WO2016121449A1 - 液面検査装置、自動分析装置および処理装置 - Google Patents
液面検査装置、自動分析装置および処理装置 Download PDFInfo
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- WO2016121449A1 WO2016121449A1 PCT/JP2016/050418 JP2016050418W WO2016121449A1 WO 2016121449 A1 WO2016121449 A1 WO 2016121449A1 JP 2016050418 W JP2016050418 W JP 2016050418W WO 2016121449 A1 WO2016121449 A1 WO 2016121449A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/00584—Control arrangements for automatic analysers
- G01N35/00594—Quality control, including calibration or testing of components of the analyser
- G01N35/00613—Quality control
- G01N35/00663—Quality control of consumables
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
- G01N21/9018—Dirt detection in containers
- G01N21/9027—Dirt detection in containers in containers after filling
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/27—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands using photo-electric detection ; circuits for computing concentration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/00584—Control arrangements for automatic analysers
- G01N35/00594—Quality control, including calibration or testing of components of the analyser
- G01N35/00613—Quality control
- G01N35/00663—Quality control of consumables
- G01N2035/00673—Quality control of consumables of reagents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/04—Details of the conveyor system
- G01N2035/0401—Sample carriers, cuvettes or reaction vessels
- G01N2035/0429—Sample carriers adapted for special purposes
- G01N2035/0432—Sample carriers adapted for special purposes integrated with measuring devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
- G01N35/1009—Characterised by arrangements for controlling the aspiration or dispense of liquids
- G01N35/1016—Control of the volume dispensed or introduced
- G01N2035/1018—Detecting inhomogeneities, e.g. foam, bubbles, clots
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2201/00—Features of devices classified in G01N21/00
- G01N2201/06—Illumination; Optics
- G01N2201/062—LED's
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
Definitions
- the present invention relates to a liquid level inspection apparatus, an automatic analyzer, and a liquid level inspection method for detecting the liquid level of a liquid substance such as blood, urine or the like of a living body or / and the presence or absence of bubbles in the liquid.
- this automatic analyzer analyzes a sample by mixing a biological sample such as blood or urine with a reagent and automatically measuring a reaction solution.
- a biological sample such as blood or urine
- a reagent is dispensed by suction using a dispensing apparatus (dispensing probe) or the like, and supplied to the reaction container for reaction Is common.
- illumination is applied from the upper direction of the inspection target, and imaging is performed with a color camera to acquire an image of the liquid surface, and illumination of the liquid surface using hue information indicating a difference in the ratio of spectral components of light
- a method is disclosed to detect the presence or absence of a bubble by extracting and counting reflections (specular reflection). Reflected light from the bottom of the sample container may produce complex and diverse images, or air bubbles may be generated on the inner wall of the sample container below the liquid level without interfering with suction and separation. If it is the method of extracting the specular reflection of illumination, the bubble generation state on the liquid surface can be easily distinguished.
- An object of the present invention is, in view of the above situation, a liquid level inspection apparatus, an automatic analyzer, and a liquid level inspection method which can increase the accuracy of detection condition of liquid level condition such as bubbles in liquid substance. To provide.
- the present invention is characterized by the following points. That is, according to the one aspect, the container in which the liquid is stored, the irradiation unit that irradiates light from above onto the liquid surface of the liquid substance, and the image of the liquid irradiated by the irradiation unit from above are acquired from above A state of the liquid surface is detected using an imaging unit, a first liquid level inspection unit that detects the state of the liquid surface using color information included in the image, and luminance information included in the image , And a second liquid level inspection unit.
- the liquid level inspection apparatus According to the liquid level inspection apparatus, the automatic analyzer, and the liquid level inspection method according to the present invention, it is possible to increase the accuracy of the detection condition of the liquid level condition such as bubbles for various liquid substances.
- FIG. 1 It is a block diagram of a liquid level inspection device concerning an embodiment of the present invention. It is a flowchart figure of the liquid level inspection method concerning the embodiment of the present invention. It is a figure explaining the positional relationship of a camera, a probe, and a sample container by the liquid level inspection method concerning the embodiment of the present invention. It is a figure explaining the image information processing which concerns on embodiment of this invention. It is a figure explaining the image information processing which concerns on embodiment of this invention. It is a figure of an effective range and circle coordinates of a donut circle concerning an embodiment of the present invention. It is a figure which shows the vicinity range of the circular coordinate which concerns on embodiment of this invention. It is a figure explaining division into 16 of an effective range concerning an embodiment of the present invention.
- FIG. 1 It is a block diagram of a liquid level inspection device concerning an embodiment of the present invention. It is a flowchart figure of the liquid level inspection method concerning the embodiment of the present invention. It is a figure explaining the positional relationship of a camera,
- FIG. 5 illustrates a 5 ⁇ 5 weighting matrix according to an embodiment of the present invention. It is the figure which developed the effective range of the donut circle concerning the embodiment of the present invention.
- FIG. 6 shows a 5 ⁇ 3 weighting matrix according to an embodiment of the present invention. It is a figure which shows the brightness
- FIG. 1 is an overall view of an automatic analyzer to which the present invention is applied.
