carrier has three or more electromagnetic coils arranged in a row in the transport direction of the sample transport carrier, a power supply unit that supplies power to the electromagnetic coils and a control unit, and a control unit that controls the excitation state of the electromagnetic coils, and wherein the sample transport carrier moves on the upper surface of the sample transport plane by controlling the excitation state of the electromagnetic coils to apply a magnetic force to the permanent magnets.

[0011] According to the present invention, it is possible to provide a flexible, inexpensive, and simple sample transport system, a sample transport carrier, and a sample container transport method. Objects, configurations, and effects other than those described above will become clear from the following description of the embodiments.

[0012] 5 is a diagram showing the appearance of a sample transfer plane and a sample transfer carrier constituting a sample transfer system according to an embodiment of the present invention. FIG. 6 is a cross-sectional view showing the internal structure of a sample transfer carrier in the sample transfer system according to an embodiment and a transfer panel constituting the sample transfer plane. FIG. 7 is a diagram showing an example of the shape of a contact portion of a sample transfer carrier with a sample transfer plane in the sample transfer system according to an embodiment. FIG. 8 is a diagram showing another example of the shape of a contact portion of a sample transfer carrier with a sample transfer plane in the sample transfer system according to an embodiment. FIG. 9 is a diagram showing the positional relationship between an electromagnetic coil of a sample transfer carrier and a permanent magnet in a transfer panel in the sample transfer system according to an embodiment. FIG. 10 is a diagram showing the arrangement of electromagnetic coils in a sample transfer carrier and the arrangement of permanent magnets in a transfer panel in the sample transfer system according to an embodiment. FIG. 11 is a diagram showing an example arrangement of permanent magnets on a transfer panel in the sample transfer system according to an embodiment, and the shape of a yoke. FIG. 12 is a diagram showing the relationship between the excitation state of the test electromagnetic coil in FIG. 5 and the output value of a sensor unit that detects the strength of the magnetic force of the permanent magnet. FIG. 13 is a diagram showing the arrangement of electromagnetic coils in a sample transfer carrier and another example arrangement of permanent magnets in a transfer panel in the sample transfer system according to an embodiment. 1 is a diagram showing the arrangement of an RFID tag and a wireless power supply coil constituting a wireless power supply unit in a sample transport system of an embodiment. FIG. 2 is a top view showing the positional relationship when a sample transport carrier communicates with an RFID tag in the sample transport system of an embodiment. FIG. 3 is a side view showing the positional relationship when a sample transport carrier communicates with an RFID tag in the sample transport system of an embodiment. FIG. 4 is a conceptual diagram showing communication between a sample transport carrier and an external control unit in the sample transport system of an embodiment, and the state of communication between sample transport carriers. FIG. 5 is a top view showing the positional relationship when a sample transport carrier receives power from a wireless power supply unit in the sample transport system of an embodiment. FIG. 6 is a side view showing the positional relationship when a sample transport carrier receives power from a wireless power supply unit in the sample transport system of an embodiment. FIG. 7 is a diagram showing an example of a cross section of a connecting portion of a transport panel in the sample transport system of an embodiment. FIG. 8 is a diagram showing the relationship between the center of gravity position of a sample transport carrier and the cross-sectional shape of an inclined surface provided at the end of a transport panel when the sample transport carrier passes over the inclined surface at the end in the sample transport system of an embodiment.

[0013] Examples of the sample transport system, sample transport carrier, and sample container transport method of the present invention will be described with reference to Figures 1 to 17. 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.

[0014] First, the overall configuration of the sample transport system will be described with reference to Fig. 1. Fig. 1 is a diagram showing the appearance of a sample transport plane 1 and a sample transport carrier 4, which constitute the sample transport system of the present invention.

[0015] As shown in Figure 1, the sample transport system is a system for transporting sample transport carriers 4 carrying containers 3 containing samples, and includes a sample transport plane 1 constructed by connecting multiple transport panels 2 arranged horizontally. By connecting the transport panels 2 in any desired manner, it is possible to construct any sample transport plane 1, and the movement range of the sample transport carrier 4 can be flexibly set. The sample transport carrier 4 is transported to the destination position by moving on the sample transport plane 1.

