JP2007278707A - Automatic liquid injection device - Google Patents

Automatic liquid injection device Download PDF

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Publication number
JP2007278707A
JP2007278707A JP2006101391A JP2006101391A JP2007278707A JP 2007278707 A JP2007278707 A JP 2007278707A JP 2006101391 A JP2006101391 A JP 2006101391A JP 2006101391 A JP2006101391 A JP 2006101391A JP 2007278707 A JP2007278707 A JP 2007278707A
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JP
Japan
Prior art keywords
dimensional image
means
liquid injection
container
liquid
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Pending
Application number
JP2006101391A
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Japanese (ja)
Inventor
Keitoku Abe
馨督 阿部
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Moritex Corp
株式会社モリテックス
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Application filed by Moritex Corp, 株式会社モリテックス filed Critical Moritex Corp
Priority to JP2006101391A priority Critical patent/JP2007278707A/en
Publication of JP2007278707A publication Critical patent/JP2007278707A/en
Application status is Pending legal-status Critical

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Abstract

<P>PROBLEM TO BE SOLVED: To increase the difference, namely the contrast, between the luminance corresponding to a scale mark or the liquid level and the luminance corresponding to the other part of a vessel with the scale mark, and to surely detect respective positions of the scale mark and liquid level from such a two-dimensional image. <P>SOLUTION: This automatic liquid injection device injects liquid into the vessel 3, with the scale marked up to a predetermined position based on the scale mark. The automatic liquid injection device comprises a detecting means 19 that has a two-dimensional image sensor 13 on its one side and an illuminating means 14 on the other side, and detects respective positions of the scale mark 22 and liquid level 23 from the two-dimensional image, obtained by imaging the vessel with the scale mark with the two-dimensional image sensor; a control means 20 for controlling a liquid injecting means 10, based on the detected positions of the scale mark and liquid level; and a dimming means 21 for adjusting the amount of the light irradiated of the illuminating means, based on brightness information of the vessel with the scale mark in the two-dimensional image. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an automatic liquid injection device such as an automatic measuring device.

  For example, in analytical work such as content uniformity testing, a large number of scaled containers such as volumetric flasks are adjusted up, that is, the solution is calibrated under certain conditions in order to prepare a wide variety of solutions. Operation to inject to the line is necessary.

  Since it is necessary to perform this scalpel strictly, it takes a lot of time and labor when performed manually. For this reason, development of the automatic liquid injection apparatus which can perform these operation with high precision and rapidly is calculated | required.

  As a prior art of such an automatic liquid injection device, Patent Document 1 discloses that a transparent container with a scale line into which liquid is injected is imaged with a television camera, and the liquid is placed at a predetermined position by the scale line from the two-dimensional image. An automatic liquid injection device is described that detects injection and stops injection.

  Further, Patent Document 2 describes an automatic knife-up device that enables high-precision detection of graduation lines and liquid levels and automates the knife-up operation in a highly accurate state. A parallel laser beam is projected from a laser light emitting part toward a portion including the graduation line on a transparent container with a scale line set at a position and injecting a solvent, and the laser light transmitted through the transparent container is projected by the laser light receiving part. It receives light, detects the amount of transmitted laser light, and controls the injection means based on the detected light amount signal to fill the liquid to a desired liquid level based on the graduation line. In this apparatus, driving means for positioning the laser projector and the laser receiver in correspondence with the graduation line is provided.

Further, in Patent Document 3, in the production line of various beverages, it is inspected whether the amount of liquid filled in a glass or synthetic resin container is within a predetermined range, or the liquid in the container Or, the imaging device is described as a liquid filling container used when inspecting whether or not foreign matter is mixed in the container itself, the imaging device includes a light emitting device and a light receiving device, Light from the light emitting device is irradiated and transmitted to the liquid filling container, the transmitted light is received by the light receiving device, and in the device for imaging the container, near infrared light is irradiated by the light emitting device. The container is imaged.
JP 2006-61884 A JP-A-6-295208 JP 2001-221746 A

  When a liquid containing a substance having photodegradability is injected into a container with a scale line using the automatic liquid injection apparatus as described above, the container with a scale line needs to be a brown container having a light shielding property. .

