Specimen transport device and specimen transport method

Abstract

The present invention is provided with: a plurality of position sensors 210 that detect the position of a holder 202 holding a specimen container 201; and a calculation unit 209. The position sensors 210 are arranged such that the holder 202 located at a prescribed position is detected by the plurality of position sensors 210. The calculation unit 209 determines the position of the holder 202 on the basis of the results of detection by the plurality of position sensors 210. Thus, provided are a specimen transport device and a specimen transport method with which a specimen can be more stably transported by achieving holder position detection more stably as compared to those in prior art.

Description

Specimen transport device and specimen transport method

[0001] The present invention relates to a sample transport device and a sample transport method suitable for a sample pretreatment system or an automatic analysis system.

[0002] As an example of a laboratory sample delivery system and corresponding operating method that is highly flexible and provides high transport performance, Patent Document 1 describes a system comprising 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 arranged stationary below the transport plane, the electromagnetic actuators being adapted to move the container carriers above the transport plane by applying a magnetic force to the container carriers.

[0003] Furthermore, as an example of a laboratory sample distribution system in which the position on a transfer surface can be recognized, Patent Document 2 describes a system comprising a transfer surface, a plurality of sample container carriers, a driving means configured to move the sample container carriers on the transfer surface, and a control device configured to control the movement of the sample container carriers on the transfer surface by driving the driving means so that the sample container carriers move along corresponding transfer paths, and a plurality of optically recognizable geometric shapes are placed on the transfer surface, each geometric shape representing a dedicated field on the transfer surface.

[0004] JP 2017-77971 A JP 2018-119962 A

[0005] Specimen processing systems for automatically analyzing specimens, which are biological samples such as blood and urine, include specimen preprocessing systems that perform processes such as specimen introduction, centrifugation, dispensing, and labeling, and automatic analysis systems that analyze specimens processed by the specimen preprocessing systems.

[0006] The sample pretreatment system and the automatic analysis system are equipped with a sample transport line using a belt conveyor or the like to transport the samples to the mechanism that performs the required processing and analysis. By installing multiple such transport lines on the sample transport device, the samples are transported to the required mechanism.

[0007] On the other hand, Patent Document 1 discloses a laboratory sample delivery system that is very flexible and provides high transport performance. Patent Document 2, as an example of a sample transport method, describes a system that has a position sensor that detects the sample position (specifically, the position of a permanent magnet installed in the sample), and transports the sample by exciting an electromagnetic actuator that corresponds to the desired transport direction in accordance with the position information detected by the position sensor.

[0008] Patent Document 2 provides a specimen transport device that uses a position sensor to detect the position information of a specimen. However, it only describes a method for detecting a holder from information from a single sensor, and does not consider a method for detecting a holder in a predetermined position from information from multiple sensors.

[0009] In such a method of detecting a holder from information from a single sensor, if the sensor deteriorates or breaks down, detection of the holder position at the corresponding location will fail, making it difficult to transport the holder, so there is room for improvement.

[0010] The present invention provides a sample transport device and a sample transport method that can transport samples more stably by realizing more stable holder position detection than conventional methods.

[0011] The present invention includes multiple means for solving the above problems, and one example thereof is a device comprising multiple sensors for detecting the position of a sample holder holding a sample container, and a control unit, wherein the sensors are arranged to detect the sample holder at a predetermined position with the multiple sensors, and the control unit determines the position of the sample holder based on the detection results of the multiple sensors.

[0012] According to the present invention, more stable detection of the holder position than in the past is realized, thereby enabling more stable transport of specimens. Problems, configurations, and effects other than those described above will become clear from the following description of the embodiments.

[0013] 5 is a schematic diagram of a sample transport device including a transport device according to Example 1. FIG. 5 is a schematic diagram of a transport device according to Example 1. FIG. 6 is a partial top view of a transport device according to Example 1. FIG. 7 is a flowchart showing an example of a reset operation procedure according to Example 1. FIG. 8 is a flowchart showing an example of a holder operation procedure according to Example 1. FIG. 9 is a diagram showing the state of the transport device during one step of the flowchart of FIG. 5. FIG. 10 is a diagram showing the state of the transport device during one step of the flowchart of FIG. 5. FIG. 11 is a diagram showing the state of the transport device during one step of the flowchart of FIG. 5. FIG. 12 is a diagram showing the state of the transport device during one step of the flowchart of FIG. 5. FIG. 13 is a diagram showing the state of the transport device during one step of the flowchart of FIG. 5. FIG. 14 is a diagram showing the state of the transport device during one step of the flowchart of FIG. 5. A diagram showing the state of the conveying device during one step of the flowchart of Fig. 12. A diagram showing the state of the conveying device during one step of the flowchart of Fig. 12. A diagram showing the state of the conveying device during one step of the flowchart of Fig. 12. A diagram showing the state of the conveying device during one step of the flowchart of Fig. 12. A diagram showing the state of the conveying device during one step of the flowchart of Fig. 12. A diagram showing the state of the conveying device during one step of the flowchart of Fig. 12.