[0016] Next, the sample transport carrier 4, the transport panel 2 constituting the sample transport plane 1 that transports the sample transport carrier 4, and their internal structure will be described using Figure 2. Figure 2 is a cross-sectional view of the sample transport carrier and the transport panel, with "Cross Section A" showing the cross section A-A at "Cross Section B" in Figure 2 and "Cross Section B" showing the cross section B-B at "Cross Section A".

[0017] 2, each transport panel 2 constituting the sample transport plane 1 has a top plate 5 along which the sample transport carrier 4 moves, and a plurality of permanent magnets 6 that form the movement path of the sample transport carrier 4 are arranged directly below the top plate 5, and these permanent magnets 6 are fixed by permanent magnet support members 7. The permanent magnets 6 are arranged with alternating north and south poles, and are coupled with a yoke 14 to form a magnetic circuit.

[0018] The sample transport carrier 4 includes a yoke 8, a blood collection tube holder 9, a cover 10, an electromagnetic coil 12, an iron core 13, a sensor unit 15, a control unit 16, a storage battery 17, and the like.

[0019] The blood collection tube installation section 9 is a space for installing a container 3 containing a sample at the top, and has a structure in which the outer periphery thereof is covered with a cover 10 made of plastic or the like.

[0020] A plurality of electromagnetic coils 12 are built into the sample transport carrier 4. The iron core 13 of each electromagnetic coil 12 is coupled to the yoke 8 to form a magnetic circuit. At least three electromagnetic coils 12 are arranged side by side in the transport direction of the sample transport carrier 4. In the embodiment shown in Figure 2, five electromagnetic coils 12 are provided, and they are arranged to accommodate movement in two or more different directions as shown in Figures 3, 4, and 5.

[0021] The sensor unit 15 is provided near the bottom surface of the sample transport carrier 4 at a position sandwiched between the electromagnetic coils 12, and can grasp the relative position with respect to the permanent magnet 6 by detecting the magnetic force of the permanent magnet 6 inside the transport panel 2. The sensor unit 15 may be, for example, a linear Hall sensor.

[0022] The control unit 16 is configured by, for example, a microcomputer, and appropriately controls the excitation of the electromagnetic coil 12 to apply a magnetic force to the permanent magnet 6, thereby moving the sample transport carrier 4 on the upper surface of the sample transport plane 1. This control unit 16 controls the excitation state of the electromagnetic coil 12 based on the relative position of the permanent magnet 6 detected by the sensor unit 15.

[0023] The storage battery 17 is a component capable of storing electricity internally and supplies power to the electromagnetic coil 12, the control unit 16, the sensor unit 15, etc., and is configured, for example, by a lithium ion battery.

[0024] The bottom surface of the sample transport carrier 4 can be equipped with a rolling mechanism such as wheels, but this is not necessary. If a rolling mechanism is not provided, the sample transport carrier 4 will have a very simple external shape, sliding along the sample transport plane. Furthermore, since there is no rolling mechanism, problems resulting from this are eliminated, making it possible to construct a highly reliable sample transport carrier 4. In contrast, if a rolling mechanism is provided, the friction between the bottom surface of the sample transport carrier 4 and the top plate 5 of the transport panel 2 can be made very small, and the force required for transport (the excitation current value of the electromagnetic coil 12) can be reduced.

[0025] 3 and 4 show examples of the shape of the contact bottom surface of the sample transport carrier 4, which is the contact surface with the sample transport plane 1, in the case of a sample transport carrier 4 that does not have a rolling mechanism such as wheels.

[0026] The shapes 11a and 11b of the contact bottom surfaces between the sample transfer flat surfaces 1 do not need to be the same as the shape of the horizontal cross section of the sample transfer carrier 4, and can be different shapes as shown in Figures 3 and 4. For example, they can be circular as shown in Figure 3, or rhombic as shown in Figure 4. Note that they are not limited to the circular shape shown in Figure 3 or the rhombic shape shown in Figure 4, and other shapes can be used.