  However, if a brown container is used, the translucency of the illumination light is reduced, and the difference between the brightness of the graduation lines and the liquid surface in the captured image and the brightness of other parts, that is, the contrast becomes small. In the devices of Patent Document 1 and Patent Document 2 that are the subject, it is difficult to detect scale lines and liquid levels. On the other hand, in these devices, if the irradiation light amount of the illumination light is increased, the brown line may be able to detect the scale lines and the liquid level, but when using a transparent container with such irradiation light amount, This time, the amount of transmitted light is too large, and the brightness of the image is saturated, which again makes it difficult to detect scale lines and the liquid level.

The device of Patent Document 3 uses infrared rays to reliably detect the liquid level of the liquid filled in the container, even if the color of the container is dark, such as black, dark green, or brown. Although it is possible to reliably detect contamination of foreign substances in the liquid or in the container or in the container material, even if infrared rays are used, the attenuation rate of transmitted light differs depending on the color of the container. The brightness of the captured image changes and the liquid level detection conditions also differ, making it impossible to reliably detect the liquid level.
The present invention aims to solve such problems.

  In order to solve the above problems, in the present invention, first, automatic liquid injection is configured such that liquid is injected into a container with a scale line located in a space below the liquid injection part of the liquid injection means to a predetermined position based on the scale line. In the apparatus, a two-dimensional image sensor is disposed on one side with the lower space being laterally separated, and an illuminating unit is disposed on the other side so as to face the two-dimensional image sensor, and is positioned in the lower space. Based on the respective positions of the graduation line and the liquid level detected by the detection means, and the detection means for detecting the respective positions of the graduation line and the liquid level from the two-dimensional image obtained by imaging the container with the graduation line by the two-dimensional image sensor Automatic liquid injection comprising a control means for controlling the liquid injection means and a dimming means for adjusting the irradiation light quantity of the illumination means based on the luminance information in the two-dimensional image detected by the detection means. To propose a device.

  In the present invention, next, in the automatic liquid injection apparatus configured to inject liquid to a predetermined position based on the scale line into the scale lined container located in the space below the liquid injection portion of the liquid injection means, the lower space A two-dimensional image sensor is arranged on one side, and a lighting unit is arranged on the other side so as to face the two-dimensional image sensor, and a container with graduation lines is located in the lower space. Detection means for detecting the respective positions of the graduation line and the liquid surface from the two-dimensional image captured by the two-dimensional image sensor, and controlling the liquid injection means based on the respective positions of the graduation line and the liquid surface detected by the detection means. Based on the luminance information in the two-dimensional image detected by the control means and the detection means, the received light amount of the two-dimensional image sensor or the signal intensity of the two-dimensional image input to the detection means is adjusted. Suggest automatic liquid injection device configured dimming means.

  Furthermore, in the present invention, in the automatic liquid injection device configured to inject liquid to a predetermined position based on the scale line into a container with a scale line located in the space below the liquid injection portion of the liquid injection means, A two-dimensional image sensor is arranged on one side, and a lighting unit is arranged on the other side so as to face the two-dimensional image sensor, and a container with graduation lines is located in the lower space. Detection means for detecting the respective positions of the graduation line and the liquid surface from the two-dimensional image captured by the two-dimensional image sensor, and controlling the liquid injection means based on the respective positions of the graduation line and the liquid surface detected by the detection means. The light intensity of the illumination means is adjusted based on the luminance information in the two-dimensional image detected by the control means and the detection means, and the amount of light received or detected by the two-dimensional image sensor. Suggest automatic liquid injection device configured to light control means for adjusting the signal strength of the two-dimensional image to be input to.

  In the present invention, in the above configuration, the dimming means is configured to issue an adjustment signal so that the luminance of the portion with the highest luminance is set as the set value in the luminance information of the scale-lined container in the two-dimensional image. Propose.

  In the present invention, in the above configuration, the dimming means emits an adjustment signal so as to maximize the difference in luminance between the highest luminance portion and the lowest luminance portion in the luminance information of the scale lined container in the two-dimensional image. Propose to be a configuration.

