WO2023037801A1 - 自動分析支援ロボット及び自動分析システム - Google Patents

自動分析支援ロボット及び自動分析システム Download PDF

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Publication number
WO2023037801A1
WO2023037801A1 PCT/JP2022/029848 JP2022029848W WO2023037801A1 WO 2023037801 A1 WO2023037801 A1 WO 2023037801A1 JP 2022029848 W JP2022029848 W JP 2022029848W WO 2023037801 A1 WO2023037801 A1 WO 2023037801A1
Authority
WO
WIPO (PCT)
Prior art keywords
computer
automatic analysis
detergent
support robot
analysis module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2022/029848
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
光 滝澤
健太 今井
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi High Tech Corp
Original Assignee
Hitachi High Tech Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi High Tech Corp filed Critical Hitachi High Tech Corp
Priority to JP2023546835A priority Critical patent/JP7665032B2/ja
Priority to EP22867123.6A priority patent/EP4400844A4/en
Priority to US18/688,966 priority patent/US12461118B2/en
Priority to CN202280058416.1A priority patent/CN117881969A/zh
Publication of WO2023037801A1 publication Critical patent/WO2023037801A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • 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
    • G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • 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
    • 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
    • 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
    • G01N35/00623—Quality control of instruments
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/689—Pointing payloads towards fixed or moving targets
    • G05D1/6895—Pointing payloads towards fixed or moving targets the payload being a manipulator arm
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0012—Biomedical image inspection
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2101/00—Details of software or hardware architectures used for the control of position
    • G05D2101/22—Details of software or hardware architectures used for the control of position using off-board distributed computer resources for performing calculations, e.g. cloud-based
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/80—Specific applications of the controlled vehicles for information gathering, e.g. for academic research
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Definitions

  • the present invention relates to an automatic analysis support robot and an automatic analysis system that support automatic analysis of specimens (biological samples) by an automatic analyzer for clinical testing.
  • Patent Document 1 discloses a transport robot that transports liquid with low vibration in an inspection room where people enter and exit.
  • Patent Literature 2 discloses the configuration and operation of a robot arm that transports sample containers and racks between a plurality of measuring devices.
  • Patent Document 3 in a sample pretreatment apparatus, a sample pretreatment apparatus that transports a sample is determined from a plurality of sample pretreatment apparatuses according to the contents of a measurement request, and a robot arm is attached to the determined sample pretreatment apparatus. Techniques are disclosed for transporting specimens using.
  • automatic analyzers require various types of maintenance to ensure that inspections and analyses are performed properly.
  • the number of maintenance items tends to increase as the number of items automatically performed by automatic analyzers increases, and it is also important to reduce the user's maintenance burden.
  • An object of the present invention is to provide an automatic analysis support robot and an automatic analysis system that can reduce the maintenance burden of automatic analysis equipment.
  • the present invention provides an automatic analysis support robot for inspecting an analysis module that automatically analyzes a biological sample, comprising a vehicle body, a camera mounted on the vehicle body, and the analysis module.
  • a communication device for direct or indirect communication, and a computer for controlling the vehicle body and the camera, wherein the computer moves to a predetermined working position to face an inspection object provided in the analysis module.
  • an automatic analysis support robot that controls a vehicle body, photographs the inspection target with the camera, processes the image of the inspection target, and calculates management data relating to the inspection target.
  • FIG. 1 is a side view of an automatic analysis support robot according to one embodiment of the present invention
  • FIG. 4 is an explanatory diagram of a method for opening and closing the opening/closing cover of the analysis module by the automatic analysis support robot according to one embodiment of the present invention
  • FIG. 4 is an explanatory diagram of a method for opening and closing the opening/closing cover of the analysis module by the automatic analysis support robot according to one embodiment of the present invention; Explanatory diagram of the detergent liquid surface detection operation of the automatic analysis support robot according to one embodiment of the present invention. Explanatory diagram of the detergent liquid surface detection operation of the automatic analysis support robot according to one embodiment of the present invention.
  • FIG. 3 is an explanatory diagram of a method for calculating the actual amount of detergent remaining in the automatic analysis support robot according to one embodiment of the present invention.
  • FIG. 3 is an explanatory diagram of a method for calculating the actual amount of detergent remaining in the automatic analysis support robot according to one embodiment of the present invention.
