JP7051650B2 - Reagent transfer system used for automated analyzers - Google Patents

Description

The present invention relates to a reagent transfer system used in an analyzer for clinical examination, particularly an automatic analyzer for measuring components of a sample such as blood using a reagent.

Conventionally, there is an automatic analyzer that measures components of a sample such as blood using a liquid reagent. Since this device uses reagents as consumables, it is necessary to replenish the reagents after measurement. Since the automated analyzer is loaded with many types of reagents, replenishment is time-consuming.

Conventionally, various techniques have been developed in order to reduce the trouble of replenishing reagents.

Patent Document 1 describes a technique in which an automatic analyzer automatically identifies a cassette of a replenished reagent and saves the trouble of confirming the reagent type and the replenishment location.

Further, Patent Document 2 describes a technique in which a reagent inlet and an automatic transfer mechanism in an automatic analyzer are provided to enable reagent replenishment during operation of the device and to save the trouble of stopping the device for reagent replenishment. ..

Japanese Unexamined Patent Publication No. 2005-121492

Japanese Unexamined Patent Publication No. 4-36658

Conventional techniques have provided a means for concise replenishment of reagents in a single automated analyzer.

However, it is done manually to confirm the type of reagent that needs to be replenished in the automatic analyzer, transport the reagent, and replenish the reagent by the method according to the automatic analyzer, and the automation is done. It was difficult, time consuming and time consuming.

Reagents used in automated analyzers are mainly cassette type, but there are various shapes, and it is technically necessary to support multiple cassette shapes in order to realize transportation by a transfer line like a sample. There are challenges. In addition, since a reagent transfer line is required, the transfer line has been one of the factors that make it difficult to miniaturize the automatic analyzer.

In addition, it is necessary to change the layout of the reagent transfer line for each place of use, and the movement route of people in the laboratory is limited by the reagent transfer line, which may reduce the work efficiency of operators and the like. ..

An object of the present invention is an automatic analyzer that can move the space above and below the periphery of the automatic analyzer to transport reagents, can handle various reagent cassette shapes, and can reduce the size of the automatic analyzer. It is to realize the reagent transfer system used for.

In order to achieve the above object, the present invention is configured as follows.

In the reagent transfer system of the automatic analyzer, the remaining amount information of the reagent possessed by the automatic analyzer is transmitted, and it moves between the reagent management unit that manages the reagent and the space above or below the periphery of the automatic analyzer. A drone having a gripping mechanism for gripping the reagent and a reagent storage for storing a plurality of reagents used in the automatic analyzer are provided, and the reagent management unit is based on the remaining amount information of the reagent. Then, it is determined whether the reagent needs to be replenished in the automatic analyzer, and when it is determined that the reagent needs to be replenished, the reagent transport command is transmitted to the drone and the reagent carry-out command is transmitted to the reagent storage. , The drone receives the reagent stored in the reagent storage and transports it to the automatic analyzer in accordance with the reagent transport command.

INDUSTRIAL APPLICABILITY According to the present invention, reagents can be transported by moving in the space above or below the periphery of the automatic analyzer, and various reagent cassette shapes can be supported. The system can be realized.

It is a schematic block diagram of the automatic analyzer to which the reagent transfer system of Example 1 by this invention was applied. It is a figure which shows the operation flow which replenishes a reagent in Example 1. FIG. It is operation explanatory drawing of the reagent storage. It is a figure which shows the state which a drone is waiting for a dog. It is explanatory drawing about the flight method of a drone. It is a figure for demonstrating the positioning method of a drone. It is explanatory drawing about the gripping method of the reagent cassette of a drone. It is explanatory drawing of the method of replenishing a reagent cassette by a drone. It is explanatory drawing of the replenishment method of the reagent cassette by the drone for the automatic analyzer provided with the reagent transfer mechanism in an apparatus. It is explanatory drawing of the replenishment method of the reagent cassette for the automatic analyzer provided with the reagent transfer mechanism in an apparatus assuming the operation by a drone. It is explanatory drawing of the disposal method by the drone of the reagent cassette which became unnecessary. It is explanatory drawing of the exchange of information between the components in Example 1. FIG. It is a figure which shows the example which a plurality of holes are formed on the upper surface of a reagent cassette. It is the schematic explanatory drawing of the gripping mechanism provided in the drone in Example 2. FIG. FIG. 10 is a diagram showing an example in which a guide rail is supported on the ceiling of an inspection room by a guide rail support portion and the drone supported by the guide rail moves in the tenth embodiment. It is a figure which shows the guide rail supported by the ceiling of the examination room in Example 10. FIG. It is explanatory drawing about the safety measure in flight of the drone in Example 11. It is explanatory drawing about the safety measure in flight of the drone in Example 12.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Example 1)
FIG. 1 is a schematic configuration diagram of an automated analyzer to which the reagent transfer system of Example 1 according to the present invention is applied.

In FIG. 1, the reagent transfer system of Example 1 according to the present invention includes a drone (air transport machine) 101 that plays the role of an air transport system, a reagent management system (reagent management unit) 102 that controls the reagent transfer system, and automatic analysis. An apparatus 103, a reagent storage 107 for storing a plurality of reagent cassettes 104 for replenishment, a delivery point (reagent cassette receiving unit) 108 for delivering the reagent cassette 104 to the drone 101, and a waiting place for the drone 101. It is equipped with a dock 110. The reagent is housed in the reagent cassette 104. By gripping the reagent cassette 101 with the drone 101, it becomes possible to grip the reagent.