  In the present invention described above, the scale line and the scale line from the two-dimensional image of the scale lined container imaged by the two-dimensional image sensor in injecting the liquid into the scale lined container located in the space below the liquid injection part of the liquid injection means, When detecting each position of the liquid level, the irradiation light quantity of the illumination means is adjusted based on the luminance information in the two-dimensional image detected by the detection means, or the received light quantity of the two-dimensional image sensor or the two-dimensional input to the detection means By adjusting the signal intensity of the image, the difference between the brightness corresponding to the scale line and the liquid level and the brightness corresponding to the other part of the scale-lined container, that is, the contrast can be increased. The respective positions of the graduation line and the liquid level can be reliably detected from the two-dimensional image.

  The difference between the brightness of the graduation line and the liquid surface in the two-dimensional image and the brightness of the other part of the container with the scale line, that is, the contrast is small when the brightness of the other part of the container with the scale line is low. As the luminance of the portion increases, the luminance gradually increases. However, if the luminance of the other portion becomes excessively high, the luminance of the graduation line and the liquid surface increases accordingly, and the contrast decreases.

  Therefore, in order to increase the contrast, control is performed so that the brightness of the highest brightness portion in the brightness information of the scale-lined container in the two-dimensional image, that is, generally the brightness of the other portion is set as the set value. It is also possible to directly control the difference between the luminance of the highest and the lowest luminance, that is, to maximize the contrast.

Next, the best mode for carrying out the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a perspective view schematically showing an example of the overall configuration of an automatic liquid injection device according to the present invention, FIG. 2 is a side view schematically showing a main part, and FIG. 3 is a front view schematically showing an illumination means. is there.
Reference numeral 1 denotes a base, on which a liquid injection means 2 and a turntable 4 for moving the scale lined container 3 to a predetermined position are provided.

  The liquid injection means 2 includes a syringe pump 5, a liquid container 7 connected to the suction side via a tube 6, a liquid injection portion 9 such as a probe needle connected to the discharge side via a tube 8, and injection control means 10. The liquid injection part 9 is supported above the turntable 4 by a support part 11 provided on the base 1 and is configured to inject liquid into the scale lined container 3 in the lower space 12 thereof.

  The support unit 11 supports the two-dimensional image sensor 13 on one side with the lower space 12 spaced laterally, and supports the illumination unit 14 on the other side facing the two-dimensional image sensor 13. ing.

  The two-dimensional image sensor 13 is provided with a shutter 15, and the amount of light received by the two-dimensional image sensor 13 can be adjusted by the opening / closing time of the shutter 15.

  The illumination unit 14 includes a rectangular planar light irradiation unit 16 and a color arrangement unit 17 having a color different from the light projection color of the planar light irradiation unit 16 around the illumination unit 14. As shown in FIG. 3, the left and right color arrangement portions 17a and the lower color arrangement portion 17b are formed to be thick.

  Further, the turntable 4 is formed with a recess 18 for stably placing and supporting the scaled container 3.

  On the other hand, the imaging signal from the two-dimensional image sensor 13 is input to the detection means 19 that processes the signal and detects the respective positions of the graduation line and the liquid surface from the two-dimensional image, and the detection signal is sent to the control means 20. Entered. The control means 20 controls the injection control means 10 by performing appropriate processing based on the detection signal.

  The detection means 19 performs various kinds of processing incidental to the processing for detecting the respective positions of the graduation line and the liquid surface, for example, appropriate preprocessing such as amplification of the imaging signal from the two-dimensional image sensor 13, and the like. The two-dimensional image is generated, stored, and so on.

  Next, reference numeral 21 denotes a dimming means. The dimming means 21 includes a control signal for adjusting the amount of light emitted from the illuminating means 14 and the shutter 15 as shown by the flow of the broken control signal in the figure. And a control signal for adjusting the gain of the imaging signal amplifying means in the detecting means 19.

  The light control means 21 can be configured to emit any one of the above control signals, can be configured to emit any one control signal, or can be configured to emit any two control signals. Further, the detection means 19, the control means 20, and the light control means 21 described above can be configured by the computer application device C.

  In the figure, reference numeral 22 denotes a scale line formed in the container 3 with a scale line, and 23 denotes the liquid level of the liquid injected into the container 3 with a scale line.