- FIG. 1 is a block diagram of a liquid level inspection device according to a first embodiment of the present invention.
- a liquid hereinafter referred to as liquid substance 1010
- a test tube 101 as a container.
- the test tube 101 is a substantially transparent vertically elongated, bottomed cylindrical tube made of various resin materials, various glass materials, etc., and is a cylindrical or conical tapered container.
- the liquid substance 1010 contained in the test tube 101 include biological samples such as blood and urine, reagents used for analysis of these biological samples, mixed liquids obtained by mixing the biological samples and the reagents, and reaction liquids that are reacted with each other. Etc.
- the test tube 101 is held in a test tube rack 1011. Even if the test tube 101 is not held by the test tube rack 1011, for example, the liquid level inspection device of the present invention can detect the liquid level condition with the test tube 101 alone.
- the rack illustrated in FIG. 1 can hold a plurality of test tubes, it may be a rack that holds only one test tube.
- the illumination 102 as a light irradiation unit for irradiating light to the liquid surface of the liquid substance 1010 stored in the test tube 101 is provided.
- the illumination 102 is generally referred to as “ring illumination” and has a hollow portion 1021 and is a pseudo white that combines a plurality of white LEDs (a blue light emitting diode or the like with phosphors in a ring shape and has a slight tint) ) Are arranged closely.
- an image (hereinafter also referred to as an image) having at least the color information of light from the test substance 101 and the liquid substance 1010 stored in the test substance 101 (obtaining the exposure for each of a plurality of different wavelength ranges)
- the camera 103 is provided as a photographing unit for photographing the image.
- the lens 1031 of the camera 103 is arranged to look downward through the hollow portion 1021 of the illumination 102.
- the camera 103 generally takes an image having color information by light of three wavelength ranges of RGB, and is configured by applying a CCD or a CMOS image sensor, for example.
- the camera 103 is electrically connected to an image processing apparatus 104 as a detection unit that detects the state of the liquid level using color information in the captured image.
- the image processing apparatus 104 is configured as, for example, a computer including a microprocessor, a memory, and the like.
- the image processing apparatus 104 includes a method selection unit 1041 that selects the method of the liquid level condition optimally. Furthermore, the image processing apparatus 104 is provided with a first bubble detection unit 1042 that determines whether bubbles are present on the liquid surface from the area of the illumination color that is specularly reflected on the liquid surface. Furthermore, the image processing apparatus 104 calculates a brightness gradient in a direction along the inner wall surface shape of the test tube, and determines whether or not there is a bubble on the liquid surface based on the calculated brightness gradient.
- a bubble detection unit 1043 is provided.
- the image processing apparatus 104 is electrically connected to a storage device 105 as a storage unit that stores an image having color information captured by the camera 103, a processing result of processing the image, and the like.
- the storage device 105 is configured of, for example, a hard disk or a flash memory.
- an interface device 106 as an interface unit is connected to the image processing apparatus 104 so that it can be electrically connected to input / output units such as other devices and devices.
- a display device 107 as a display unit for displaying a video having color information captured by the camera 103, a processing result of processing the video, and the like is electrically connected.
- the display device 107 is configured of, for example, a liquid crystal monitor or the like.
- an input device 108 as an input unit is electrically connected to the image processing apparatus 104 so that information can be input from the outside to the image processing apparatus 104.
- the input device 108 is configured of, for example, a keyboard, a mouse, and the like.
- the image processing apparatus 104 as a detection unit, the storage apparatus 105, the interface apparatus 106, the display apparatus 107, and the input apparatus 108 are described as being separate apparatuses, they are configured as individual apparatuses. However, all or part may be integrally configured. For example, all or part of the image processing device 104, the storage device 105, the interface device 106, the display device 107, and the input device 108 may be integrally configured as a detection unit.
- the illumination 102 and the camera 103 are installed vertically above the liquid surface of the container 101 so that the light of the illumination can be specularly reflected on the liquid surface and imaged by the camera.
- the camera 103 can perform image processing by connecting to the image processing apparatus 104 and transmitting captured image information to the image processing apparatus 104.
- the image processing apparatus 104 can store image information and processing results captured by connecting to the storage device 105.
- the process of processing and information stored in the storage device 105 can be displayed on the display device 107.
- the input device 108 is used for adjustment settings and execution instructions of the image processing apparatus 104.
- the method selection unit 1041 executes a detection method selection step of selecting a method of bubble detection.
- the illumination light 102 is irradiated to the inside of the test tube 101 and the test tube 101, and an image is captured by the camera 103, thereby light such as reflected light or transmitted light from the liquid surface of the liquid substance 1010
- the image including the color information of is acquired (S200).
- the color information is acquired by irradiating light from the illumination 102 to the liquid surface of the liquid substance 1010 stored in the test tube 101 and the test tube 101, and the camera 103 is stored in the test tube 101 and the test tube 101. This is carried out by acquiring color information of light such as reflected light and transmitted light from the liquid substance 1010.
- an area (peripheral area) unnecessary for selection of the detection method is removed by image processing, and processing for setting an effective range is performed (S201). This makes it possible to limit the range in which the image information is acquired with respect to the liquid level inside the test tube 101, and to improve the reliability of the detection method selection.