When the reagent management system 102 receives the reagent remaining amount information 105 transmitted from the automatic analyzer 103, determines whether or not the automatic analyzer 103 needs to be replenished with the reagent, and determines that the reagent needs to be replenished. A reagent delivery command 106 is transmitted to the reagent storage 107, and a reagent transport command 109 is transmitted (transmitted) to the drone 101 via the dock 110. Based on the transmitted information, the drone 101 receives the reagent cassette 104 from the reagent delivery point 108 of the reagent storage 107 and conveys it to the automatic analyzer 103.

The above is the outline of the system constituting the present invention.

Next, the reagent replenishment operation of Example 1 will be described with reference to FIG. FIG. 2 is a diagram showing an operation flow for replenishing reagents in Example 1.

In FIG. 2, first, the reagent management system 102 monitors the reagent remaining amount information 105, which is the reagent remaining amount information possessed by the automatic analyzer 103 (step S1). The monitoring of the reagent remaining amount information 105 shall be realized by the reagent management system 102 periodically transmitting a transmission request of the reagent remaining amount information to the automatic analyzer 103.

Next, when the reagent monitoring system 102 refers to the reagent remaining amount information 105 and determines that the remaining amount of the reagent has fallen below a predetermined and stored threshold value, the reagent storage command 106 of the reagent cassette 104 for replenishment is issued. Issue to warehouse 107 (step S2).

Next, the reagent storage 107 that has received the reagent carry-out command 106 carries out the reagent cassette 104 based on the reagent carry-out command 106 and conveys it to the delivery point 108 (step S3).

Further, the reagent monitoring system 102 issues a transport command 109 of the reagent cassette 104 to the drone 101 through the dock 110, and the drone 101 waiting at the dock 110 receives the transport command (transport command) 109 (step S4).

Then, the drone 101 that has received the transport order 109 flies to the delivery point 108 in order to receive the reagent cassette 104 (step S5).

Next, after arriving at the delivery point 108, the drone 101 grips the reagent cassette 104 (step S6).

Then, after grasping the reagent cassette 104, the drone 101 flies to the automatic analyzer 103 to be replenished based on the information of the transport command 109 (step S7).

Next, after arriving at the automatic analyzer 103, the drone 101 replenishes the automatic analyzer 103 with the reagent cassette 104 (step S8).

Then, the drone 101 replenishes the reagent cassette 104 to the automatic analyzer 103, and then returns to the dock 110 (step S9).

The above is the operation flow for replenishing the reagent according to the first embodiment of the present invention.

Next, the operation of the reagent storage 107 of Example 1 will be described with reference to FIG. FIG. 3 is an operation explanatory diagram of the reagent storage 107.

In FIG. 3, the reagent storage 107 can randomly access the reagent cassette 104 stored in the reagent storage 107 in advance by the reagent handling mechanism 301, and can carry out the required reagent cassette 104.

It should be noted that the reagent casset 104 shown on the left side of FIG. 3 is simply shown to be arranged inside the reagent storage 107.

The carried-out reagent cassette 104 is placed on the transport line 302 and transported. Since the transport line 302 has a simple linear shape, by forming the transport line 302 with a belt, it is possible to transport the reagent cassette 104 regardless of the shape of the reagent cassette 104.

A reagent opening mechanism 303 is configured on the transfer line 302, and when it is necessary to open the reagent cassette 104, the reagent cassette 104 is opened.

The reagent cassette 104 reaches the delivery point 108 installed at the end of the transfer line 302, and the operation of the reagent storage 107 is completed.

The above is the operation of the reagent storage 107.

Next, the relationship between the drone 101 and the dock 110 will be described with reference to FIG. FIG. 4 is a diagram showing a state in which the drone 101 is waiting at the dog 110.

In FIG. 4, the drone 101 stands by at the dock 110 in the absence of the transport order 109. The drone 101 is supported and charged by the support base and charging mechanism 401.

In the first embodiment, the drone 101 does not perform communication using radio waves. Various inspection devices are installed in the inspection room where the automatic analyzer 103 is installed. This is because medical devices are required not to emit electromagnetic waves having a certain intensity or higher in order to prevent such malfunctions of inspection devices.

In the first embodiment, image communication is used for information transmission such as the reagent transport command 109 to the drone 101. The QR code (registered trademark) is displayed on the QR code (registered trademark) display screen 403 of the dock 110, and the QR code (registered trademark) is read by the all-sky camera 402 of the drone 101 to read the QR code (registered trademark) from the dock 110 to the drone 101. Communicate information to.

After transmitting information from the dog 110 to the drone 110, the drone 101 starts flying to move to the delivery point 108. The dock 101 shall detect that the drone 101 has taken off by an optical sensor included in the dock 101.

The above is the relationship between the drone 101 and the dock 110.

Next, the flight method of the drone 101 will be described with reference to FIG. FIG. 5 is an explanatory diagram of the flight method of the drone 101.

In FIG. 5, the drone 101 flies based on the information transmitted from the dock 101.

In the first embodiment, GPS generally used for drone technology is not used. This is because the GPS radio wave cannot be used in the first embodiment because it is assumed to be operated indoors. Therefore, the flight is basically realized by determining the current position coordinates of the drone 101 by the coordinate calculation by the acceleration sensor 404 provided in the drone 101 and following the drone flight path 501 represented by the data series of the three-dimensional coordinates. It shall be.

The coordinate calculation by the acceleration sensor provided in the drone 101 is a coordinate calculation method by accumulating calculations, and as the flight distance becomes long, calculation errors accumulate, and there is a possibility that the calculated current position coordinates and the actual current position coordinates may deviate from each other. ..

In the first embodiment, the position coordinate correction marker 502 installed in advance in the flight path is image-recognized by the all-sky camera 402 provided in the drone 101, and the current position coordinates are determined by the three-dimensional coordinates of the position coordinate correction marker 502. By correcting it, the deviation shall be corrected.