[0014] Hereinafter, an embodiment of the sample transport device and sample transport method of the present invention will be described with reference to the drawings.

[0015] In the drawings used in this specification, identical or corresponding components are denoted by the same or similar reference numerals, and repeated description of these components may be omitted.

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

[0017] Example 1 A sample transport device and a sample transport method according to Example 1 of the present invention will be described with reference to FIGS. 1 to 5F.

[0018] First, the overall configuration of a sample analysis system equipped with a transport device will be described with reference to Fig. 1. Fig. 1 is a plan view showing the overall configuration of a sample analysis system equipped with a transport device according to this embodiment.

[0019] The sample analysis system 100 in this first embodiment shown in FIG. 1 is a system equipped with an analyzer for automatically analyzing components of samples such as blood and urine.

[0020] The main components of the sample analysis system 100 are a plurality of transport devices 102 (12 in FIG. 1) that transport holders 202 (see FIG. 2) containing sample containers 201 (see FIG. 2) containing samples such as blood or urine, or empty holders 202 that do not contain sample containers 201, to a predetermined destination, a plurality of analyzers 103 (4 in FIG. 1), and a control computer 101 that provides integrated management of the sample analysis system 100.

[0021] The analyzer 103 is a unit for performing qualitative and quantitative analysis of the components of the sample transported by the transport device 102. The analysis items in this unit are not particularly limited, and the configuration of a known automatic analyzer for analyzing biochemical items or immunological items can be adopted. Furthermore, when multiple analyzers are provided, they may have the same specifications or different specifications and are not particularly limited.

[0022] Each transport device 102 is a device that transports a specimen mounted on a holder 202 to a destination by sliding the specimen on a transport path due to the interaction between a magnetic body 203 (see FIG. 2) and a magnetic pole 207 (see FIG. 2) provided on the holder 202. Details thereof will be described in detail using FIG. 2 and subsequent figures.

[0023] The control computer 101 controls the operation of the entire system including the transport device 102 and the analysis device 103, and is composed of a computer having a display device such as a liquid crystal display, an input device, a storage device, a CPU, a memory, etc. The control computer 101 controls the operation of each device based on various programs recorded in the storage device.

[0024] The control processes for the operations executed by the control computer 101 may be integrated into one program, or may be divided into multiple programs, or may be a combination of these. Furthermore, some or all of the programs may be realized by dedicated hardware, or may be modularized.

[0025] 1, the case where four analyzers 103 are provided is described, but the number of analyzers is not particularly limited and may be one or more. Similarly, the number of transport devices 102 is also not particularly limited and may be one or more.

[0026] Furthermore, various specimen pre-treatment and post-treatment sections that perform pre-treatment and post-treatment on specimens may be provided in the specimen analysis system 100. The detailed configuration of the specimen pre-treatment and post-treatment sections is not particularly limited, and the configuration of a known pre-treatment device may be adopted.

[0027] Next, the specific configuration of the transport device 102 of this embodiment will be described with reference to Figures 2 to 5F. Figure 2 is a schematic diagram of the transport device 102. Figure 3 is a diagram showing a partial top view of the transport device. Figure 4 is a flowchart showing a reset operation method before starting holder transport in this embodiment. Figure 5 is a flowchart showing a holder transport method in this embodiment using information from multiple position sensors, and Figures 5A to 5F are diagrams showing the state of the transport device 102 during one process in the flowchart of Figure 5.

[0028] 2, a plurality of holders 202, each holding a specimen container 201 containing a specimen, are provided in the transport device 102. A magnetic body 203 is provided on the bottom surface of each of the plurality of holders 202.

[0029] The magnetic body 203 is made of a permanent magnet such as neodymium or ferrite, but may also be made of other magnets and soft magnetic materials, or may be an appropriate combination of these.

[0030] Although it is not necessary to provide the magnetic body 203 on the lower surface of the holder 202, it is desirable to provide it on the lower surface from the viewpoint of allowing the conveying force of the electromagnetic actuator to act efficiently.

[0031] A holder 202 having a magnetic body 203 slides on a conveying surface 204. In order to generate the conveying force, a plurality of magnetic poles 207 are provided below the conveying surface 204, each of which is made up of a cylindrical core 205 and a winding 206 wound around the outer periphery of the core 205.

[0032] In the transport device 102 of this embodiment, the multiple magnetic poles 207 provided inside are devices that generate thrust for transporting the holder 202, and are responsible for transporting the magnetic material 203, i.e., transporting the specimen.

[0033] In this embodiment, the specifications of all the magnetic poles 207 in the transport device 102 are the same, but they do not necessarily have to be the same.