- the number of pixels (the number of pixels) showing a predetermined color (hereinafter referred to as a basic color) for the liquid substance 1010 in the set effective range is counted (S202).
- the color of the pixel to be counted here is determined depending on the liquid substance 1010 to be imaged. For example, if it is blood or urine, it is set to a basic color such as red or yellow.
- the hue (Hue) of each pixel within the effective range is calculated, and if the value is within the predetermined range of the predetermined hue, it is selected as the effective pixel.
- a basic color arises because the wavelength spectrum of the illumination light which passed the liquid substance changes.
- an abnormal color the number of pixels indicating a color (hereinafter referred to as an abnormal color) in which the liquid substance 1010 is not in the normal state within the effective range is counted (S203).
- the determination as to whether or not an abnormal color may be made by counting pixels in a predetermined range of a predetermined hue (for example, green or yellowish green if it is blood or urine). In the case of a sample containing a large amount of fat components and the like, the color tone of the sample becomes unstable, and a large number of pixels of a color that is not the normal state sample appear.
- step S204 it is determined whether the number of pixels indicating the basic color counted in S201 is less than a predetermined threshold (S204). If it is less than the threshold value, it is determined that the determination by the first detection unit 1042 is difficult because the sample has high permeability, the determination by the second detection unit 1043 is selected, and the process proceeds to step S212. If the number of pixels indicating the basic color is less than the threshold value, the process proceeds to the next step.
- step S205 it is determined whether the number of pixels indicating the abnormal color counted in S203 is equal to or greater than a predetermined threshold (S205). If it is equal to or higher than the threshold value, the color tone of the sample is unstable, and the determination by the second detection unit 1043 is selected as the determination by the first detection unit 1042 being difficult, and the process proceeds to step S212. If the number of pixels indicating a color that is not in the normal state is not more than the threshold value, the process proceeds to the step of the first detection unit 1042.
- the area of the illumination color specularly reflected on the liquid surface within the effective range is extracted (S207).
- the method of extracting the area of the illumination color is not particularly limited, for example, a method of predetermining the range of the hue (Hue) corresponding to the illumination color and selecting a pixel having the hue may be considered. Reflected light from a position other than the liquid surface (for example, air bubbles generated at the bottom of the test tube 101 or a position below the liquid surface) and the liquid to be detected by using the hue for selecting the area of the illumination color It is easy to identify bubbles on the surface.
- the distance to the liquid surface is checked by checking the hue that indicates the difference in the ratio of spectral components of light. Regardless, the illumination light specularly reflected on the liquid surface can be selected.
- the illumination color area is a set of pixels extracted in step S207 regardless of the number of pixels and the area of the area, and means an isolated area without being in contact with each other in the image. Specifically, it can be realized by the “Labeling (Image-labeling)” processing procedure generally known in the image processing technology. By counting the number of regions, it is possible to check the number of reflected light without depending on the difference in the distance from the camera to the liquid surface or the size of the air bubble.
- the number of reflection areas of the illumination color counted in S208 is larger than the number of illuminations being used (S209). If there are no bubbles on the liquid surface, the illumination reflects on the surface as many as the number of illuminations, but if there are bubbles on the liquid surface, the illumination light is reflected not only on the liquid surface but also on the surface of the bubbles. This is because the light reflection area is increased. In this embodiment, since a single ring-like light source is used, it is determined that bubbles are present on the liquid surface if the counted area is larger than 1 (S210), and if it is 1 or less. It is determined that there is no bubble (S211).
- the brightness gradient in the direction along the inner wall surface shape of the test tube is calculated, and the maximum value of the brightness gradient is determined (S213).
- FIG. 3 is a layout view showing the positional relationship between the dispensing probe 301, the test tube 101, and the camera 103 in the present embodiment.
- the dispensing probe 301 rotates in the horizontal plane and vertically moves up and down to dispense a predetermined amount of liquid from the test tube 101 positioned at the dispensing position.
- the descent position 3011 at which the tip of the dispensing probe 301 contacts the liquid surface is adjusted in advance so that it is positioned within the range close to or near the central axis of the test tube 101 to be fractionated Is desirable.
- the tip of the dispensing probe 301 is prevented from coming into contact with the test tube 101, and the bubbles generated on the liquid surface are positioned to be in contact with the inner wall surface of the test tube 101.
- the optical axis of the camera 103 be also arranged and adjusted in advance so as to include the lowered position 3011 of the tip of the dispensing probe 301.
- the camera has the least distortion near the center of the optical axis and has a good resolution.
- the sampling position by the dispensing probe 301 and the imaging position by the camera 103 are preferably coaxial, but may be offset. By shifting the arrangement, it becomes possible to observe the state of sampling in real time by the camera 103, and it is possible to indicate that the bubbles are not aspirated at the time of dispensing.
- FIG. 4A is an example of the image acquired in step S200 of the flowchart of FIG.
- the actual image is a color image 400, and it is assumed that the sample has a normal liquid color.
- the determination target is the test tube 401 at the center, and floats at a position where two bubbles 402 a and 402 b are in contact with the inner wall surface on the liquid surface. It can be seen from the image 400 that, in addition to the reflection area 403a of the illumination light on the liquid surface, reflection areas 403b and 403c of the illumination light exist on the surface of the bubble.