FIG. 5 shows how the drone 101 flies from the dock 110 to the delivery point 108. The flight from the delivery point 108 to the automatic analyzer 103 and the flight from the automatic analyzer 103 to the dock 110 are also performed by the same method as in FIG.

The above is the flight method of the drone 101.

Next, a method for positioning the drone 101 will be described with reference to FIG.

FIG. 6 is a diagram for explaining a positioning method of the drone 101.

In FIG. 6, the drone 101 image-recognizes the positioning marker 601 arranged at the delivery point 108 by the all-sky camera 402 provided in the drone 101. A plurality of positioning markers 601 are formed, and the drone 101 can accurately calculate the horizontal and vertical relative positions with respect to the positioning markers 601 from the angle recognizing each positioning marker 601 by applying triangulation. do.

The drone 101 positions at the center of each positioning marker 602 based on the calculated relative coordinates with respect to the positioning marker 601 and lands at a predetermined position of the delivery point 108.

FIG. 6 shows a method of positioning the drone 101 at the delivery point 108. The positioning of the drone 101 in the automatic analyzer 103 and the positioning in the dock 110 are also performed by the same method as in FIG.

The above is the positioning method of the drone 101.

Next, a method of gripping the reagent cassette 104 of the drone 101 will be described with reference to FIG. 7. FIG. 7 is an explanatory diagram of a method of gripping the reagent cassette 104 of the drone 101.

The mechanism mounted on the flying drone 101 is required to be light in weight. Further, it is required that the reagent cassettes 104 having various shapes can be gripped with a strong force without dropping.

In FIG. 7, in order to satisfy the above requirements for the drone 101, the drone 101 is provided with a gripping hand 701 composed of a link mechanism and a linear actuator 702. Since the mechanism for gripping the reagent cassette 104 from the left and right by the gripping portions 703a and 703b of the gripping hand 701 operates like a human hand, it is possible to grip all the reagent cassettes 104 that are conventionally assumed to be carried by a human hand. Is.

Further, since the gripping force is amplified by the link mechanism, it is possible to grip the reagent cassette 104 with a strong force even with a linear actuator 702 having a light weight and a weak output.

When the drone 101 carries and installs the reagent cassette 104, it releases the reagent cassette 104 in the reverse order of gripping.

The operation control of the linear actuator 702 that drives the gripping hand 701 is executed by the actuator control unit 704 provided in the drone 101.

The above is the method for gripping the reagent cassette 104 of the drone 101.

Next, with reference to FIG. 8, a method of replenishing the reagent cassette 104 with the drone 101 for the automatic analyzer 103 not provided with the in-device reagent transfer mechanism will be described.

FIG. 8 is an explanatory diagram of a method of replenishing the reagent cassette 104 with the drone 101.

For the automatic analyzer 103 which does not have the reagent transfer mechanism in the device, it is difficult to replenish the reagent completely automatically by the drone 101. Therefore, the drone 101 installs the reagent cassette 104 on the reagent cassette installation table 801 provided in the vicinity of the automatic analyzer 103. Similar to the delivery point 108, a plurality of positioning markers 601 are formed on the reagent cassette installation table 801. The reagent cassette 104 is finally manually replenished to the automatic analyzer 103.

The above is the method of replenishing the reagent cassette 104 by the drone 101 for the automatic analyzer 103 which does not have the reagent transfer mechanism in the device.

Next, with reference to FIG. 9, a method of replenishing the reagent cassette 104 by the drone 101 with respect to the automatic analyzer 103 provided with the in-device reagent transfer mechanism assuming manual operation will be described. Drone 101 enables full automation.

FIG. 9 is an explanatory diagram of a method of replenishing the reagent cassette 104 with the drone 101 for the automatic analyzer 103 provided with the reagent transfer mechanism in the device.

In FIG. 9, for an automatic analyzer 103 provided with an in-device reagent transfer mechanism assuming manual operation, a reagent cassette insertion mechanism 901 for assisting reagent replenishment is installed in the automatic analyzer 103. By installing this reagent cassette insertion mechanism 901, fully automatic reagent replenishment is realized.

The reagent transfer mechanism 902 of the automatic analyzer 103 of the type shown in FIG. 9 recognizes the reagent cassette 104 by installing the reagent cassette 104 in a predetermined place and then sliding the reagent cassette 104 in a certain horizontal direction. In most cases, it is a method of starting reagent transfer.

After the reagent cassette 104 is installed in a predetermined place while the drone 101 detects the marker 601, the reagent cassette insertion mechanism 901 detects the reagent cassette 104 and inserts the reagent cassette 104 into the reagent transfer mechanism 902.

The reagent transfer mechanism 902 transfers the reagent cassette 104 to the reagent disk 903, and the replenishment of the reagent cassette 104 is completed.

The above is a method of replenishing the reagent cassette 104 by the drone 101 for the automatic analyzer 103 provided with the reagent transfer mechanism in the device assuming the operation by human hands.

Next, with reference to FIG. 10, a method of replenishing the reagent cassette 104 by the drone 101 with respect to the automatic analyzer 103 provided with the reagent transfer mechanism 1000 in the device assuming operation by the drone 101 will be described. FIG. 10 is an explanatory diagram of a method of replenishing the reagent cassette 104 with respect to the automatic analyzer 103 provided with the reagent transfer mechanism 1000 in the device assuming operation by the drone 101.

In FIG. 10, in the automatic analyzer 103 provided with an in-device reagent transfer mechanism 100 assuming operation by a drone 101, an insertion port 1001c of a reagent cassette 104 is formed on the upper surface of the automatic analyzer 103, which is easily accessible to the drone 101. Has been done. The drone 101 installs the reagent cassette 104 in the insertion slot 1001c while detecting the positioning marker 601. After that, the shutter 1001a is opened, the reagent cassette 104 is lowered by the elevator mechanism 1002, the shutter 1001b is opened and placed on the reagent disk 903, and the shutter 1001b is closed to complete the replenishment of the reagent cassette 104.