[0034] A drive unit 208 is connected to the magnetic pole 207, for applying a predetermined voltage to the magnetic pole 207 to cause a predetermined current to flow through the winding 206. The magnetic pole 207 to which voltage is applied by the drive unit 208 acts as an electromagnet and attracts the magnetic material 203 attached to the holder 202 on the conveying surface 204. After the holder 202 is attracted by the magnetic pole 207, the application of voltage from the drive unit 208 to the magnetic pole 207 is stopped, and a voltage is applied from the drive unit 208 to a different magnetic pole 207 adjacent to the magnetic pole 207 in the same manner as described above, thereby attracting the magnetic material 203 attached to the holder 202 to the adjacent magnetic pole 207.

[0035] By repeating this procedure, the specimen contained in the specimen container 201 held in the holder 202 provided with the magnetic substance 203 is transported to the destination.

[0036] The calculation unit 209 determines the position of the holder 202 based on the detection results of a plurality of position sensors 210 in response to a command from the control computer 101 .

[0037] The position detection process may be executed by the calculation unit 209 independently of the control computer 101, or may be executed by the control computer 101. In this embodiment, however, the control computer 101 determines various settings for position detection, and the processing is executed by the calculation unit 209.

[0038] Furthermore, the calculation unit 209 uses various information such as position information, speed information, and weight information of the holder 202 to calculate the current to be passed through each winding 206, and outputs a command signal to each drive unit 208. The drive unit 208 applies a voltage to the corresponding winding 206 based on the command signal.

[0039] A plurality of position sensors 210 are provided between the transport surface 204 and the magnetic pole 207 to detect the position of the holder 202 that holds the specimen container 201. In this embodiment, the position sensors 210 are arranged so that the holder 202 in a predetermined position is detected by the plurality of position sensors 210, and for this reason, the arrangement interval between the plurality of position sensors 210 is shorter than the length of the bottom surface of the holder 202.

[0040] This position sensor 210 emits light toward the conveying surface 204 directly above it, and is preferably a reflection-side optical sensor that detects light reflected by the bottom surface of the holder 202, but it can also be configured with other sensors, and these can be combined as appropriate.

[0041] 3, when viewed from the center of the magnetic pole 207, the position sensor 210 is provided at a midpoint between adjacent magnetic poles 207, which is in the longitudinal and lateral directions of movement of the holder 202. Note that there are some places where two position sensors 210 are provided around the magnetic pole 207 and some places where four position sensors 210 are provided, but it is also possible to provide all four position sensors around all magnetic poles, or to provide them at any location for a purpose other than detecting the position of the holder 202.

[0042] Here, in Figure 3, the holder located near the center of magnetic pole 207 is holder 202a, the holder located near the middle between magnetic pole A and magnetic pole B is holder 202b, the holder located near the middle between magnetic pole C and magnetic pole D is holder 202c, the holder located near the middle between magnetic pole F and magnetic pole G is holder 202d, and the holder located between conveying device 102 is holder 202e.

[0043] Next, an example of a method for detecting where the holder 202 is located on the transport device 102 during a reset operation before the start of a transport operation will be described with reference to FIGS.

[0044] 4 shows the flow for one specific magnetic pole 207 in the transport device 102. In an actual reset operation, this flow is performed for all magnetic poles 207 of all transport devices 102 in the system.

[0045] First, in accordance with an instruction from the control computer 101, a reset operation is started and detection information from the position sensor 210 is acquired (S401).

[0046] Next, the control computer 101 refers to the design information (magnetic pole 207 table) stored in advance and determines whether four position sensors 210 are arranged around the magnetic pole 207 in the currently targeted transport device 102 (S403). If it is determined that four position sensors 210 are arranged, the process proceeds to step S404, and if it is determined that four position sensors 210 are not arranged, the process proceeds to step S407.

[0047] If it is determined in step S403 that four position sensors 210 are provided, it is determined whether all four position sensors 210 are in a detection ON state (S404). If it is determined that all four position sensors 210 are in a detection ON state, the process proceeds to step S405, where the control computer 101 determines that the holder 202 is near the center of the magnetic pole 207 (i.e., in a state similar to holder 202a) (S405), and magnetizes the magnetic pole 207 by a % to attract the holder 202 to the center of the magnetic pole 207 (S406). When the holder 202 is positioned at the center of the magnetic pole 207, the reset operation is completed (S421).

[0048] On the other hand, if it is determined in step S403 that there are not four position sensors 210 arranged, it is assumed that two position sensors 210 are arranged in the same straight line around the magnetic pole 207 (S407), and it is determined whether two of the position sensors 210 on the same straight line are in the detection ON state (S408).

[0049] For example, if it is determined that two position sensors 210 are in the detection ON state for the magnetic pole 207 midway between magnetic poles 207F and 207G, it is determined that the holder 202 is near the midpoint between magnetic poles 207F and 207G (i.e., in a state similar to holder 202d) (S409), and magnetic pole 207F or 207G is excited by d % to attract the holder 202 to the center of magnetic pole 207F or 207G (S410). When the holder 202 is positioned at the center of magnetic pole 207F or 207G, the reset operation is completed (S421).