[0027] Next, specific examples of arrangement patterns of the electromagnetic coils 12 and the permanent magnets 6 will be described with reference to FIGS.

[0028] Fig. 5 is a diagram showing the positional relationship between the electromagnetic coil 12 in the sample transport carrier 4 and the permanent magnet 6 in the transport panel 2 when the sample transport carrier 4 is moving in the X-axis direction. Figs. 6 and 9 are diagrams showing the relationship between the electromagnetic coil 12 and the permanent magnet 6. Fig. 7 is a diagram showing an example of the arrangement of the permanent magnet 6 on the transport panel 2 and the shape of the yoke 14. Fig. 8 is a diagram showing the relationship between the excitation states of the electromagnetic coils 12a, 12b, and 12c and the output values ​​of the sensors 15a and 15b that detect the strength of the magnetic force of the permanent magnet 6.

[0029] As shown in Figures 5 and 6, the electromagnetic coils 12 are arranged in combinations corresponding to the movement of the sample transport carrier 4 in two directions, the X axis and the Y axis, and three or more electromagnetic coils 12 are arranged in two orthogonal directions.

[0030] 6 and 7, the permanent magnets 6 arranged directly below the sample transport plane 1 are arranged in a square lattice pattern at a constant interval D1 along the movement paths of the sample transport carrier 4 in the X-axis and Y-axis directions. The X-axis and Y-axis constituting each square lattice form movement paths 18a, 18b of the sample transport carrier 4. Note that while the embodiment shown in FIG. 7 illustrates the use of a circular permanent magnet 6, the shape can be changed to an optimum shape, such as a square, depending on the situation.

[0031] Furthermore, it is desirable that the distance D2 between the intersections of the X-axis and Y-axis of the permanent magnet 6 is an arbitrary integer N times the distance D1.

[0032] Since the sample transport carrier 4 needs to incorporate many components such as the electromagnetic coil 12 inside, it is preferable that the cross-sectional shape be such that the internal volume is large.

[0033] 6 and 7, when the movement path of the sample transport carrier 4 is formed in a square lattice pattern, considering that the sample transport carriers 4 always maintain the same direction in the X-axis and Y-axis directions regardless of whether they are moving or stopped, it is advantageous for the cross-sectional shape to be square, which reduces the chance of interference between moving sample transport carriers 4 and increases the internal volume of the sample transport carrier 4. A sample transport carrier 4 with a square cross-section moves with each side maintaining parallelism with the X-axis and Y-axis of the square lattice that forms the movement path.

[0034] Here, if the length of one side of the square cross section of the bottom surface of the sample transport carrier 4 is L, it is desirable that the distance D2 between the intersections be greater than half the length L of one side.

[0035] Furthermore, the spacing between the electromagnetic coils 12 in the X-axis direction of the sample transport carrier 4 can be 2 / 3 x D1, which is the spacing D1 between the permanent magnets 6. Similarly, the spacing between the electromagnetic coils 12 in the Y-axis direction of the sample transport carrier 4 is also 2 / 3 x D1, which is the spacing D1 between the permanent magnets 6.

[0036] The excitation control of the multiple electromagnetic coils 12 in the control unit 16 is performed by controlling the excitation state of a combination of electromagnetic coils 12 in either the X-axis or Y-axis direction, thereby moving the coils in either the X-axis or Y-axis direction, and the principle of movement can be, for example, that of a linear DC motor.

[0037] In this case, the detection value of the sensor unit 15 can be used as described above. The output values ​​of the sensor units 15a and 15b have a unique combination of output values ​​depending on the change in the position of the sample transport carrier 4. Therefore, by checking the output values ​​of each of the sensor units 15a and 15b, the relative positions of the permanent magnet and the sample transport carrier 4 can be determined.

[0038] The control unit 16 of the sample transport carrier 4 checks the output values ​​of the sensor units 15a and 15b, determines the relative position of the permanent magnet 6 and the sample transport carrier 4, and switches the excitation state of the electromagnetic coils 12a, 12b, and 12c as shown in Figure 8, thereby moving the sample transport carrier 4 in the X-axis direction.