The above is a method of replenishing the reagent cassette 104 by the drone 101 for the automatic analyzer 103 provided with the reagent transfer mechanism 1000 in the device assuming the operation by the drone 101.

Next, with reference to FIG. 11, a method of disposing of the unnecessary reagent cassette 1102 by the drone 101 will be described.

FIG. 11 is an explanatory diagram of a disposal method of the reagent cassette 1102 that is no longer needed by the drone 101.

In FIG. 11, the empty reagent cassette 1102 is unnecessary and needs to be discarded. The drone 101 recognizes and grips the unnecessary cassette 1102 discharged by the automatic analyzer 103 by image recognition. The drone 101 flies to the reagent cassette disposal table 1101 and discards unnecessary reagent cassette 1102.

The above is a disposal method using the drone 101 of the reagent cassette 1102, which is no longer necessary.

Next, with reference to FIG. 12, the exchange of information between the components in the first embodiment will be described.

FIG. 12 is an explanatory diagram of exchanging information between the components in the first embodiment. The vertically long box shown in FIG. 12 indicates an information input / output unit.

In FIG. 12, the reagent management system 102 requests the reagent remaining amount information 105 to the automatic analyzer 103, and the automatic analyzer 103 sends the reagent remaining amount information 105 to the reagent management system 102 accordingly.

Next, the reagent management system 102 issues a reagent carry-out order 106 to the reagent storage 107. It is assumed that the reagent carry-out order 106 includes information for specifying the reagent cassette 104 to be carried out and information on whether or not the reagent cassette 104 needs to be opened (reagent information). After the reagent has been carried out, the reagent storage 107 issues a carry-out completion report to the reagent management system 102.

Next, the reagent management system 102 receives the reagent delivery completion report and issues a reagent transport command (reagent transport command) 109 to the dock 110. The reagent transport command 109 includes information necessary for transport (reagent information / destination information) such as the shape and weight of the reagent cassette 104, the position coordinates of the automatic analyzer 103 to be replenished, and the flight path 501 leading to the position coordinates. It is assumed that it is.

The dock 110 receives the reagent transport command 109 and transmits information necessary for flight such as the weight of the reagent cassette 104 and the data series of three-dimensional coordinates indicating the flight path of the drone 101 to the drone 101.

The drone 110 transports (transports) the reagent cassette 104 to the automatic analyzer 103, and replenishes the reagent cassette 104. In the case of the automatic analyzer 103 capable of detecting the replenishment of the reagent cassette 104, the receipt report of the reagent cassette 104 is sent to the reagent management system 102.

The drone 110 returns to the dock 110 after replenishing the reagent cassette 104. The dock 110 detects the return of the drone 101 and reports the return of the drone 101 to the reagent management system 102 and the status such as the charging state and the failure state.

The above is the exchange of information between the components in the first embodiment.

The above is a specific description for replenishing the reagent cassette 104 to the automatic analyzer 103 by air transportation in the first embodiment of the present invention.

According to the first embodiment of the present invention, when it is necessary to replenish the reagent based on the reagent remaining amount information in the automatic analyzer 103, the reagent cassette 104 is automatically analyzed from the reagent storage 107 using the drone 101. Since it is configured to be transported to the apparatus 103, the reagent can be transported by moving in the space above the periphery of the automatic analyzer 103, and it is possible to correspond to various reagent cassette shapes, and the automatic analyzer can be miniaturized. It is possible to realize a reagent transfer system used in an automatic analyzer.

(Example 2)
Next, Example 2 of the present invention will be described.

It should be noted that, unless otherwise specified, each component described in the first embodiment is valid even if a part or a plurality of the components are replaced with the other examples below in the first embodiment. .. Therefore, the present invention can be configured by combining examples of components.

Example 2 is an example in which the method of gripping the reagent cassette 104 by the drone 101 is different from that of Example 1. In Example 1, as shown in FIG. 7, the reagent cassette 104 is sandwiched and gripped by the gripping portions 703a and 703b, but Example 2 is an example of gripping the reagent cassette 104 by a different method. be.

The reagent cassette 104 may be provided with dedicated holes, recesses, or protrusions for transport within the automated analyzer 103. FIG. 13A is a diagram showing an example in which a plurality of holes 104a are formed on the upper surface of the reagent cassette 104.

As shown in FIG. 9, the reagent transfer mechanism 902 inside the automatic analyzer 103 can grip and transfer the reagent cassette 104 by using the holes 104a or protrusions formed in the reagent cassette 104. Is. By providing the drone 101 with a gripping mechanism similar to that, the reagent cassette 104 can be gripped.

FIG. 13B is a schematic explanatory view of the gripping mechanism 101a included in the drone 101 in the second embodiment, and shows a cross section of the gripping mechanism 101a. FIG. 13B shows two grips of grips 101c and 101d, which are provided with a number of grips corresponding to the number of holes 104a formed therein.

In FIG. 13B, the gripping mechanism 101a has a disc 101b that can rotate left and right, and the other ends of the gripping portions 101c and 101d having a claw portion formed at the tip thereof are rotatably supported. The substantially intermediate portion of the grip portions 101c and 101d is rotatably supported by the fulcrum portion 101e formed in the grip mechanism 101a.

By rotating the disk 101b to the right in FIG. 13B, the tips of the grip portions 101c and 101d move in a direction in which they are separated from each other.

Further, by rotating the disk 101b to the left in FIG. 13B, the tip portions of the grip portions 101c and 101d move in a direction in which they approach each other.