- the illumination light source is hollow ring illumination
- the reflection area of the illumination light is also hollow and circular.
- a dark portion having the same shape as the outer shape of the test tube may occur. In the present embodiment, it is a concentric dark portion 404.
- FIG. 4B is an image showing the effective range 405 set in step S201 of the flowchart of FIG. It shows that it is set in the form of a circle centered on the lowered position 3011 of the tip of the dispensing probe 301.
- FIG. 4C shows an image in which pixels are selected in a predetermined range of the area 406 having the hue of the basic color within the effective range 405, which is extracted in step S202 of the flowchart of FIG.
- the first detection unit 1042 determines that the bubble determination is difficult, and selects the determination by the second detection unit 1043.
- the image after the abnormal color area is extracted in step S203 is not shown, the first detection unit 1042 and the second detection unit 1043 are similarly determined according to the number of pixels of the area showing the abnormal color which does not occur in the normal state. Make a switching selection.
- FIG. 4D is an image showing an effective range 407 for determination in the first detection unit 1042 extracted in step S206 of the flowchart of FIG. 2. It is set as a circular area centering on the descent position 3011 of the tip of the dispensing probe 301. Although the descent position 3011 of the tip of the dispensing probe 301 has been shown as a coordinate point in the image, actually the tip of the dispensing probe has a thickness corresponding to the diameter of the tube of the probe, and May cause mechanical manufacturing error or adjustment error. Therefore, a falling range 408 is provided, which is a range in which the dispensing probe tip may fall.
- the effective range 407 is set larger than the descent range 408, and even if the inner diameter of the test tube is large, it is not necessary to judge the range that does not affect the descent range, so it is smaller than the entire liquid surface. It is good to set.
- FIG. 4E shows an image in which a region indicating a hue corresponding to the color of the illumination light is extracted in step S207 of the flowchart of FIG. It can be seen that areas such as the contour of the bubble and the inner wall position of the test tube are not extracted because they take on the color of the liquid, and only the areas 409a to 409c of the reflection by the specular reflection of the illumination light are extracted. .
- FIG. 4F shows an example of a diagram in which the area of the illumination color is counted in step S208 of the flowchart of FIG. Note that this drawing is shown schematically, and it is not necessary to actually write the numbers counted in the image. In this embodiment, as a result of counting, it is shown that three reflection areas of the illumination color are extracted. In this case, in step S209, it is determined that there is a bubble on the liquid surface because the number of reflection areas of the extracted illumination color is larger than one.
- FIG. 5 illustrates the case of a sample having high light transmittance over the entire visible wavelength range, using another example of the image acquired in step S200 of the flowchart of FIG.
- FIG. 5A shows an image 500 in which the liquid color is lighter than that of the image 400, and the image information on the liquid surface has bright and dark but most has an illumination color.
- Three air bubbles 502a, 502b and 502c float on the liquid surface inside the test tube 501 to be determined in contact with the inner wall surface of the test tube. Also, due to the brightness of the light reflected from the bottom of the tube, there is a dark portion 503 in the shape of a concentric circle with the outer shape of the test tube.
- there should be a reflection area of the illumination light source but it is unclear when the sample has high transparency, and is omitted in FIG. .
- FIG. 5 (b) is an enlarged view of the liquid level area inside the test tube 101 at the center of FIG. 5 (a).
- the dark parts 503a and 503b in the shape of the test tube and the concentric circle are due to the light and dark of the reflected light from the tube bottom, but depending on various factors such as the material of the test tube and the shape of the bottom and the liquid volume of the sample.
- the numbers to be The light reflected from the bottom of the tube is weak in the case of a sample with low transparency and deep liquid color and small in contrast on the image, but it appears high in the case of a sample with high transparency and light liquid, with high contrast.
- the contrast is low and unclear for samples with low permeability and deep liquid color, and depending on the liquid volume of the sample, it may disappear due to reflected light from the bottom of the tube. In the case of a high light and light color sample, the contrast is high and appears clearly.
- FIG. 5C is a view showing an effective range 504 set so as to exclude an area (black area) unnecessary for the current determination on the image of FIG. 5B in step S212 of FIG. is there.
- the effective range 504 is set in the form of a hollow donut circle centered on the lowered position 3011 of the tip of the dispensing probe 301.
- the outer shape 506 of the donut circle may be set smaller than the range of the entire liquid surface even if the inner diameter of the test tube used is large.
- FIG. 5D shows the result of calculating the brightness gradient by scanning the brightness information of the image (sum of the brightness of each RGB) in the effective range 504 in the direction along the shape of the test tube in step S213 of FIG. FIG.
- the portion where the luminance gradient is small is black and the portion where the luminance gradient is large is white.
- the maximum value of the brightness gradient is determined, and if it is equal to or more than a predetermined threshold, it is determined that a bubble is generated. If it is less than the threshold, it is determined that a bubble is not generated Do.
- the distance from the camera or illumination to the liquid sample changes depending on the liquid surface position, and the luminance information of the liquid surface also changes.
- the presence or absence of bubbles can be determined robustly regardless of the liquid level.