[0039] Movement in the Y-axis direction is also based on the same principle as movement in the X-axis direction. As shown in Fig. 6, the electromagnetic coil 12 in the sample transport carrier 4 and the permanent magnets in the transport panel 2 are arranged in a cross shape in the X-axis and Y-axis directions, so movement in the Y-axis direction uses electromagnetic coils 12d, 12b, and 12e and sensor units 15c and 15d shown in Fig. 8.

[0040] In this way, by positioning the permanent magnets in the transport panel 2 according to the direction of movement of the sample transport carrier 4 and by positioning the electromagnetic coils 12 in the sample transport carrier 4 in a manner that corresponds to each direction of movement, the sample transport carrier 4 can be moved in any direction.

[0041] The arrangement pattern of the electromagnetic coils 12 (=arrangement pattern of the permanent magnets 6) is not limited to the form shown in Fig. 6 and can be changed as appropriate depending on the shape of the sample transport plane 1. For example, as shown in Fig. 9, the permanent magnets 6 in the transport panel 2 and the electromagnetic coils 12 in the sample transport carrier 4 can be arranged so that they can move in three directions that are offset by 60 degrees. In this case, the degree of freedom of the transport path can be increased compared to when they are arranged in a square lattice pattern as shown in Fig. 6.

[0042] In order to more appropriately move the sample transport carrier 4 to the desired position, it is desirable to check the output values ​​of the sensor units 15a and 15b, and in addition to understanding the relative position between the permanent magnet 6 and the sample transport carrier 4, it is also desirable to understand the absolute position of the sample transport carrier 4 within the sample transport plane 1 and the transport panel 2.

[0043] The configuration for this purpose will be described below with reference to FIGS. 10 to 13. FIG.

[0044] Fig. 10 is a diagram showing the arrangement of RFID tags 19 arranged along movement paths 18a and 18b of the sample transport carrier 4, and the wireless power supply coil 20 constituting the wireless power supply unit. Also, Figs. 11 and 12 are diagrams showing the positional relationship between the RFID tag 19 and components of an RFID reading antenna 21 installed inside the sample transport carrier 4 when the sample transport carrier 4 communicates with the RFID tag 19. Fig. 13 is a conceptual diagram showing communication between the sample transport carrier 4 and an external control unit 28, and the state of communication between the sample transport carriers 4.

[0045] As shown in Figure 10, on the sample transport plane 1, multiple RFID tags 19 are provided as non-contact communication units directly below or on the surface of the sample transport plane 1 along the movement path of the sample transport carrier 4 so as not to interfere with the movement of the sample transport carrier 4.

[0046] Furthermore, as shown in FIGS. 11 and 12, the sample transport carrier 4 is provided with an RFID reading antenna 21 that communicates with these RFID tags 19 .

[0047] 10 and other figures, an RFID tag 19 is used as the non-contact communication unit, and the component of the communication interface with the RFID tag 19 is an RFID reading antenna 21. In addition to this, various information recording units such as IR communication and barcodes can be used for the RFID tag 19, and the communication interface adopts a configuration suited to the specifications of the non-contact communication unit.

[0048] As shown in Figures 11 and 12, it is desirable that the RFID tag 19 and RFID reading antenna 21 are positioned in the optimum position for communication when the sample transport carrier 4 is positioned directly above the intersection of the X-axis or Y-axis of the movement path, and it is desirable that the RFID tag 19 and the sample transport carrier 4 communicate one-to-one.

[0049] Of the above-mentioned RFID tags 19, it is desirable that each individual RFID tag 19 has the serial number of the transport panel 2 that identifies the transport panel 2 on which each RFID tag 19 is placed, and the position information (unique information) of the RFID tag 19 that indicates the position on the transport panel 2 on which the RFID tag 19 is placed.