The control of the rotation of the disk 101b is controlled by a control unit similar to the actuator control unit 704 as shown in FIG. 7.

The drone 101 controls the rotation of the disk 101b so that the grip portions 101c and 101d are inserted into the holes 104a, and approaches the reagent cassette 104. Then, when it is confirmed that the grip portions 101c and 101d are inserted into the holes 104a, the disk 101b is rotated clockwise in FIG. 13B, and the reagent cassette 104 is gripped by the claw portions of the grip portions 101c and 101d. Then, the drone 101 grips the reagent cassette 104, flies to the destination, and installs the reagent cassette 104. After that, the disc 101b is rotated counterclockwise in FIG. 13B to release the claw portions of the grip portions 101c and 101d from the reagent cassette 104 and separate from the reagent cassette 104.

As described above, according to the second embodiment of the present invention, the same effect as that of the first embodiment can be obtained, and the reagent cassette 104 of the drone 101 can be reliably gripped, and the reliability can be further improved. It is possible to realize a reagent transfer system used in an automatic analyzer.

As a modification of the second embodiment, the reagent cassette 104 may be provided with a magnet and the drone 101 may be provided with an electromagnet so that the reagent cassette 104 can be gripped without a moving portion. By passing an electric current through the electromagnet and attracting the magnet provided in the reagent cassette 104, the reagent cassette 104 is grasped, the current is cut off, and the reagent cassette 104 is released.

Further, as another modification, the drone 101 may be provided with a slot-shaped mechanism, and the reagent cassette 104 may be inserted into the slot by a transfer line 302 (FIG. 3) to grip the reagent cassette 104. can. When releasing the reagent cassette 104, the reagent cassette is taken out from the slot by the drone 101 or a slide mechanism provided in the opening place.

Further, by providing the drone 101 with a plurality of gripping mechanisms, it is possible to configure the drone to grip a plurality of reagent cassettes 104 with one drone. In that case, it is possible to charge a plurality of reagent cassettes 104 into a single automatic analyzer 103, or to charge a plurality of reagent cassettes 104 into a plurality of automated analyzers 103.

Further, the state of the drone 101 when gripping or releasing the reagent cassette 104 is not limited to the landing state and the hovering state. In the landing state, the posture of the drone 101 is stable, and in the hovering state, if the landing mechanism 401 is not required, there are merits in each, so the selection is made according to the embodiment.

The above is the description of another embodiment of the method of gripping the reagent cassette 104.

(Example 3)
Next, Example 3 of the present invention will be described. Example 3 is an example in which the flight method of the drone 101 is different from that of the first embodiment.

In the first embodiment, the acceleration sensor is used, but in the third embodiment, the coordinate calculation is performed by using the optical flow technology by the spherical camera 402 provided in the drone 101, and the predetermined flight path 501 is used. Follow.

Optical flow is a method of calculating the movement vector from the position of the feature point of the image captured by the all-sky camera 402, and since the velocity or position can be directly measured, the calculation error can be reduced as compared with the method using the acceleration sensor. There are merits.

Further, as a modification of the third embodiment, the drone 101 is equipped with a stereo camera, a laser rangefinder, and an ultrasonic distance sensor, and measures the distance between the flight path marker 502 and the automatic analyzer 103 and the drone 101. This makes it possible to accurately follow the preset flight path 501.

Further, as another modification, a camera is provided on the ceiling or wall of the inspection room where the automatic analyzer 103 is arranged, and the flight management system issues a flight instruction while recognizing the appearance of the drone 101 in advance. It is also possible to configure the flight path 501 to follow the drone 101. Since this method requires communication between the flight management system and the drone 101 during flight, wired communication or wireless communication is performed. In the case of wired communication, the communication line that does not interfere with the flight of the drone 101 shall be routed, and in the case of wireless communication, a wireless communication system having a strength that does not violate the law shall be used.

Further, as another modification, it is also possible to configure the drone 101 to use the markerless type image recognition by the camera 402. The markerless type image recognition is an image recognition that does not require a marker having a specific pattern image, recognizes the shape of an object in the examination room, and follows a preset flight path 501.

The above is the description of another embodiment of the flight method of the drone 101.

(Example 4)
Next, Example 4 of the present invention will be described.

Example 4 is a different example from the reagent storage 107 in Example 1.

In Example 4, the reagent storage 107 has enough space for the drone 101 to enter, and the drone 101 flies to the storage location of the reagent cassette 104 that needs replenishment, grips and transports the reagent cassette 104. The reagent cassette 104 shall include the markers necessary for the drone 101 to identify the required reagent cassette 104. Alternatively, the installation location is determined for each type of the reagent cassette 104, and the drone 101 shall perform gripping based on the information on the installation location of the necessary reagent cassette 104.

As a modification of Example 4, there is a reagent storage 107 that discharges a plurality of reagent cassettes 104 at one time. When there are a plurality of transport requests for the reagent cassette 104, such as when a plurality of automated analyzers 103 are present, the plurality of reagent cassettes 104 are carried out without waiting for the reagent transport completion report in order to improve the transport efficiency. In that case, out of a plurality of transportation requests, the items are carried out in descending order of urgency. The urgency is a logic that predicts and determines the estimated reagent consumption from the current reagent remaining amount and reagent consumption rate of the automatic analyzer 103, and the future measurement schedule. If a highly urgent transportation request is received during the ejection of the reagent cassette 104, the removal of the reagent cassette 104 with a high degree of urgency shall be prioritized by interruption. The reagent storage 107 reports the discharge order to the reagent management system 102. Alternatively, the reagent storage 107 is provided with a plurality of reagent cassette delivery points 108, and it is assumed that the reagent management system 102 is notified to which reagent cassette delivery point 108 the reagent cassette 104 is carried out.