  • FIG. 4 is a diagram showing an example of a display screen of the amount of detergent remaining inspected by the automatic analysis support robot according to one embodiment of the present invention
  • FIG. 4 is an explanatory diagram of a method for reflecting the actual amount of detergent remaining inspected by the automatic analysis support robot according to one embodiment of the present invention to the management data of the computer of the analysis module
  • Explanatory diagram of the pump pressure reading operation of the automatic analysis support robot according to one embodiment of the present invention Explanatory diagram of the pump pressure reading operation of the automatic analysis support robot according to one embodiment of the present invention.
  • FIG. 4 is a diagram showing chronological changes in pump pressure over a certain period of time calculated from images captured by an automatic analysis support robot according to an embodiment of the present invention
  • FIG. 4 is a diagram showing chronological changes in pump pressure over a certain period of time calculated from images captured by an automatic analysis support robot according to an embodiment of the present invention
  • FIG. 4 is a diagram showing an example of a display screen of pump pressures inspected by the automatic analysis support robot according to one embodiment of the present invention
  • FIG. 4 is a diagram showing an example of a display of a trend of pump pressures inspected by the automatic analysis support robot according to one embodiment of the present invention
  • FIG. 1 is a schematic diagram showing the entire automatic analysis system according to one embodiment of the present invention.
  • the automatic analysis system shown in the figure includes automatic analyzers 10A and 10B, an automatic analysis support robot 20 (hereinafter referred to as robot 20), a computer 30, and a communication device 40.
  • robot 20 an automatic analysis support robot 20
  • computer 30 a communication device 40.
  • the automatic analyzer 10A is a modular automatic analyzer consisting of a plurality of analysis modules 11 and 12, and the automatic analyzer 10B is a standalone automatic analyzer consisting of a single analysis module 11.
  • the analysis modules 11 and 12 are devices for automatically analyzing (for example, measuring specific components) samples (biological samples such as blood and urine).
  • An analysis module may be called an automatic analyzer, but in this embodiment, in order to distinguish between the automatic analyzers 10A and 10B, each automatic analyzer constituting the automatic analyzers 10A and 10B is described as an analysis module.
  • the analysis module 11 is, for example, a biochemical automatic analyzer
  • the analysis module 12 is, for example, an immunological automatic analyzer.
  • the types and combinations of analysis modules that constitute the automatic analyzers 10A and 10B can be changed as appropriate.
  • the robot 20 is an autonomous robot that inspects the automatic analyzers 10A and 10B and supports automatic analysis by the automatic analyzers 10A and 10B.
  • the computer 30 is a control device that controls the robot 20, and the communication device 40 is a device that directly or indirectly communicates with the automatic analyzers 10A and 10B (strictly speaking, their computers).
  • the communication device 40 may be configured to communicate with the automatic analyzers 10A and 10B by wire communication, but preferably has a configuration to communicate with the dynamic analyzers 10A and 10B by wireless communication.
  • the computer 30 and the communication device 40 are mounted on the robot 20 will be described.
  • the analysis modules 11 and 12 and the robot 20 will be described later, but here an outline of the entire automatic analysis system will be described with reference to FIG.
  • the automatic analyzers 10A and 10B are arranged inside an examination room L, and a predetermined space is provided around them so that the user can easily operate, maintain, and pass through the automatic analyzers 10A and 10B. secured and placed.
  • This space also serves as a passage along which the robot 20 runs.
  • a default work place Y where the robot 20 works is set in each of the analysis modules 11 and 12 .
  • the work place Y is, for example, a position facing the pressure gauge 18 (FIG. 2A) and the detergent container 17 (FIG. 2A) in the analysis modules 11 and 12 with the opening/closing cover 19 (FIG. 2A) interposed therebetween.
  • a waiting place X for the robot 20 is set.
  • the position of the waiting place X is set so as not to interfere with the actions of the user (human), avoiding the assumed flow line of the user.
  • the robot 20 waits at the waiting place X except when performing maintenance.
  • a charger (not shown) is installed at the waiting place X, and the battery (not shown) of the robot 20 is charged while waiting at the waiting place X.
  • the waiting place X and each work place Y are connected by a predetermined route R, and the robot 20 moves between the waiting place X and the work place Y along the predetermined route R.