[0050] It is also desirable that the control unit 16 of the sample transport carrier 4 stores in advance the positional relationship between the serial number of the transport panel 2 and each RFID tag 19. Then, when the sample transport carrier 4 is positioned above the RFID tag 19, it is desirable to identify the transport panel 2 and the RFID tag 19 therein from the unique information received from the RFID tag 19, identify the absolute position of the sample transport carrier 4 within the sample transport plane 1 and the transport panel 2 based on the unique information, and control the excitation of the electromagnetic coil 12 while checking whether the sample transport carrier 4 has deviated from the path to the destination position during transport.

[0051] Furthermore, the sample transport carrier 4 is equipped with a wireless communication unit 29 that performs wireless communication with an external control unit 28 that controls the entire sample transport system, and is capable of mutual communication. The wireless communication unit 29 also enables mutual communication between sample transport carriers 4.

[0052] For example, by exchanging information on each sample transport carrier 4's position, direction of movement, and operating status, and determining the priority of the movement of the sample transport carrier 4 based on rules, it is possible for the sample transport carrier 4 to move independently without the intervention of an external control unit 28.

[0053] Next, the configuration for charging the storage battery 17 of the sample transport carrier 4 will be described with reference to Figures 14 and 15. Figures 14 and 15 are diagrams showing the positional relationship between the wireless power feed coil 20 constituting the wireless power feeder and the wireless power receiving coil 22 constituting the wireless power receiving unit of the sample transport carrier 4 when the sample transport carrier 4 receives power from the wireless power feeder.

[0054] As shown in FIGS. 14 and 15, it is desirable to use a wireless power supply / receive system to charge the storage battery 17.

[0055] The transport panel 2 is provided with a wireless power supply coil 20 at a specific spot as a charging spot, which serves as a power supply unit for charging the storage battery 17 of the sample transport carrier 4. This wireless power supply coil 20 is disposed directly below the sample transport surface of the transport panel 2.

[0056] As shown in FIG. 15, the sample transport carrier 4 has a wireless power receiving coil 22 on its bottom surface.

[0057] When the control unit 16 of the sample transport carrier 4 determines that the remaining capacity of the storage battery 17 has decreased or that there is sufficient capacity for transport, it controls the sample transport carrier 4 to be transported to a position where the wireless power receiving coil 22 overlaps the wireless power supply coil 20, receives power, and charges the storage battery 17 of the sample transport carrier 4.

[0058] It is not necessary that one wireless power supply coil 20 is provided for one conveying panel 2, and the number of the provided wireless power supply coils 20 can be changed according to the required number.

[0059] Furthermore, as shown in FIG. 14 , in order to ensure installation space for the wireless power feed coil 20, the shape of the permanent magnet 6 in the vicinity of where the wireless power feed coil 20 is provided can be changed, and the shape can be changed from a circular shape like the permanent magnets 6 in other locations to a rectangular parallelepiped shape like the permanent magnets 6 a and 6 b.

[0060] Next, details of a structure suitable for connecting the multiple transport panels 2 that make up the sample transport plane 1 will be described with reference to Figures 16 and 17. Figure 16 is a diagram showing a cross section of the connection portion of the transport panels 2. Figure 17 is a diagram showing the relationship between the center of gravity position 25 of the sample transport carrier 4 and the cross-sectional shape of the inclined surface 24 provided at the end of the transport panel 2 when the sample transport carrier 4 passes over the inclined surface 24 at the end.

[0061] Various movement paths for the sample transport carrier 4 need to be constructed according to the installation specifications of the sample transport system. Therefore, as described above, it is desirable that the sample transport plane 1 along which the movement paths are constructed be constructed by connecting multiple separable transport panels 2. With this configuration, movement paths can be flexibly constructed according to various installation specifications by changing the connection state of the transport panels 2.

[0062] When the transport panels 2 are connected, depending on the connection state between the transport panels 2, a step 23 may occur between the transport panel 2 and the adjacent transport panel 2, as shown in FIG.

[0063] Therefore, an inclined surface 24 can be formed at the end of the transport panel 2. It is desirable that this inclined surface 24 has a gentle slope, so that the sample transport carrier 4 can smoothly climb over even if a step 23 occurs.