In Example 4, the same effect as in Example 1 can be obtained.

The above is the description of Example 4, which is another configuration of the reagent storage 107.

(Example 5)
Next, Example 5 of the present invention will be described.

Example 5 is another example of the reagent transport method of the drone 101.

The drone 101 is provided with a mechanism necessary for suction and discharge of reagents such as a syringe and a reagent storage container, and the reagents are divided into small pieces from the reagent cassette 104, transported, and replenished to the automatic analyzer 103.

The reagent storage 107 carries out the reagent cassette 104 for sucking the reagent of the drone 101, and if the reagent remains in the reagent cassette 104 after suction, it is stored in the reagent storage 107 again. The automatic analyzer 103 carries out the reagent cassette 104 from the reagent disk 903 (FIG. 9) by the reagent cassette transfer mechanism 902 (FIG. 9) for reagent replenishment. After replenishing the reagent cassette 104 carried out by the drone 101 with the reagent, the reagent cassette 104 is stored in the reagent disk 903 again by the reagent cassette transfer mechanism 902. Alternatively, it is assumed that the automatic analyzer 103 is provided with a flow path for replenishing the reagent and a reagent injection port, and the drone 101 injects the reagent from the reagent injection port to replenish the reagent to the reagent cassette 104 that needs to be replenished. ..

In this case, in order to prevent contamination of the reagents, a flow path cleaning mechanism shall be provided, or a dedicated replenishment flow path for each reagent shall be provided. The reagent suction / discharge mechanism and storage container provided in the drone 101 are dedicated to each reagent and replaced for each reagent replenished by the drone 101, or the drone 101 itself operates exclusively for one reagent.

In Example 5, in addition to being able to obtain the same effect as in Example 1, the drone 101 is provided with a reagent suction / discharge function and is configured to subdivide the reagent. Therefore, the automatic analyzer 103 subdivides the reagent. It has the effect that the work can be omitted and the time for the analysis operation can be shortened.

The above is the description of Example 5 in which the reagent transport method of the drone 101 is different.

(Example 6)
Next, Example 6 of the present invention will be described.

The sixth embodiment is an example relating to the operation of the drone 101.

When the reagents are transported in small portions as in Example 5 described above, or when the number of times of transporting one type of reagent is large, the drone 101 is dedicated to one type of reagent. Example 6 is an example in which the reagent drone is operated. By the operation as in Example 6, it is possible to prevent contamination of the reagents during transportation.

The above is the description of the sixth embodiment regarding the operation of the drone 101.

(Example 7)
Next, Example 7 of the present invention will be described.

Example 7 is an example relating to the operation of a plurality of drones 101.

When the reagent cassette 104 is frequently transported, a plurality of drones 101 are operated. By operating a plurality of drones 101, it is possible to improve the transportation speed and distribute the load to the drones 101.

When operating a plurality of drones 101, it is assumed that the docks 110 corresponding to the number of drones 101 are provided. The reagent management system 102 is a logic that collects information on the charging status and the failure status of each drone 101 from the dock 110 and determines the drone 101 to transmit a transportation command.

Specifically, the drone 101 in which the failure has occurred is not used, and the logic is such that the command is transmitted to the drone 101 having the largest charge capacity at the time of transmitting the transportation command. The flight path 501 of the drone is a logic that selects so that even if a plurality of drones 101 fly, they do not interfere with each other.

Specifically, the flight path 501 transmitted to a certain drone 101 cannot be used between the time when the transportation command is transmitted and the time when the return command is received, and when the transportation order is issued during that time, the flight can be used. If there is no flight route 501 that can be selected from the route 501, the logic is such that the transport command is not transmitted until the return command is received.

According to the seventh embodiment, the same effect as that of the first embodiment can be obtained, and a plurality of drones 101 can be efficiently operated to improve the transportation speed and distribute the load on the drone 101. Is possible.

The above is the description of the seventh embodiment relating to the operation of the plurality of drones 101.

Next, the operation for a plurality of automatic analyzers 103 will be described.

When a plurality of automatic analyzers 103 are present in the laboratory, the reagent cassette 104 is replenished for each automatic analyzer 103. The reagent management system 102 shall grasp the position information of each automated analyzer 103 and determine the flight path 501 to the automated analyzer 103 that needs to be replenished.

The above is the description of the operation for the plurality of automatic analyzers 103 in the seventh embodiment.

According to the seventh embodiment, the same effect as that of the first embodiment can be obtained, and the plurality of drones 101 can be efficiently operated.

(Example 8)
Next, Example 8 of the present invention will be described.

Example 8 is an example relating to the transportation of consumables other than the reagents contained in the reagent cassette 104.

The automated analyzer 103 requires a detergent for cleaning the reaction vessel and the sampling probe as a consumable item, in addition to the reagent used for the analysis by reacting with the sample. Since this detergent also requires manual replenishment at present, there is an example of using a large-capacity detergent bottle in order to reduce the frequency of replenishment.

As for the detergent, which is a consumable item, the operation of the automatic analyzer 103 can be made more efficient by automating the transportation by the drone 101 as in the reagent cassette 104. Since the detergent bottle often has a larger capacity than the reagent cassette 104, the detergent bottle itself is not transported, but is transported in small portions in the same manner as in Example 5 described above. Alternatively, a small detergent bottle, which is premised on transportation by the drone 101, shall be used and transported by the drone 101.

The automated analyzer 103 is provided with a flow path and an injection port for reagent replenishment shown in the above-described embodiment. Alternatively, the automatic analyzer 103 is provided with an automatic replacement mechanism corresponding to automatic detergent bottle replacement.