The flow of automatic liquid injection in the above embodiment will be described with reference to the flowchart shown in FIG.
First, in step S <b> 1, with the scale lined container 3 placed on the recess 18 of the turntable 4, the turntable 4 is driven to move the scaled lined container 3 to the lower space 12 of the liquid injection unit 9.

  Next, in step S2, light is emitted from the illuminating means 14, and the scale lined container 3 illuminated by the illuminating means 14 is imaged by the two-dimensional image sensor 13 from the back side, and the two-dimensional image 24 is obtained by the detecting means 19. . FIG. 5 shows a part of the two-dimensional image 24, but this figure shows a state in which liquid is injected for convenience and a liquid surface (meniscus) appears.

  In this embodiment, as schematically shown in FIG. 5, in the two-dimensional image 24, the image 25 of the color arrangement unit 17a arranged on the left and right sides of the planar light irradiation unit of the illumination means is a container with a scale line. Because of the wide-angle lens action 3, it appears linearly in the vertical direction at both end edges of the scale-lined container 3, and the color of this color arrangement portion 17 a is different from the projection color of the planar light irradiation portion 16. There is a clear difference in the two-dimensional image, which makes it easy to detect the position in the left-right direction of the scale lined container 3.

  Next, in step S3, luminance information of the scale lined container 3 in the two-dimensional image 24 is obtained. This luminance information is information corresponding to the amount of light transmitted through the scale lined container 3, and the scale line 22 and the liquid level 23 hardly transmit the light of the planar light irradiation unit 16 of the illumination unit 14, and thus are two-dimensional. Those portions 22 and 23 appearing in the image 24 have lower brightness than the other portions 26. Therefore, the detecting means 19 can easily detect the position of the scale line 22 and the liquid level if the difference in luminance is large.

  As described above, since the luminance information of the scale lined container 3 in the two-dimensional image 24 is information corresponding to the light quantity transmitted through the scale lined container 3, when the light quantity irradiated from the illumination unit 14 is constant. If the scale-lined container 3 is brown, the brightness of the other portion 26 is significantly reduced as compared with the transparent case, and the contrast is lowered. Accordingly, in this case, it is difficult to detect the positions of the scale line 22 and the liquid level 23.

  On the other hand, when the scale lined container 3 is transparent, the amount of light emitted from the illumination means 14 is large, and when the light quantity transmitted through the scale lined container 3 is too large, the brightness of the other portion 26 becomes too high. In addition to saturation, the brightness of the scale line 22 and the liquid level 23 is also increased, so that the contrast is lowered. In this case, it is difficult to detect the positions of the scale line 22 and the liquid level.

  Therefore, the light control means 21 performs light control so that the brightness of the scale lined container 3 is optimized in step S4. As described above, the optimum luminance is not limited as long as the difference between the luminance of the graduation line 22 appearing in the two-dimensional image 24 and the luminance of the other portion 26, that is, the luminance at which the contrast is equal to or higher than a predetermined value. It is not necessary to adjust the brightness.

  Further, such dimming can be controlled so that the brightness of the highest brightness portion in the brightness information of the scale-lined container 3 in the two-dimensional image 24, that is, generally the brightness of the other portion 26 is set as the set value. It is also possible to directly control the brightness difference between the highest brightness portion 26 and the lower brightness portion, that is, the scale line 22, that is, the contrast to be maximized.

  As described above, the dimming by the dimming means 21 is performed by adjusting the irradiation light amount of the illuminating means 14 as shown in the flow of the broken line control signal in FIG. Or by adjusting the gain of the imaging signal amplification means in the detection means 19, and can be adjusted by any of the above adjustments, any one adjustment, or any two adjustments. Can do light.

  After performing the above dimming, the detection means 19 detects the position of the scale line 22 from the difference between the brightness of the scale line 22 appearing in the two-dimensional image 24 and the brightness of the other portion 26 in step S5.

  Next, in step S <b> 6, the control unit 20 issues a control signal to the injection control unit 10 and starts injection of liquid from the liquid injection unit 9. Then, the detection means 19 continuously monitors the luminance information of the scale-lined container 3 in the two-dimensional image 24 and detects the positions of the scale line 22 and the liquid surface 23 appearing in the two-dimensional image 24.