[0064] Here, regarding the inclination angle of the inclined surface 24, in order for the sample transport carrier 4 to pass over the end inclined surface 24 more stably, it is required that the end surface 26 in the direction of travel of the sample transport carrier 4 passes over the inclined surface 24b of the next transport panel 2 and reaches the flat portion 27b before the center of gravity position of the sample transport carrier 4 reaches the inclined surface 24a from the flat portion 27a, as shown in Figure 17.

[0065] Therefore, when the angle between the sample transport plane 1 and the inclined surface 24 is θ, the maximum height of the step between adjacent transport panels 2 is H, and the length of the sample transport carrier 4 in the transport direction is l, it is possible to select an angle θ that satisfies the relational expression tan θ≧4H / l. By using an inclined surface 24 that satisfies this condition, the inclination angle can be made the gentlest.

[0066] Next, the effects of this embodiment will be described.

[0067] The sample transport system of the present embodiment described above comprises a sample transport carrier 4 carrying a container 3 containing a sample, a sample transport plane 1 along which the sample transport carrier 4 can move, and multiple permanent magnets 6 arranged on the underside of the sample transport plane 1 along the movement path of the sample transport carrier 4.The sample transport carrier 4 has three or more electromagnetic coils 12 arranged in a row in the transport direction of the sample transport carrier 4, a storage battery 17 that supplies power to the electromagnetic coils 12 and the control unit 16, and a control unit 16 that controls the excitation state of the electromagnetic coils 12.The sample transport carrier 4 moves along the upper surface of the sample transport plane 1 by controlling the excitation state of the electromagnetic coils 12 and applying a magnetic force to the permanent magnets 6.

[0068] This eliminates the need to provide electromagnetic coils over the entire range of the sample transport plane, since the electromagnetic coils are provided on the sample transport carrier 4 side. Therefore, it is possible to obtain a flexible, inexpensive, and simple sample transport system, as well as a sample transport carrier and sample container transport method that realizes the system, that do not pose concerns such as increased mass, increased manufacturing costs, and complicated excitation control of the electromagnetic coils.

[0069] In addition, the sample transport carrier 4 has five or more electromagnetic coils 12 and is capable of moving in two or more different transport directions. In particular, the permanent magnets 6 are arranged in a square lattice pattern, and three or more electromagnetic coils 12 are arranged in a row in two orthogonal directions, making it possible to create a more flexible transport path.

[0070] Furthermore, when the distance between the center of a permanent magnet 6 and the center of an adjacent permanent magnet 6 is D1, the distance D2 between the intersections of the X and Y axes of the square lattice formed by the permanent magnets 6 is an integer multiple of D1. Therefore, by changing the integer N, the number of movement paths of the sample transport carriers 4 arranged on the sample transport plane 1 can be freely set according to the required number, thereby realizing even more flexible transport paths.

[0071] Furthermore, the bottom surface of the sample transport carrier 4 has a square horizontal cross section, which maximizes the internal volume of the sample transport carrier 4, which has more components than conventional techniques, and prevents wasted space from being generated, making it possible to reduce the size and weight of the sample transport carrier 4 as much as possible, thereby improving transport efficiency.

[0072] Furthermore, the distance D2 between the intersections of the X-axis and Y-axis of the square lattice formed by the permanent magnets 6 is greater than half the length L of one side of the bottom surface, so that even when two sample transport carriers 4 move parallel to each other along different adjacent movement paths 18a, 18b, the sample transport carriers 4 can move without interfering with each other, thereby improving transport efficiency.

[0073] In addition, the sample transport carrier 4 further has a sensor unit 15 that grasps its relative position with respect to the permanent magnet 6, and the control unit 16 controls the excitation state of the electromagnetic coil 12 based on the relative position with respect to the permanent magnet 6 grasped by the sensor unit 15, thereby improving the accuracy of excitation control and achieving improved transport efficiency.

[0074] Furthermore, the cross-sectional shape of the contact bottom surface 11a, 11b of the sample transport carrier 4 that comes into contact with the sample transport plane 1 is different from the horizontal cross-sectional shape of the sample transport carrier 4, which reduces the frictional force when the sample transport carrier 4 moves and improves its straight-line stability.