The above is an explanation of an example relating to the transportation of consumables other than the reagents contained in the reagent cassette 104.

In the present invention, the detergent, which is a consumable item, is also considered to be one type of the reagent, and therefore the detergent is defined to be included in the reagent.

(Example 9)
Next, Example 9 of the present invention will be described.

The ninth embodiment is an example relating to the decision logic of the flight path 501 of the drone 101.

It is assumed that the flight path 501 is predetermined and stored in the reagent management system 102 at the time of introduction of the reagent transfer system according to the present invention.

In consideration of safety, it is desirable that the flight path 501 is set while avoiding human passages and important facilities as much as possible. A plurality of flight paths 501 from the dock 110 to the reagent delivery point 108 and the automated analyzer 103 may be set.

In that case, the flight path 501 actually used is determined by the logic provided in the reagent management system 102. Specifically, it is equipped with the route determination logic shown in Example 7 when operating a plurality of drones 101 and a detector for detecting the presence position of a person in the examination room, and provides a flight path in the vicinity of the presence of a person. The logic is to select a flight path that does not exist and does not have a detected person. The all-sky camera 402 can also be used as a detector for detecting the presence position of a person in the examination room. It is also possible to configure the all-sky camera 402 to detect the presence position of a person in the examination room. Preferably, the drone 101 includes a motion sensor 405 as shown in FIG. 17, and detects the presence position of a person in the examination room by the motion sensor 405 (detector for detecting the presence position of the person).

The above is the description of the ninth embodiment regarding the decision logic of the flight path 501 of the drone 101.

(Example 10)
Next, Example 10 of the present invention will be described.

Example 10 is an example relating to safety measures during flight of the drone 101.

The tenth embodiment is an example relating to safety measures against a drop of the reagent cassette 104 from the drone 101 during flight or a drop of the drone 101 itself in an unforeseen situation.

Regarding the operation of the drone 101, as in the above-mentioned example, by setting the flight route to a safe route in advance, safety may be ensured, but an unexpected situation may occur. Therefore, Example 10 is an example for further improving safety.

By providing a safety passage for the drone 101 near the ceiling of the inspection room where the automatic analyzer 103 is placed and setting the flight path 501 on the safety passage, people and facilities in the inspection room when the drone 101 falls due to an unforeseen situation. Prevent damage to.

The safety passage is composed of guide rails suspended from the ceiling and, simply, a net.

Further, as a modification of the tenth embodiment, when the drone 101 is in flight, a visible sign is displayed on the drone 101 or on the safety passage so that the surrounding people can know that the drone 101 is in flight. It is also possible to make it known and call attention to prevent damage to people even if a fall occurs.

Further, as another modification, when the all-sky camera 402 included in the drone 101 detects a person in the vicinity of the drone 101, the drone 101 is configured to stop moving and shift to the hovering state on the spot. be able to. When the drone 101 detects that no one is left, the movement of the drone 101 is restarted.

Further, as another modification, the present invention holds even if the drone 101 is replaced with a hanging hand that operates on a rail installed on the ceiling of the inspection room. Although the system installation cost will be significantly higher, the possibility of the drone 101 falling can be eliminated.

FIG. 14 is a diagram showing an example in which the guide rail 1200 is supported by the guide rail support portion 1202 on the ceiling 1201 of the inspection room, and the drone 101 supported by the guide rail 1200 moves.

Further, FIG. 15 is a diagram showing guide rails 1300 and 1301 supported on the ceiling of the inspection room. In FIG. 15, the guide rail 1301 is configured to be movable on the guide rail 1300, and the drone 101 is supported by the guide rail 1301 and is movable along the guide rail 1301. That is, the drone 101 can be moved in the XY direction on the horizontal plane of the examination room by the guide rails 1300 and 1301. Further, the support member of the guide rail 1301 of the drone 101 can move in the vertical direction, and the drone 101 can also move in the vertical direction. The support member of the guide rail 1301 of the drone 101 can be configured so that the drone 101 falls gently due to an unexpected situation. This also applies to the example shown in FIG.

The above is an explanation of an example of safety measures during flight of the drone 101.

(Example 11)
Next, Example 11 of the present invention will be described.

Example 11 is also an example of safety measures during flight of the drone 101, as in the case of the tenth embodiment.

FIG. 16 is an explanatory diagram of the safety measures during flight of the drone 101 in the eleventh embodiment.

In FIG. 16, when the inspection room in which the automatic analyzer 103 is arranged is a high-floor inspection room, the flight path of the drone 101 is formed under the floor of the floor 1400 of the inspection room, and the entrances and exits 1401 and 1402 of the drone 101 are formed. do.

With this configuration, even if the drone 101 falls due to an unexpected situation, it is possible to prevent damage to people and the like in the examination room.

(Example 12)
Next, Example 12 of the present invention will be described.

Example 12 is also an example of safety measures during flight of the drone 101, similarly to Examples 10 and 11.

FIG. 17 is an explanatory diagram of the safety measures during flight of the drone 101 of the twelfth embodiment.

In FIG. 17, the flight path of the drone 101 is formed near the floor of the examination room where the automatic analyzer 103 is arranged, and the drone 101 moves up and down near the automatic analyzer 103 and the like.

With this configuration, even if the drone 101 falls due to an unexpected situation, it is possible to prevent damage to people and the like in the examination room. The drone 101 is provided with a motion sensor 405, and can be configured to stop moving when it detects the presence of a person in the vicinity.

In the above-described embodiment of the present invention, the communication method between the drone 101 and the dock 110 is RFID (near field communication) or optical communication (communication using non-contact light (regardless of serial or parallel)). , Or any method of wired communication can be adopted.