- FIG. 6 is a diagram showing the effective range 504 shown in FIG. 5C on the xy orthogonal coordinate plane.
- the coordinates in the effective range 504 can be expressed by circular coordinates (r, ⁇ ) whose origin is the lowered position 600 as shown in the figure.
- the direction along the inner wall shape of the test tube shape is the tangential direction of the circle of radius r in FIG. 6 and the direction of the tangent line 601 in the figure at circular coordinates A (r, ⁇ ).
- FIG. 7 is an enlarged view around the circle coordinates A (r, ⁇ ).
- the luminance average of pixels is obtained in each of the two neighboring ranges 701 and 702 adjacent to each other across the coordinate A (r, ⁇ ) in the direction of the tangent 601.
- the absolute value of the difference between the two luminance averages may be used as the luminance gradient.
- the effective range is set to a circle or toroidal shape with a constant radius, but for example, the test tube is not a cylindrical shape but a special shape, or the falling range (702) of the probe tip is an ellipse due to mechanical error factors.
- the shape or the size of the effective range may be changed to improve the detection accuracy.
- effective ranges 405, 407, and 504 may be set commonly to reduce the number of setting steps.
- steps S202 and S203 for counting pixels having a basic color and an abnormal color may be performed in parallel simultaneously, or when one of the counted values reaches a determinable value, the processing of detection method selection is performed. You may end it.
- the ratio (area ratio) of the number of basic or abnormal color pixels to the total number of pixels in the set effective range 405 is determined by comparison with the threshold value You may do it. In such a case, it becomes robust against changes in the magnification of the image captured by the camera.
- the algorithms by the first liquid level inspection unit 1042 and the second liquid level inspection unit 1043 may be executed concurrently and in parallel.
- S204 and S205 for selecting the method of the first liquid level inspection unit 1042 and the second liquid level inspection unit 1043 are not required to be executed, and at least one of the determination results of the respective liquid level inspection units is not necessary. From the determination result, the final bubble presence / absence check result is derived.
- a plurality of hue ranges of the basic color of the liquid substance 1010 may be set so as to increase the types of liquid substances 1010 that can be handled.
- a plurality of hue ranges of abnormal colors may be set.
- the determination of the basic color, abnormal color, and illumination color of the liquid substance 1010 may be based on a color system other than hue.
- Hue is convenient because it can specify a color in one dimension and easily correspond to human color perception, but it may be other information as long as it is color information that does not depend on the distance to the liquid surface that is the subject, for example in YUV format
- a color range may be designated by the color difference information U and V, or in the case of the RGB format, it may be designated using a ratio of R ⁇ G and B ⁇ G or the like.
- the original luminance information in step S213 for obtaining the luminance gradient may use other luminance information instead of the sum of the RGB luminances.
- the luminance information of any one of the R, G, and B channels, the average luminance, and information of a monochrome converted image adapted to human vision may be used.
- step S213 it is not always necessary to obtain the “maximum value” of the brightness gradient in step S213, and it is determined that a bubble is generated if there is at least one location of the brightness gradient equal to or greater than a predetermined threshold within the effective range. You may.
- Second Embodiment As a second embodiment, another brightness gradient calculation method will be described with reference to FIGS.
- FIG. 8 is a diagram in which the area of the effective range 504 is equally divided at equal angles.
- the luminance gradient in the tangential direction of the circle is approximately calculated using the weighting matrix shown in FIGS. 9 (a) to 9 (h) for each region.
- the luminance gradient is calculated using the luminance of five pixels in the vertical direction and five pixels in the horizontal direction (5 ⁇ 5) centered on the pixel (r, ⁇ ).
- the products of the respective luminances of the 5 ⁇ 5 neighboring pixels and the numerical values of the respective array elements of the corresponding weighting matrix are obtained, and a total of 25 products are added, and the absolute value thereof is taken as the luminance gradient.
- Each weighting matrix is weighted tangentially to the circle corresponding to ⁇ .
- the weighting matrix of FIG. 9A is used in the region of ⁇ / 16 ⁇ ⁇ ⁇ / 16 or in the region of 15 ⁇ / 16 ⁇ ⁇ 17 ⁇ / 16.
- the weighting matrix in FIG. 9B is used in the region of ⁇ / 16 ⁇ ⁇ 3 ⁇ / 16 or in the region of 17 ⁇ / 16 ⁇ ⁇ 19 ⁇ / 16.
- the weighting matrix in FIG. 9C is used in the region of 3 ⁇ / 16 ⁇ ⁇ 5 ⁇ / 16 or in the region of 19 ⁇ / 16 ⁇ ⁇ 21 ⁇ / 16.
- the weighting matrix in FIG. 9D is used in the region of 5 ⁇ / 16 ⁇ ⁇ 7 ⁇ / 16 or in the region of 21 ⁇ / 16 ⁇ ⁇ 23 ⁇ / 16.
- the weighting matrix in FIG. 9E is used in the region of 7 ⁇ / 16 ⁇ ⁇ 9 ⁇ / 16 or in the region of 23 ⁇ / 16 ⁇ ⁇ 25 ⁇ / 16.