[0075] In addition, the sample transport plane 1 has multiple RFID tags 19 along the movement path of the sample transport carrier 4, and the sample transport carrier 4 further has an RFID reading antenna 21 that communicates with the RFID tags 19.In particular, each RFID tag 19 has unique information, and the control unit 16 of the sample transport carrier 4 identifies the position of the sample transport carrier 4 within the sample transport plane 1 based on the unique information, making it easier to identify the absolute position of the sample transport carrier 4 and further improving transport accuracy.

[0076] Furthermore, the non-contact communication unit consists of at least one information recording unit selected from the group consisting of an RFID tag 19, IR communication, and a barcode, and the communication interface is an RFID reading antenna 21 that reads the information in the information recording unit, thereby enabling fast and stable information exchange.

[0077] In addition, the sample transport carrier 4 further has a wireless communication unit 29, which enables mutual communication between other sample transport carriers 4 or with an external control unit 28, thereby enabling even more accurate transport control.

[0078] Furthermore, the sample transport plane 1 is composed of multiple transport panels 2, and any sample transport plane 1 can be constructed by connecting the transport panels 2, making it possible to freely generate various transport paths and respond to the installation specifications of a variety of sample transport systems.

[0079] Furthermore, since the inclined surface 24 is formed at the end of the transport panel 2, even if a step 23 occurs at the connection portion of the transport panel 2, transport can be performed stably across the step 23 portion.

[0080] Furthermore, when the angle between the sample transport plane 1 and the inclined surface 24 is θ, the maximum height of the step between adjacent transport panels 2 is H, and the length of the sample transport carrier 4 in the transport direction is l, the sample transport carrier 4 satisfies the relationship tan θ≧4H / l, which enables even more stable movement when the sample transport carrier 4 passes through the inclined surface 24 at the end.

[0081] In addition, the sample transport plane 1 has a power supply unit that charges the storage battery 17, and in particular, the sample transport carrier 4 has a wireless power receiving coil 22, and the power supply unit is a wireless power supply coil 20, making it easy to charge the sample transport carrier 4.

[0082] <Others> The present invention is not limited to the above-described embodiments, and various modifications and applications are possible. The above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those having all of the described configurations.

[0083] DESCRIPTION OF SYMBOLS 1...Sample transport plane 2...Transport panel 3...Container (sample container) 4...Sample transport carrier 5...Top plate 6, 6a, 6b...Permanent magnet 7...Permanent magnet support member 8, 14...Yoke 9...Blood collection tube mounting section 10...Cover 11a, 11b...Shape 12, 12a, 12b, 12c, 12d, 12e...Electromagnetic coil 13...Iron core 15, 15a, 15b, 15c, 15d...Sensor section 16...Control section 17...Storage battery (power supply section) 18a, 18b...Movement path 19...RFID tag (non-contact communication section) 20...Wireless power supply coil (wireless power supply section) 21...RFID reading antenna (communication interface, recording medium reader) 22...Wireless power receiving coil (wireless power receiving section) 23...Step 24, 24a, 24b...Inclined surface 25...Center of gravity position 26... End surface 27a, 27b... Flat part 28... Control section 29... Wireless communication section D1, D2... Arrangement interval

Claims

1. A sample transport system comprising: a sample transport carrier carrying a sample container containing a sample; a sample transport plane along which the sample transport carrier can move; and a plurality of permanent magnets arranged on the underside of the sample transport plane along the movement path of the sample transport carrier, wherein the sample transport carrier has three or more electromagnetic coils arranged in a row in the transport direction of the sample transport carrier, a power supply unit that supplies power to the electromagnetic coils and control unit, and a control unit that controls the excitation state of the electromagnetic coils, and wherein the sample transport carrier moves along the upper surface of the sample transport plane by controlling the excitation state of the electromagnetic coils to apply a magnetic force to the permanent magnets.