[0050] On the other hand, if it is determined in step S408 that two position sensors 210 on the same line are not in the detection ON state, the process proceeds to step S417.

[0051] In this embodiment, the magnetic pole 207 around which four position sensors 210 are arranged is set as the stopping location of the holder 202, and therefore the flow is to excite the magnetic pole 207F or the magnetic pole 207G, rather than the magnetic pole 207 arranged midway between the magnetic poles 207F and 207G. If the magnetic pole 207 around which two position sensors 210 are arranged is also set as the stopping location of the holder 202, the magnetic pole 207 midway between the magnetic poles 207F and 207G may be excited, and the reset operation may be terminated.

[0052] On the other hand, if it is determined in step S404 that four of the position sensors 210 are not in the ON state for detection, the process proceeds to step S411, where it is determined whether three of the position sensors 210 are in the ON state for detection (S411).

[0053] For example, if it is determined that three position sensors 210 are in the detection ON state for magnetic pole 207A, the control computer 101 determines that holder 202 is located midway between magnetic pole 207A and magnetic pole 207B, which is in the opposite direction from position sensor 210 that is in the detection OFF state with magnetic pole 207A at the center (i.e., the state is like holder 202b) (S412), and excites magnetic pole 207A by b % to attract holder 202 to the center of magnetic pole 207A (S413). The reset operation is completed when holder 202 is positioned at the center of magnetic pole 207A (S421).

[0054] On the other hand, if it is determined in step S411 that three position sensors 210 are not in the detection ON state, it is determined whether two position sensors 210 on different lines are in the detection ON state (S414).

[0055] For example, if two position sensors 210 on different lines are determined to be in the detection ON state for magnetic pole 207E, it is determined that holder 202 is located midway between magnetic poles 207C and 207D, which are in the opposite direction from position sensors 210 that are in the detection OFF state with magnetic pole 207E at the center (i.e., the state is like holder 202c) (S415), and magnetic pole 207E is excited by c % to attract holder 202 to the center of magnetic pole 207E (S416). The reset operation is completed when holder 202 is positioned at the center of magnetic pole 207E (S421).

[0056] On the other hand, if it is determined in step S414 that two position sensors 210 on different lines are not in the detection ON state, and if it is determined in step S408 that two position sensors 210 on the same line are not in the detection ON state, the process proceeds to step S417, where it is determined whether one position sensor 210 is in the detection ON state (S417).

[0057] For example, when it is determined that one position sensor 210 for magnetic pole 207H is in the detection ON state, it is determined that the holder 202 is located near the midpoint between magnetic pole 207H and the magnetic pole 207 of the adjacent conveyance device 102 (i.e., in a state like holder 202e) (S418), and magnetic pole 207H or the magnetic pole 207 of the adjacent conveyance device 102 is excited by e % to attract the holder to the center of magnetic pole 207H or the magnetic pole 207 of the adjacent conveyance device 102 (S419). When the holder 202 is positioned at the center of magnetic pole 207H or the magnetic pole 207 of the adjacent conveyance device 102, the reset operation is completed (S421).

[0058] On the other hand, if it is determined in step S417 that none of the position sensors 210 is in the detection ON state, it is determined that the holder 202 is not near the magnetic pole 207 (S420), and the reset operation ends (S421).

[0059] Next, a method for transporting the holder 202 after the reset operation is completed will be described with reference to the flowchart of FIG.

[0060] First, in accordance with an instruction from the control computer 101, the transport device 102 starts a transport operation to the designated position of the magnetic pole 207, as shown in FIG. 5A (S501).

[0061] 5, when the target position is magnetic pole C in FIG. 5, the transport device 102 excites magnetic pole B in FIG. 5 at a % (S502), and determines whether or not sensors 2, 3, and 4 of the position sensors 210 in FIG. 5 are in the detection ON state and sensors 1, 5, 6, 7, and 8 are in the detection OFF state (see FIG. 5B) (S503). If it is determined that sensors 2, 3, and 4 of the position sensors 210 are in the detection ON state and sensors 1, 5, 6, 7, and 8 are in the detection OFF state, the transport device 102 excites magnetic pole B at b % (S504).

[0062] On the other hand, if it is determined in step S503 that the condition is not satisfied, the process returns to step S502, and acquisition of sensor information and excitation of magnetic pole B are continued until the condition is satisfied.

[0063] Thereafter, it is determined whether or not the position sensors 3 and 5 are in the detection ON state and the position sensors 1, 2, 4, 6, 7, and 8 are in the detection OFF state (see FIG. 5C ) (S505). If it is determined that the position sensors 3 and 5 are in the detection ON state and the position sensors 1, 2, 4, 6, 7, and 8 are in the detection OFF state, the magnetic pole B is excited at c% and the magnetic pole C is excited at d% (S506).

[0064] On the other hand, if it is determined in step S505 that the condition is not satisfied, the process returns to step S504, and acquisition of sensor information and excitation of magnetic pole B are continued until the condition is satisfied.