Further, in the above-mentioned example, the reagent cassette 104 is configured to be airlifted by the drone 101, but the reagent cassette 104 is not limited to the drone and moves in the space above or below the periphery of the automatic analyzer 103 and is airlifted. The present invention is applicable as long as it is an airlift that can be used. For example, it may be a crane that can move a rail arranged in the upper space around the automatic analyzer 103 to grip and release the reagent cassette 104. Therefore, in the present invention, a drone, the above-mentioned crane, or the like can be defined as an airlift.

Further, although the drone 101, which is an air transport machine, is configured to air-transport the reagent cassette 104, it is also possible to air-transport a reagent container containing a reagent instead of the reagent cassette 104. In the present invention, the reagent cassette and the reagent container are simply collectively referred to as reagents.

100 ... 101 ... Drone, 101a ... Grip mechanism, 101b ... Disc, 101c, 101d ... Grip part, 101e ... Abutment part, 102 ... Reagent management system, 103 ...・ Automatic analyzer, 104 ・ ・ ・ Reagent cassette, 104a ・ ・ ・ Hole, 105 ・ ・ ・ Reagent remaining amount information, 106 ・ ・ ・ Reagent unloading command, 107 ・ ・ ・ Reagent storage, 108 ・ ・ ・ Reagent cassette Delivery point, 109 ... Reagent transport command, 110 ... Dock, 301 ... Reagent handling mechanism, 302 ... Transport line, 303 ... Reagent opening mechanism, 401 ... Support stand and charging mechanism , 402 ... All-sky camera, 403 ... QR code (registered trademark) display screen, 404 ... Acceleration sensor, 405 ... Human sensor, 501 ... Drone flight path, 502 ... Position coordinate correction marker, 601 ... Positioning marker, 701 ... Grip hand, 702 ... Linear actuator, 703a, 703b ... Grip part, 704 ... Actuator control unit, 801 ... Reagent cassette Installation table, 901 ... Reagent cassette insertion mechanism, 902 ... Reagent transfer mechanism, 903 ... Reagent disk, 1000 ... In-device reagent transfer mechanism, 1001a, 1001b ... Shutter, 1001c ... Insert Mouth, 1002 ... Elevator mechanism, 1101 ... Reagent cassette disposal table, 1102 ... Empty reagent cassette, 1200, 1300, 1301 ... Guide rail, 1201 ... Ceiling, 1202 ... Guide rail support Department, 1400 ... Floor, 1401, 1402 ... Doorway

Claims (11)

The reagent management unit that manages the reagents by transmitting the remaining amount information of the reagents possessed by the automatic analyzer,
A drone having a gripping mechanism for gripping the reagent by moving in the space above or below the periphery of the automated analyzer.
A reagent storage for storing a plurality of reagents used in the automated analyzer,
Based on the remaining amount information of the reagent, the reagent management unit determines whether the automatic analyzer needs to be replenished with the reagent, and when it is determined that the reagent needs to be replenished, the reagent is transferred to the drone . Along with transmitting the command, the reagent carry-out command is transmitted to the reagent storage, and the drone receives the reagent stored in the reagent storage and transports it to the automatic analyzer in accordance with the reagent transport command. Reagent transfer system for automatic analyzers. In the reagent transfer system of the automatic analyzer according to claim 1 ,
A reagent transfer system of an automatic analyzer, wherein the reagent is housed in a reagent cassette, and the drone grips the reagent by gripping the reagent cassette. In the reagent transfer system of the automatic analyzer according to claim 1 ,
A reagent transfer system of an automatic analyzer comprising a dock for making the drone stand by, and transmitting a reagent transfer command transmitted by the reagent management unit to the drone via the dock. In the reagent transfer system of the automatic analyzer according to claim 2 .
An automatic analyzer further comprising a reagent cassette receiving unit in which the drone receives the reagent cassette, and a transport line for transporting the reagent cassette stored in the reagent storage to the reagent cassette receiving unit. Reagent transfer system. In the reagent transfer system of the automatic analyzer according to claim 1 ,
The drone is a reagent transfer system of an automatic analyzer having an acceleration sensor, determining the current position coordinates by coordinate calculation by the acceleration sensor, and following a predetermined flight path. In the reagent transfer system of the automatic analyzer according to claim 5 .
The drone has a camera, and the camera recognizes a three-dimensional image of a position coordinate correction marker installed in advance, and the current position coordinate is corrected. A reagent transfer system of an automatic analyzer. In the reagent transfer system of the automatic analyzer according to claim 2 .
A plurality of holes are formed in the reagent cassette, and the drone has a grip portion inserted into the plurality of holes formed in the reagent cassette, and the grip portion is formed in the reagent cassette. A reagent transfer system for an automated analyzer, characterized in that the drone grips the reagent cassette by being inserted into. In the reagent transfer system of the automatic analyzer according to claim 5 .
The reagent transfer system of the automatic analyzer, characterized in that the flight path is formed near the floor of the laboratory in which the automatic analyzer is arranged. In the reagent transfer system of the automatic analyzer according to claim 5 .
The flight path is formed under the floor of the examination room where the automatic analyzer is arranged, and the entrance / exit of the drone is formed on the floor of the examination room where the automatic analyzer is arranged. Reagent transfer system for automated analyzers. In the reagent transfer system of the automatic analyzer according to claim 1 ,
The drone is a reagent transfer system for an automated analyzer, characterized in that the drone is supported by a guide rail formed on the ceiling of a laboratory in which the automated analyzer is arranged. In the reagent transfer system of the automatic analyzer according to claim 5 or 8 .
The flight path is plural, and the drone has a motion sensor that detects the presence position of a person, and when the motion sensor detects the presence position of a person, the person who detects the flight path is found. A reagent transfer system for automated analyzers that features the selection of non-existent flight paths.

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