  Next, in step S8, it is determined whether or not the liquid level 23 has reached the graduation line 22. When these positions coincide with each other, a control signal is issued from the control means 20 to the injection control means 10 in step S9. By stopping the injection of liquid from 9, a predetermined amount of liquid injection based on the scale line 22 can be accurately performed.

  Next, in step S10, the irradiation of light from the illumination means 14 is stopped, and then in step S11, it is determined whether or not there is a scale-lined container 3 into which liquid is to be injected next. If there is, the process proceeds to step S1. Then, the above steps are repeated, and if it is within, the automatic liquid injection control is terminated.

  FIGS. 6 and 7 show examples of contrast changes before and after dimming to which the present invention is applied. FIG. 6 shows a case where the scale lined container is a thin brown flask, and FIG. 7 shows that the scale lined container is dark brown. In the case of a flask, (a) shows before dimming and (b) shows after dimming.

  As shown in these examples, it can be seen that by performing the light control according to the present invention, the difference between the scale line of the container with the scale line and the luminance of other parts can be increased.

  In the above example, the illumination means 14 is turned on and off each time an operation for injecting liquid into each of the scale line containers 3 is performed. However, the liquid injection control to the next scale line container is performed. When starting, if the dimmed state is maintained with respect to the previous container 3 with graduation lines, when liquid is injected into a plurality of similar containers 3 with graduation lines, the adjustment is performed. The time required for light is reduced.

  In addition, in embodiment described above, although the container 3 with a scale line has mentioned what provided the scale line 22 only, the container 3 with a scale line which has several scale lines 22 is also this invention. Of course, the apparatus and method described above can be applied.

  In the above-described embodiment, the turntable 4 is described as a means for moving the scale lined container 3 to a predetermined position, but other appropriate handling means such as a robot arm can be applied. is there.

Since the present invention is as described above, the present invention has the following characteristics and has great industrial applicability.
In the injection of the liquid into the container with the scale line located in the space below the liquid injection part of the liquid injection means, the respective positions of the scale line and the liquid surface from the two-dimensional image of the container with the scale line taken by the two-dimensional image sensor Even when the scale-lined container is changed from a transparent one to a brown one, or vice versa, based on the luminance information in the two-dimensional image detected by the detecting means. By adjusting the irradiation light quantity of the illumination means, or adjusting the received light quantity of the two-dimensional image sensor or the signal intensity of the two-dimensional image input to the detection means, the brightness corresponding to the graduation line or the liquid level and the scale line are attached. Since the difference with the brightness corresponding to other parts of the container, that is, the contrast can be increased, the positions of the graduation line and the liquid level can be reliably detected from such a two-dimensional image. .

It is a perspective view showing typically an example of the whole composition of the automatic liquid injection device concerning the present invention. It is a side view which shows typically the principal part of FIG. It is a front view which shows a planar illumination means typically. 3 is a flowchart of liquid injection control according to the present invention. It is a schematic diagram which shows an example of the two-dimensional image imaged with the two-dimensional image sensor. It is explanatory drawing which shows the example of the change of the contrast before and behind the light control to which this invention is applied. It is explanatory drawing which shows the other example of the change of the contrast before and behind the light control to which this invention is applied.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Base 2 Liquid injection means 3 Container with graduation line 4 Turntable 5 Syringe pump 6, 8 Tube 7 Liquid container 9 Liquid injection part (probe needle)
DESCRIPTION OF SYMBOLS 10 Injection control means 11 Support part 12 Lower space 13 Two-dimensional image sensor 14 Planar illumination means 15 Imaging optical system 16 Planar light irradiation part 17 (17a, 17b) Color arrangement part 18 Recessed part 19 Detection means 20 Control means 21 Light control Means 22 Scale line 23 Liquid surface 24 Two-dimensional image 25 Colored portion image 26 Other portion C Computer application device

Claims (5)