[0065] Thereafter, it is determined whether or not the position sensor 5 is in a detection ON state and the position sensors 1, 2, 3, 4, 6, 7, and 8 are in a detection OFF state (see FIG. 5D) (S507). If it is determined that the position sensor 5 is in a detection ON state and the position sensors 1, 2, 3, 4, 6, 7, and 8 are in a detection OFF state, the excitation of the magnetic pole B is turned OFF and the magnetic pole C is excited at e% (S508).

[0066] On the other hand, if it is determined in step S507 that the condition is not satisfied, the process returns to step S506, and acquisition of sensor information and excitation of magnetic poles B and C continue until the condition is satisfied.

[0067] Thereafter, it is determined whether or not the position sensors 5, 6, 7, and 8 are in the detection ON state and the position sensors 1, 2, 3, and 4 are in the detection OFF state (see FIG. 5E) (S509). If it is determined that the position sensors 5, 6, 7, and 8 are in the detection ON state and the position sensors 1, 2, 3, and 4 are in the detection OFF state, the magnetic pole C is excited at f% (S510).

[0068] On the other hand, if it is determined in step S509 that the condition is not satisfied, the process returns to step S508, and acquisition of sensor information and excitation of magnetic pole C are continued until the condition is satisfied.

[0069] Thereafter, it is determined again whether or not the position sensors 5, 6, 7, and 8 are in the detection ON state and the position sensors 1, 2, 3, and 4 are in the detection OFF state (see FIG. 5F) (S511NOS510). If it is determined again that the position sensors 5, 6, 7, and 8 are in the detection ON state and the position sensors 1, 2, 3, and 4 are in the detection OFF state, the conveyance operation of the holder 202 is completed (S512).

[0070] 5, and can be flexibly changed depending on the transport path, the magnetic pole 207, the position of the position sensor 210, and the shape of the holder 202. The strengths a to e% of the excitation of the magnetic pole 207 are assumed to be different values ​​in order to stably attract the holder 202 to the center of the magnetic pole 207, but they do not all have to be different values.

[0071] Next, the effects of this embodiment will be described.

[0072] The transport device 102 of the above-described first embodiment of the present invention comprises a plurality of position sensors 210 that detect the position of the holder 202 that holds the specimen container 201, and a calculation unit 209, and the position sensors 210 are arranged so that the holder 202 located at a predetermined position is detected by the plurality of position sensors 210, and the calculation unit 209 determines the position of the holder 202 based on the detection results of the plurality of position sensors 210.

[0073] By detecting the holder 202 in a predetermined position in this manner using multiple position sensors 210, the position of the holder 202 can be detected much more stably than before, which reduces the loss of holders 202 compared to before and enables quick and reliable response to collisions between holders 202, thereby allowing for more stable transport of specimens compared to before.

[0074] In addition, the holder 202 further includes a plurality of magnetic poles 207 that generate thrust for transporting the holder 202, the holder 202 having a magnet or magnetic material, and the position sensor 210 being positioned between the magnetic poles 207 in the direction of transport of the holder 202, thereby enabling high-speed transport of specimens, simultaneous transport of large quantities, and transport in multiple directions.

[0075] Furthermore, since the position sensor 210 is an optical sensor, it is possible to detect the presence or absence of the holder 202 directly above the sensor with high accuracy.

[0076] Furthermore, by setting the intervals between the position sensors 210 shorter than the length of the holder 202 during transport, it is possible to more reliably prevent the holder 202 from losing its position.

[0077] A sample transport device and a sample transport method according to a second embodiment of the present invention will be described with reference to Figures 6 to 9. Figure 6 is a schematic diagram showing an overview of the transport device according to the second embodiment and changes in the amount of reflected light, Figure 7 is a partial top view of the transport device, Figure 8 is a schematic diagram showing an overview of another embodiment of the transport device according to the second embodiment and changes in the amount of reflected light, and Figure 9 is a partial top view of a transport device according to another embodiment of the second embodiment corresponding to Figure 2.

[0078] In the transfer device of this embodiment, the bottoms of the holders 202A and 202B are made of a plurality of materials with different reflectances for the light emitted from the optical sensor.

[0079] The reflected light of light irradiated onto an object changes depending on the distance, material, and color of the irradiated object. By utilizing this property, when a reflective sensor having a light-emitting portion and a light-receiving portion is used for position sensor 210, the detection rate can be further increased by changing the material or color of a desired position on the bottom surface of holder 202A (FIG. 6) or holder 202B (FIG. 8), and it becomes possible to detect a desired position within the holder.

[0080] For example, as shown in FIG. 6, the material or color of the center of the bottom surface of the holder 202A is changed to form a low reflectance portion 202A1 and a high reflectance portion 202A2 so that the amount of reflected light 604 at the center of the bottom surface of the holder 202A is higher than that at other portions.