- the weighting matrix of FIG. 9F is used in the region of 9 ⁇ / 16 ⁇ ⁇ 11 ⁇ / 16 or in the region of 25 ⁇ / 16 ⁇ ⁇ 27 ⁇ / 16.
- the weighting matrix in FIG. 9G is used in the region of 11 ⁇ / 16 ⁇ ⁇ 13 ⁇ / 16 or in the region of 27 ⁇ / 16 ⁇ ⁇ 29 ⁇ / 16.
- the weighting matrix of FIG. 9H is used in the region of 13 ⁇ / 16 ⁇ ⁇ 15 ⁇ / 16 or in the region of 29 ⁇ / 16 ⁇ ⁇ 31 ⁇ / 16.
- the weighting matrix shown in FIG. 9 is merely an example, and different ones such as 7 ⁇ 7 or 3 ⁇ 3 may be used, and the effective region may be divided into 32 smaller divisions, and the corresponding weighting matrix may be 16 types. Calculation accuracy may be improved. Further, the value of the array element of each weight matrix may be finely adjusted to improve the calculation accuracy.
- Reference numeral 1000 in FIG. 10 represents image information of an effective range 504 (inner diameter 505 to outer diameter 506, region within 0 ⁇ ⁇ ⁇ 2 ⁇ radian) converted into a plane of horizontal axis ⁇ and vertical axis r and developed. . Concentric dark portions are developed at 1001 and 1002 due to light and dark of light reflected from the bottom of the tube.
- the tangent direction of the original circle is replaced with the direction of the ⁇ axis, and the luminance gradient can be calculated by one weight matrix.
- the brightness gradient in the ⁇ direction is calculated based on the 5 ⁇ 3 weighting matrix shown in FIG. 11, and the brightness gradient of each pixel position is shown as an image in FIG.
- the portion where the luminance gradient is small is black and the portion where the luminance gradient is large is white.
- the dark portions 1001 and 1002 are not straight lines but a gentle curve, but the drop position 3011 is offset from the center of the outer shape of the test tube, or the tube bottom shape of the test tube is It is an event that occurs when you are distorted. However, if the brightness gradient is calculated based on brightness information in a certain range in the vicinity, the brightness gradient due to the outer shape of the bubble can be captured without any problem.
- the 5 ⁇ 3 weighting matrix shown in FIG. 11 is merely an example, and a different range such as 7 ⁇ 5 or 3 ⁇ 3 may be used. Further, the detection accuracy may be improved by finely adjusting the value of each array element of the weight matrix.
- Third Embodiment of the Present Invention In Example 1, on the premise that the test tube containing the liquid is a cylindrical or conical container, the method of obtaining the brightness gradient in the tangential direction of the circle has been described. In this embodiment, the case of a container other than a cylindrical or conical shape will be described with reference to FIG.
- FIG. 13A shows an example of a prismatic container, which contains a sample such as blood or urine or a liquid substance such as a mixture of a sample and a reagent.
- FIG. 13B is an image 1300 of such a prismatic container taken from the top.
- doubly square square shaped dark portions 1301 and 1302 appear due to the shape of the container due to the brightness of the reflected light from the bottom.
- the process of setting the effective range (step S212 in FIG. 2) and calculating the luminance gradient (step S213) in the luminance gradient detection method will be described for this image.
- FIG. 13C is a diagram showing the effective range 1303 set in step S212.
- an effective range 1303 is an area other than blacked out, and the effective range is set in a donut circle shape centered on the dropping position of the dispensing probe.
- FIG. 13D is a diagram in which the effective region is divided into four at every angle ⁇ / 2 in order to calculate the brightness gradient in the direction along the square that is the inner wall surface shape of the container in step S213. .
- the luminance gradient may be calculated using two of the weighting matrices shown above in each area after division. Specifically, the weighting matrix of FIG. 17 is used in the region of ⁇ / 4 + ⁇ ⁇ ⁇ ⁇ ⁇ / 4 ⁇ . In the region of ⁇ / 4 + ⁇ ⁇ ⁇ ⁇ 3 ⁇ / 4 ⁇ , the weighting matrix of FIG. 9 (e) is used. In the region of 3 ⁇ / 4 + ⁇ ⁇ ⁇ ⁇ 5 ⁇ / 4 ⁇ , the weighting matrix of FIG.
- FIG. 13E is a diagram showing the calculated brightness gradient in an image. Even if there are dark portions 1301 and 1302 indicating the reflected light from the bottom of the tube due to the shape of the container in the effective area, the foam can be accurately detected to detect the presence or absence of foam. In addition, if the region of ⁇ / 4 + ⁇ ⁇ ⁇ ⁇ 3 ⁇ / 4 ⁇ and the region of 5 ⁇ / 4 + ⁇ ⁇ ⁇ ⁇ 7 ⁇ / 4 ⁇ are rotated by ⁇ / 2 (90 °), all the image information can be obtained.
- the brightness gradient can be calculated using only the weighting matrix of FIG. As described above, if the luminance gradient in the direction along the test tube shape is calculated, the liquid level inspection can be performed with the minimum processing. ⁇ Example of application to automatic analyzer> Next, an automatic analyzer to which the present invention is applied will be described.
- FIG. 14 is a schematic view of an automatic analyzer according to an embodiment of the present invention.