  1. In an automatic liquid injection apparatus configured to inject liquid into a container with a scale line located in a lower space of the liquid injection portion of the liquid injection means up to a predetermined position based on the scale line, the lower space is separated laterally, A two-dimensional image sensor is arranged on the side, an illuminating means is arranged on the other side to face the two-dimensional image sensor, and a container with graduation lines located in the lower space is imaged by the two-dimensional image sensor. Detection means for detecting the respective positions of the graduation line and the liquid level from the three-dimensional image, control means for controlling the liquid injection means based on the respective positions of the graduation line and the liquid surface detected by the detection means, and detection by the detection means An automatic liquid injection device comprising: a dimming unit that adjusts an irradiation light amount of the illuminating unit on the basis of luminance information of the scaled container in the two-dimensional image.
  2. In an automatic liquid injection apparatus configured to inject liquid into a container with a scale line located in a lower space of the liquid injection portion of the liquid injection means up to a predetermined position based on the scale line, the lower space is separated laterally, A two-dimensional image sensor is arranged on the side, an illuminating means is arranged on the other side to face the two-dimensional image sensor, and a container with graduation lines located in the lower space is imaged by the two-dimensional image sensor. Detection means for detecting the respective positions of the graduation line and the liquid level from the three-dimensional image, control means for controlling the liquid injection means based on the respective positions of the graduation line and the liquid surface detected by the detection means, and detection by the detection means A dimming hand that adjusts the received light amount of the two-dimensional image sensor or the signal intensity of the two-dimensional image input to the detection means based on the luminance information of the scaled container in the two-dimensional image Automatic liquid injection apparatus characterized by being configured to.
  3. In an automatic liquid injection apparatus configured to inject liquid into a container with a scale line located in a lower space of the liquid injection portion of the liquid injection means up to a predetermined position based on the scale line, the lower space is separated laterally, A two-dimensional image sensor is arranged on the side, an illuminating means is arranged on the other side to face the two-dimensional image sensor, and a container with graduation lines located in the lower space is imaged by the two-dimensional image sensor. Detection means for detecting the respective positions of the graduation line and the liquid level from the three-dimensional image, control means for controlling the liquid injection means based on the respective positions of the graduation line and the liquid surface detected by the detection means, and detection by the detection means The light quantity of the illumination means is adjusted based on the luminance information of the scaled container in the two-dimensional image, and the received light quantity of the two-dimensional image sensor or input to the detection means Automatic liquid injection apparatus characterized by the signal strength of the two-dimensional image to constitute a light control means for adjusting that.
  4. The dimming means is configured to emit an adjustment signal so as to set the luminance of the portion with the highest luminance in the luminance information of the scaled container in the two-dimensional image as a set value. The automatic liquid injection device according to any one of the above.
  5. The dimming means is configured to generate an adjustment signal so as to maximize the difference in luminance between the highest luminance portion and the lowest luminance portion in the luminance information of the scaled container in the two-dimensional image. The automatic liquid injection device according to any one of 1 to 3.
JP2006101391A 2006-04-03 2006-04-03 Automatic liquid injection device Pending JP2007278707A (en)

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WO2015072358A1 (en) * 2013-11-12 2015-05-21 株式会社日立ハイテクノロジーズ Analyte testing automation system, biological sample check module, and biological sample check method

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JPH0650981A (en) * 1992-07-31 1994-02-25 Ajinomoto Co Inc Automatically pre-treating apparatus
JP2001289697A (en) * 2000-04-10 2001-10-19 Nissei Sangyo Co Ltd Sample metering method using translucent container and sample injection device
JP2003215385A (en) * 2002-01-25 2003-07-30 Sumitomo Electric Ind Ltd Method and device for measuring optical connector

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JPH05297285A (en) * 1992-04-22 1993-11-12 Olympus Optical Co Ltd Control device for lightness of endoscope image
JPH05332939A (en) * 1992-06-01 1993-12-17 Matsushita Electric Ind Co Ltd Visual recognition device
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Publication number Priority date Publication date Assignee Title
WO2015072358A1 (en) * 2013-11-12 2015-05-21 株式会社日立ハイテクノロジーズ Analyte testing automation system, biological sample check module, and biological sample check method
CN105637370A (en) * 2013-11-12 2016-06-01 株式会社日立高新技术 Analyte testing automation system, biological sample check module, and biological sample check method
JPWO2015072358A1 (en) * 2013-11-12 2017-03-16 株式会社日立ハイテクノロジーズ Specimen automation system, biological sample check module, and biological sample check method
US10247743B2 (en) 2013-11-12 2019-04-02 Hitachi High-Technologies Corporation Analyte testing automation system, biological sample check module, and biological sample check method

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