[0081] In addition, by setting the threshold value used by position sensor 210 to determine whether or not a detection has been made in two stages, namely, threshold value 601 higher than the amount of light 604 of reflected light from high reflectivity portion 202A2, and threshold value 602 lower than the amount of light 604 of reflected light from high reflectivity portion 202A2 and higher than the amount of light 604 of reflected light from low reflectivity portion 202A1, position sensor 210 can detect not only the presence or absence of holder 202A but also whether the center of the bottom surface of holder 202A is located directly above position sensor 210. That is, when position sensor 210 is placed at the center of magnetic pole 207 as shown in FIG. 7 , it can determine whether the center of magnetic pole 207 and the center of holder 202A are on a straight line.

[0082] Also, as shown in Figure 8, the material or color of the central part between the center and outer edge of the bottom surface of holder 202B is changed to form low reflectivity part 202B1 and high reflectivity part 202B2 so that the amount of reflected light 804 near the center between the center and outer edge of the bottom surface of holder 202B is higher than in other parts.

[0083] In this case, as in the case of Figure 6, the threshold value at which the position sensor 210 determines whether or not it has detected something is set to two levels: a threshold value 801 that is higher than the amount of light 804 of reflected light from the high reflectivity portion 202B2, and a threshold value 802 that is lower than the amount of light 804 of reflected light from the high reflectivity portion 202B2 and higher than the amount of light 804 of reflected light from the low reflectivity portion 202B1. This allows the position sensor 210 to grasp not only the presence or absence of the holder 202B, but also the relative positional relationship between the holder 202B and the position sensor 210.

[0084] As shown in Figures 3 and 9, when the position sensor 210 is located in the middle of the magnetic pole 207 in the vertical and horizontal direction of movement of the holder, by changing the bottom surface of the holder 202 so that the high reflectivity portion 202A2 is positioned on the position sensor 210 when the holder 202 is placed at the center of the magnetic pole 207, it is possible to determine whether the holder 202 is at the center of the magnetic pole 207 from multiple position sensor information (in the case of Figure 9, position sensors 210I to 210L are in the detection ON state).

[0085] The error in detecting the holder position at this time can be controlled by the lengths 603, 803 of the high reflectivity portions 202A2, 202B2; for example, if the width is set to 1 mm, detection can be performed with an error of 1 mm, and if the width is set to 5 mm, detection can be performed with an error of 5 mm.

[0086] This is merely one example, and if the location to be detected is the outer periphery of the bottom surface of the holder 202, the outer periphery can be detected by setting the threshold to 602. Also, if there are multiple locations to be detected, multiple locations can be detected by changing the material of the location to be detected and setting multiple corresponding thresholds.

[0087] The other configurations and operations are substantially the same as those of the specimen transport device and specimen transport method of the first embodiment, and details thereof will be omitted.

[0088] The sample transport apparatus and sample transport method according to the second embodiment of the present invention also provide substantially the same effects as those of the sample transport apparatus and sample transport method according to the first embodiment described above.

[0089] Furthermore, since the bottom of holder 202 is formed from multiple materials with different reflectivities of light emitted from the optical sensor, it is possible to grasp the relative positional relationship between holders 202A, 202B and position sensor 210, thereby further improving the position detection accuracy.

[0090] Third Embodiment A sample transport device and a sample transport method according to a third embodiment of the present invention will be described with reference to Fig. 10. Fig. 10 is a schematic diagram showing an overview of the transport device according to the third embodiment and changes in the amount of reflected light.

[0091] As shown in FIG. 10, in the transport device of this embodiment, as in the second embodiment, the bottom of the holder 202C is made of a plurality of materials with different reflectances for the light emitted from the optical sensor.

[0092] However, in Example 2, an example is described in which, when holders 202A and 202B come over the reflective position sensor 210, the amount of reflected light increases and exceeds a set threshold, turning on the detection state and detecting holders 202A and 202B.

[0093] In contrast, in an environment with a large amount of ambient light, turning off the light-emitting element of the reflective position sensor 210 blocks the ambient light when the holders 202A and 202B come over the position sensor 210, and the amount of light received by the light-receiving element 1001 decreases as shown in the graph of Figure 10.

[0094] Therefore, the bottom of holder 202C is made of a material or color with high light absorption. At this time, by setting the threshold value at which position sensor 210 determines that holder 202C has been detected to threshold value 1002, the detection state of position sensor 210 changes from ON to OFF, making it possible to detect holder 202C. By using this method, holder 202C can be detected even in an environment with a lot of ambient light.

[0095] This embodiment can be implemented by turning off the light-emitting element of the reflective position sensor 210 and appropriately setting the threshold value at which the position sensor 210 determines that it has detected something. The reset operation and holder transport can be performed according to the flowchart described in embodiment 1.

[0096] The other configurations and operations are substantially the same as those of the specimen transport apparatus and specimen transport method of the first and second embodiments described above, and details thereof will be omitted.

[0097] The sample transport apparatus and sample transport method according to the third embodiment of the present invention also provide substantially the same effects as those of the sample transport apparatus and sample transport method according to the first and second embodiments described above.