- an automatic analyzer that automatically performs qualitative / quantitative analysis of a biological sample such as blood or urine, and which analyzes an item such as a biochemical item, an immune item, or a coagulation item is described.
- it is another analyzer if it has a function of dispensing a sample or reagent by a dispensing probe from a test tube to a reaction container or from a reagent container to a reaction container. Also good.
- a reagent disk 3302 In the automatic analyzer 3301, a reagent disk 3302, a reaction disk 3303, a sample dispensing probe 3304, a reagent dispensing probe 3305, a stirring device 3306, a photometer 3312, and a transport mechanism 3313 are disposed. Further, a control device provided with the display device 107 and the input device 108 is connected to the automatic analysis prosecution 3301.
- the reagent disk 3302 is rotatable, and a plurality of reagent containers can be arranged circumferentially. Similarly, the reaction disk 3303 can be provided with a plurality of reaction vessels on the circumference.
- the transport mechanism 3313 can transport the sample holder 3311 containing the plurality of sample containers 101. In the present embodiment, a rack type sample holder 3311 capable of holding five sample containers 101 is used, and the sample is moved to a predetermined position by a transport belt driven horizontally with the sample holder placed on the sample holder. The container 101 can be transported.
- the sample dispensing probe 3304 can be rotationally driven and vertically driven, sucks the sample held by the sample holder 3311 carried to a predetermined position, and dispenses and discharges it to the reaction container on the reaction disk 3303.
- the reagent dispensing probe 3305 is also capable of rotational drive and vertical drive, and sucks the reagent from the reagent container held on the reagent disk 3302 and dispenses it into the reaction container on the reaction disk 3303.
- a stirrer 3306 stirs the mixture in the reaction vessel.
- a photometer 3312 analyzes the mixture after stirring.
- dispensing of the sample or the reagent is performed by the sample liquid level detection device 3308 provided above the transport mechanism 3311 and the reagent liquid level detection device 3307 provided above the reagent disc. Before performing, it is possible to detect the presence or absence of bubbles on the liquid surface. Further, the presence or absence of bubbles may be detected at a position where dispensing is performed. Furthermore, by providing the reaction liquid measurement surface detection device 3309 on the top of the reaction disk 3303, the liquid surface of the reaction liquid in which the sample and the reagent are mixed is photographed, and abnormalities in the liquid surface are detected after dispensing and stirring. It is also possible.
- test tube 1010 liquid substance 102 illumination 1021 hollow part 103 camera 1031 lens 104 image processing device 105 storage device 106 interface unit 107 display unit 108 input unit 3301 automatic analysis device 3302 reagent disc 3303 reaction disc 3304 sample dispensing probe 3305 reagent dispensing Probe 3306 Stirring device 3307 Liquid level detection device for reagent 3308 Liquid level detection device for sample 3309 Liquid level detection device for reaction liquid 3311 Sample holder
Abstract
Description
<本発明の第一の実施形態>
まず、本発明の一実施形態に係る液面検査装置について説明する。
初めに、S200で取得した画像情報から有効範囲を設定する処理をおこなう(S212)。これにより、ノイズを含む可能性がある不要な周辺領域の情報を取り除き、なおかつ分注プローブ先端が降下する位置での液面検査の信頼性を上げることが可能となる。
<第二の実施例>
第二の実施例として、図8,9を用いて、他の輝度勾配算出方法を説明する。
<本発明の第三の実施形態>
実施例1では、液体を収容する試験管が円筒状や円錐状の容器であることを前提として、円の接線方向で輝度勾配を求める方法を説明した。本実施例では、円筒形または円錐形以外の容器の場合について、図13を用いて説明する。