2. A sample transport system according to claim 1, characterized in that the sample transport carrier has five or more of the electromagnetic coils and is capable of movement in two or more different transport directions.

3. A sample transport system as described in claim 2, characterized in that the permanent magnets are arranged in a square lattice pattern, and three or more of the electromagnetic coils are arranged side by side in two perpendicular directions.

4. A sample transport system as described in claim 3, characterized in that, when the distance between the center of the permanent magnet and the center of the adjacent permanent magnet is D1, the distance D2 between the intersections of the X-axis and Y-axis of the square lattice formed by the permanent magnets is an integer multiple of D1.

5. A sample transport system according to claim 3, characterized in that the bottom surface of the sample transport carrier has a square horizontal cross section.

6. A sample transport system as claimed in claim 5, characterized in that the distance D2 between the intersections of the X-axis and Y-axis of the square lattice formed by the permanent magnets is greater than half the length L of one side of the bottom surface.

7. A sample transport system as described in claim 1, wherein the sample transport carrier further has a sensor unit which grasps the relative position with respect to the permanent magnet, and the control unit controls the excitation state of the electromagnetic coil based on the relative position with respect to the permanent magnet grasped by the sensor unit.

8. A sample transport system according to claim 1, characterized in that the cross-sectional shape of the contact bottom surface of the sample transport carrier that contacts the sample transport plane is different from the shape of the horizontal cross section of the sample transport carrier.

9. A sample transport system as described in claim 1, characterized in that the sample transport plane has a plurality of non-contact communication units along the movement path of the sample transport carrier, and the sample transport carrier further has a communication interface for communicating with the non-contact communication units.

10. A sample transport system as described in claim 9, characterized in that each of the non-contact communication units has unique information, and the control unit of the sample transport carrier identifies the position of the sample transport carrier within the sample transport plane based on the unique information.

11. A sample transport system as described in claim 9, characterized in that the non-contact communication unit is composed of at least one information recording unit selected from the group consisting of an RFID tag, an IR communication unit, and a barcode, and the communication interface is a recording medium reader that reads information from the information recording unit.

12. A sample transport system according to claim 1, wherein the sample transport carrier further comprises a wireless communication unit for communicating with other sample transport carriers or with an external control system.

13. A sample transport system as described in claim 1, characterized in that the sample transport plane is composed of a plurality of transport panels, and any of the sample transport planes is constructed by connecting the transport panels.

14. A sample transport system according to claim 13, characterized in that an inclined surface is formed on an end of the transport panel.

15. A sample transport system as described in claim 14, characterized in that the sample transport carrier satisfies the relationship tan θ≧4H / l, where θ is the angle between the sample transport plane and the inclined surface, H is the maximum height of the step between adjacent transport panels, and l is the length of the sample transport carrier in the transport direction.

16. A sample transport system according to claim 1, wherein the sample transport plane has a power supply section for charging the power supply section.

17. A sample transport system according to claim 16, characterized in that the sample transport carrier has a wireless power receiving unit, and the power supply unit is a wireless power supply unit.

18. A sample transport carrier carrying a sample container containing a sample, the sample transport carrier comprising: three or more electromagnetic coils arranged in a row in the transport direction of the sample transport carrier; a power supply unit that supplies power to the electromagnetic coils and control unit; and a control unit that controls the excitation state of the electromagnetic coils, the sample transport carrier being moved along the upper surface of the sample transport plane by controlling the excitation state of the electromagnetic coils and exerting magnetic force on multiple permanent magnets arranged on the lower surface of the sample transport plane along the movement path of the sample transport carrier.

19. A method for transporting a sample container, comprising: three or more electromagnetic coils arranged in a row in the transport direction; a power supply unit that supplies power to the electromagnetic coils and the control unit; and a control unit that controls the excitation state of the electromagnetic coils, wherein the sample transport carrier on which the sample container is mounted is moved along the movement path of the sample transport carrier by controlling the excitation state of the electromagnetic coils to apply magnetic force to a plurality of permanent magnets arranged on the underside of the sample transport plane, thereby moving the sample transport carrier on the upper surface of the sample transport plane.

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