[0098] Although the above description has been given of the case where the entire bottom of holder 202C is made of a material or color with high light absorption, it is also possible to make a part of the bottom of holder 202C of a material or color with lower light absorption than the rest, using the same technical concept as in Example 2, in which case the same effect as in Example 2 can be obtained.

[0099] A sample transport device and a sample transport method according to a fourth embodiment of the present invention will be described with reference to Figures 11 to 12G. Figure 11 is a partial top view of the transport device according to the fourth embodiment, Figure 12 is a flowchart showing a holder transport method in this embodiment that uses information from a plurality of position sensors, and Figures 12A to 12G are diagrams showing the state of the transport device 102 during one step in the flowchart of Figure 12.

[0100] 11 , some of the position sensors 210 are provided at intermediate positions between adjacent magnetic poles 207, which are the longitudinal and lateral directions of movement of the holder 202, when viewed from the center of the magnetic pole 207, as well as at a position vertically above the center of the magnetic pole 207. Although this arrangement increases the number of position sensors 210, it more accurately grasps the position of the holder 202 moving between the transport devices, achieving stable holder transport. Note that while two position sensors 210 are provided around the magnetic pole 207 in some locations and four are provided in others, it is also possible to provide all four position sensors around all of the magnetic poles, or to provide them at any location for a purpose other than detecting the position of the holder 202.

[0101] A method for transporting the holder 202 after the reset operation is completed will be described with reference to the flowchart of FIG.

[0102] As shown in FIG. 12, first, in accordance with an instruction from the control computer 101, the transport device 102 starts a transport operation to the designated position of the magnetic pole 207 as shown in FIG. 12A (S1201).

[0103] Next, when the target position is magnetic pole C in Fig. 12, the transport device 102 excites magnetic pole B in Fig. 12 at a % (S1202), and determines whether or not position sensors 210 2, 3, 4, and 9 are in the detection ON state and sensors 1, 5, 6, 7, 8, and 10 are in the detection OFF state (see Fig. 12B) (S1203). If it is determined that position sensors 210 2, 3, 4, and 9 are in the detection ON state and sensors 1, 5, 6, 7, 8, and 10 are in the detection OFF state, magnetic pole B is excited at b % (S1204).

[0104] On the other hand, if it is determined in step S1203 that the condition is not satisfied, the process returns to step S1202, and acquisition of sensor information and excitation of magnetic pole B are continued until the condition is satisfied.

[0105] Thereafter, it is determined whether or not the position sensor 3 is in the detection ON state and the position sensors 1, 2, 4, 5, 6, 7, 8, 9, and 10 are in the detection OFF state (see FIG. 12C ) (S1205). If it is determined that the position sensor 3 is in the detection ON state and the position sensors 1, 2, 4, 5, 6, 7, 8, 9, and 10 are in the detection OFF state, the magnetic pole B is excited at c% and the magnetic pole C is excited at d% (S1206).

[0106] On the other hand, if it is determined in step S1205 that the condition is not satisfied, the process returns to step S1204, and acquisition of sensor information and excitation of magnetic pole B are continued until the condition is satisfied.

[0107] Thereafter, it is determined whether or not the position sensors 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10 of the position sensors 210 are in the detection OFF state (see FIG. 12D) (S1207). If it is determined that the position sensors 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10 of the position sensors 210 are in the detection OFF state, the excitation of magnetic pole B is turned OFF and magnetic pole C is excited at e% (S1208).

[0108] On the other hand, if it is determined in step S1207 that the condition is not satisfied, the process returns to step S1206, and acquisition of sensor information and excitation of magnetic poles B and C continue until the condition is satisfied.

[0109] Thereafter, it is determined whether or not sensor 5 is in the detection ON state and sensors 1, 2, 3, 4, 6, 7, 8, 9, and 10 are in the detection OFF state (see FIG. 12E) among the position sensors 210 (S1209). If it is determined that sensor 5 is in the detection ON state and sensors 1, 2, 3, 4, 6, 7, 8, 9, and 10 are in the detection OFF state among the position sensors 210, magnetic pole C is excited at f% and magnetic pole D is excited at g% (S1210).

[0110] On the other hand, if it is determined in step S1209 that the condition is not satisfied, the process returns to step S1208, and acquisition of sensor information and excitation of magnetic pole C are continued until the condition is satisfied.

[0111] Thereafter, it is determined whether or not sensors 5 and 10 of the position sensors 210 are in the detection ON state and sensors 1, 2, 3, 4, 6, 7, 8, and 9 are in the detection OFF state (see FIG. 12F) (S1211). If it is determined that sensors 5 and 10 of the position sensors 210 are in the detection ON state and sensors 1, 2, 3, 4, 6, 7, 8, and 9 are in the detection OFF state, the excitation of magnetic pole C is turned OFF and magnetic pole D is excited at h% (S1212).

[0112] On the other hand, if it is determined in step S1211 that the condition is not satisfied, the process returns to step S1210, and acquisition of sensor information and excitation of magnetic poles C and D continue until the condition is satisfied.