以上説明したように、試験管形状に沿った方向の輝度勾配を算出すれば、最小限の処理で液面検査が可能になる。
<自動分析装置への適用例>
次に本発明を適用した自動分析装置について説明する。
さらに、反応ディスク3303の上部に反応液用計面検出装置3309を備えることにより、試料と試薬を混合した反応液の液面を撮影して、分注後や攪拌後に液面の異常を検知することも可能である。
1010 液状物質
102 照明
1021 中空部
103 カメラ
1031 レンズ
104 画像処理装置
105 記憶装置
106 インタフェース部
107 表示部
108 入力部
3301 自動分析装置
3302 試薬ディスク
3303 反応ディスク
3304 試料分注プローブ
3305 試薬分注プローブ
3306 攪拌装置
3307 試薬用液面検出装置
3308 試料用液面検出装置
3309 反応液用液面検出装置
3311 試料ホルダ
Claims (11)
- 液状物質が収納された容器および前記液状物質の液面に対して上方から光を照射する照射部と、
前記照射部が光を照射した液状物質の画像を上方から取得する撮影部と、
前記画像に含まれる色情報を用いて前記液面の状態を検出する、第一の液面検査部と、
前記画像に含まれる輝度情報を用いて前記液面の状態を検出する、第二の液面検査部を有する液面検査装置。 - 請求項1記載の液面検査装置において、
前記画像に含まれる色情報を用いて、前記第一の液面検査部と前記第二の液面検査部のいずれを用いるか選択する方式選択部を有する、液面検査装置。 - 請求項1記載の液面検査装置において、 前記第二の液面検出部は、前記画像から容器の内壁面形状に沿った方向の輝度勾配を算出して液面の泡を検出する、液面検査装置。
- 請求項1記載の液面検査装置において、
前記第一の液面検出部は、前記照明部から照射される光の色に相当する色情報を有する領域の数に基づいて、液面の泡を検出する、液面検査装置。 - 請求項2記載の液面検査装置において、
前記方式選択部、前記第一の液面検出部および前記第二の液面検出部は、個別に色情報または輝度情報を取得するための領域を設定することを特徴とする、液面検査装置。 - 請求項1記載の液面検査装置において、
前記液状物質は、生体試料、これら生体試料の分析に使用される試薬、当該生体試料と試薬とを混合した混合液、または当該生体試料と試薬が反応した反応液の、いずれかである、液面検査装置。 - 請求項1記載の液面検査装置において、
前記液状物質を吸引するプローブを備え、
前記撮像部の光軸が、前記プローブの降下位置と略一致するように配置されている、液面検査装置。 - 液状物質が収納された容器に対して上方から光を照射した状態で撮像された液面の画像を処理する処理装置であって、
前記画像に含まれる色情報を用いて前記液面の状態を検出する、第一の液面検査部と、
該撮影部で撮影した映像の中の前記輝度情報を用いて前記液面の状態を検出する、第二の液面検査部を有する、処理装置。 - 請求項8記載の処理装置において、
前記画像に含まれる色情報を用いて、前記第一の液面検出部と、前記第二の液面検出部のいずれを用いるかを選択する方式選択部を有する、処理装置。 - 試料を収容する試料容器を搬送する試料容器搬送機構と、
試料と混合される試薬を収容した試薬容器を搬送する試薬容器搬送機構と、
前記試料と前記試薬を混合した反応液を収容した反応容器を搬送する反応容器搬送機構と、
前記試料容器、前記試薬容器または前記反応容器の少なくともいずれかの内部に収容された液体の画像を撮像する撮像機構と、
前記撮像機構に接続され、前記画像に含まれる色情報を用いて前記液面の状態を検出する第一の液面検出部、前記画像に含まれる輝度情報を用いて前記液面の状態を検出する第二の液面検出部、および前記第一または第二の液面検出部のいずれを用いるかを選択する方式選択部、を有する制御装置と、を有する自動分析装置。 - 請求項10記載の自動分析装置において、
前記試料容器搬送機構または前記試薬容器搬送機構により分注位置に位置付けられた前記試料容器または前記試薬容器から、所定量の液体を吸引するプローブ機構を備え、
前記撮像機構は、前記分注位置に位置付けられる前または当該分注位置で、前記試料容器または前記試薬容器内部の液体の画像を撮像する、自動分析装置。
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JP2016571896A JP6532486B2 (ja) | 2015-01-28 | 2016-01-08 | 液面検査装置、自動分析装置および処理装置 |
US15/543,026 US10739364B2 (en) | 2015-01-28 | 2016-01-08 | Liquid surface inspection device, automated analysis device, and processing device |
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JP2018105690A (ja) * | 2016-12-26 | 2018-07-05 | 株式会社日立ハイテクノロジーズ | 自動分析装置および自動分析方法 |
WO2019026406A1 (ja) * | 2017-07-31 | 2019-02-07 | 株式会社日立ハイテクノロジーズ | 装置、試料の状態の判別方法、及び分析システム |
JP2019027927A (ja) * | 2017-07-31 | 2019-02-21 | 株式会社日立ハイテクノロジーズ | 装置、試料の状態の判別方法、及び分析システム |
CN110892272A (zh) * | 2017-07-31 | 2020-03-17 | 株式会社日立高新技术 | 装置、试料的状态的判别方法以及分析系统 |
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JP7011904B2 (ja) | 2017-07-31 | 2022-01-27 | 株式会社日立ハイテク | 装置、試料における気泡の状態の判別方法、及び分析システム |
US11282184B2 (en) | 2017-07-31 | 2022-03-22 | Hitachi-High-Technologies Corporation | Apparatus, method for determining state of sample, and analysis system |
CN110892272B (zh) * | 2017-07-31 | 2023-09-26 | 株式会社日立高新技术 | 装置、试料的状态的判别方法以及分析系统 |
US20210245121A1 (en) * | 2018-06-07 | 2021-08-12 | Wilco Ag | Method and apparatus for monitoring a drive mechanism of an automated inspection system for inducing motion to a container partially filled with a liquid |
TWI717782B (zh) * | 2019-07-16 | 2021-02-01 | 張力 | 裝置狀態之監測管理系統 |
Also Published As
Publication number | Publication date |
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CN107110879B (zh) | 2019-04-05 |
CN107110879A (zh) | 2017-08-29 |
EP3252476A4 (en) | 2018-10-03 |
US10739364B2 (en) | 2020-08-11 |
JP6532486B2 (ja) | 2019-06-19 |
EP3252476A1 (en) | 2017-12-06 |
US20180003728A1 (en) | 2018-01-04 |
JPWO2016121449A1 (ja) | 2017-11-09 |
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