[0113] Thereafter, it is determined whether or not the position sensors 5, 6, 7, 8, and 10 are in the detection ON state and the position sensors 1, 2, 3, 4, and 9 are in the detection OFF state (see FIG. 12G) (S1213). If it is determined that the position sensors 5, 6, 7, 8, and 10 are in the detection ON state and the position sensors 1, 2, 3, 4, and 9 are in the detection OFF state, the magnetic pole D is excited at i% (S1214).

[0114] On the other hand, if it is determined in step S1209 that the condition is not satisfied, the process returns to step S1212, and acquisition of sensor information and excitation of magnetic pole D are continued until the condition is satisfied.

[0115] Thereafter, it is determined again whether or not the position sensors 5, 6, 7, 8, and 10 are in the detection ON state and the position sensors 1, 2, 3, 4, and 9 are in the detection OFF state (see FIG. 12G) (S1215). If it is determined again that the position sensors 5, 6, 7, 8, and 10 are in the detection ON state and the position sensors 1, 2, 3, 4, and 9 are in the detection OFF state, the conveyance operation of the holder 202 is completed (S1216).

[0116] 12, and can be flexibly changed depending on the transport route, the magnetic pole 207, the position of the position sensor 210, and the shape of the holder 202. The strengths a to e% of the excitation of the magnetic pole 207 are assumed to be different values ​​in order to stably attract the holder 202 to the center of the magnetic pole 207, but they do not all have to be different values.

[0117] The sample transport apparatus and sample transport method of the fourth embodiment of the present invention also provide substantially the same effects as those of any one of the sample transport apparatus and sample transport method of the first to third embodiments described above.

[0118] In addition, by connecting multiple conveying devices so that the holder can be transported between the conveying devices, a position sensor 210 is also placed at a position vertically above the center of the magnetic pole 207 when viewed from the center, which makes it possible to more accurately grasp the position of the holder 202 between adjacent conveying devices 102, and enables even more stable transport of the holder 202.

[0119] <Others> The present invention is not limited to the above-described examples, and includes various modifications. The above-described examples 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.

[0120] It is also possible to replace part of the configuration of one embodiment with the configuration of another embodiment, or to add the configuration of one embodiment to the configuration of another embodiment.It is also possible to add, delete, or replace part of the configuration of each embodiment with the configuration of another embodiment.

[0121] For example, in the above-described embodiments, the conveying device is described as a system in which the holder 202 is conveyed on a two-dimensional plane by an electromagnetic actuator, but the present invention is not limited to this. A one-dimensional conveying device 102 that conveys the specimen only in the forward and backward directions on pre-installed rails or the like may also be used. Furthermore, the holder 202 may be moved not only by an electromagnetic actuator but also by a belt line driven by a motor.

[0122] DESCRIPTION OF SYMBOLS 100... Sample analysis system 101... Control computer 102... Transport device (sample transport device) 103... Analysis device 201... Sample container 202, 202A, 202B, 202C, 202a, 202b, 202c, 202d, 202e... Holder (sample holder) 202A1, 202B1... Low reflectivity section 202A2, 202B2... High reflectivity section 203... Magnetic material 204... Transport surface 205... Core 206... Winding 207, 207A, 207B, 207C, 207D, 207E, 207F, 207G, 207H... Magnetic pole (coil) 208... Drive unit 209... Calculation unit (control unit) 210, 210I, 210J, 210K, 210L... Position sensors 601, 602, 801, 802, 1002... Threshold value 603, 803... Length of high reflectivity portion 604, 804... Amount of reflected light 1001... Amount of received light

Claims

1. A sample transport device comprising: a plurality of sensors for detecting the position of a sample holder holding a sample container; and a control unit, wherein the sensors are arranged to detect the sample holder at a predetermined position with the plurality of sensors; and the control unit determines the position of the sample holder based on the detection results of the plurality of sensors.

2. A specimen transport device as described in claim 1, further comprising a plurality of coils that generate thrust for transporting the specimen holder, the specimen holder having a magnet or a magnetic body, and the sensor being disposed between the coils in the transporting direction of the specimen holder.

3. The specimen transport device according to claim 1, wherein the sensor is an optical sensor.

4. A specimen transport device according to claim 3, wherein the bottom of the specimen holder is formed from a plurality of materials having different reflectances of the light emitted from the optical sensor.

5. A specimen transport device according to claim 1, wherein the spacing between the sensors is shorter than the length of the specimen holder during transport.

6. A specimen transport device according to claim 2, wherein the sensor is also disposed vertically above the coil.

7. A method for transporting a specimen contained in a specimen container held in a specimen holder, comprising: arranging sensors for detecting the position of the specimen holder holding the specimen container so that the specimen holder, which is in a predetermined position, is detected by a plurality of said sensors; transporting the specimen holder; and determining the position of the specimen holder based on the detection results of the plurality of said sensors.

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