  • the route R can employ a configuration in which a physical route such as a rail, a magnetic line, or a white line is drawn, and the robot 20 moves along the route.
  • the positional relationship between the standby place X and each work place Y may be stored in the memory of the computer 30 as traveling direction and distance data, and the robot 20 may be moved by the computer 30 based on the data.
  • the position coordinates of the standby place X and each work place Y may be stored in the memory of the computer 30, and the robot 20 may travel between specified coordinates in the local coordinate system of the inspection room L.
  • a stand 51 is installed at the standby location X, and a console 50 is provided on the stand 51.
  • the console 50 is an operation terminal operated by a user, and various computers equipped with (or externally attached to) an input device, a monitor, and a communication device such as a tablet PC, a notebook PC, and a desktop PC can be used.
  • the console 50 is configured to be wirelessly communicable with the robot 20 .
  • the communication device provided in the console 50 directly or indirectly communicates with the communication device 40 provided in the robot 20 by a communication method such as Wi-Fi (registered trademark), ZigBee (registered trademark), or Bluetooth (registered trademark). It can be configured to exchange data.
  • the results of maintenance performed by the robot 20 can be viewed on the monitor of the console 50. Further, the type of maintenance performed by the robot 20, the timing of performing maintenance, and the like can be set on the console 50 for each of the analysis modules 11 and 12. FIG. According to this setting, the robot 20 moves to the work place Y of the target analysis module and performs the set maintenance according to the preset procedure. As for the timing of the inspection by the robot 20, for example, in addition to a set time interval or set time, the inspection can be performed when the user manually instructs.
  • each of the automatic analyzers 10A and 10B is equipped with a computer 13 and a communication device 14.
  • the computer 13 is both an operation terminal for operating the automatic analyzer and a controller for controlling the corresponding automatic analyzer.
  • the computer 13 is equipped with (or connected to) a communication device 14 .
  • the computer 13 is configured to be able to wirelessly communicate with the robot 20 via the communication device 14 .
  • the results of sample analysis by the analysis module can be viewed on the monitor of the computer 13, and the computer 13 can be used to set an analysis request for the automatic analyzer.
  • the type, number, and layout of the automatic analyzers, analysis modules, robots 20, and waiting areas X placed in the examination room L are not limited to the example in FIG.
  • data such as positions and types of analysis modules to be maintained by the robot 20 are registered in advance.
  • FIG. 2A is a front view schematically showing the appearance of an analysis module provided in an automatic analysis system according to one embodiment of the present invention
  • FIG. 2B is an enlarged view of the IIB section in FIG. 2A
  • FIG. 2C is the analysis module of FIG. 2A. is a diagram showing a modification of the cover of the body.
  • the analysis module 11 shown in FIG. 2A dispenses the sample and the reagent into a plurality of reaction containers (not shown) using the dispensing device 15 or the like, and measures the liquid resulting from the reaction between the sample and the reagent.
  • the analysis module 11 is equipped with a waste liquid aspirator 16 for cleaning the reaction container in the sample analysis process.
  • the waste liquid suction device 16 and the dispensing device 15 have the same configuration, and the nozzles 15a and 16a are moved by turning the arm to suck and discharge the liquid with the nozzles 15a and 16a.
  • a detergent cleaning liquid
  • a detergent container 17 containing detergent is set inside the body of the analysis module 11 .
  • the detergent container 17 is made of a material that transmits visible light, so that the detergent inside can be seen through.
  • the analysis module 11 also includes a plurality of sensors for adjusting the suction power (vacuum pressure) of the waste liquid and the discharge power (liquid pressure) of the detergent of the waste liquid suction device 16 for washing the nozzle 15a of the pipetting device 15 and the reaction container.
  • a system pump (not shown) is provided. These pumps have many moving parts such as gears, bearings, diaphragm valves, etc. If these moving parts wear out or deteriorate, the required pump pressure cannot be output. The pump pressure affects the amount of pipetted, etc., and if the precision drops, it becomes impossible to properly analyze the sample.
  • the analysis module 11 is equipped with a pressure gauge 18 for each pump for the purpose of allowing the user to check the pump pressure.
  • each pressure gauge 18 has an indicator 18a that indicates the measured value of pressure, and the user checks the pump pressure by reading the scale indicated by the indicator 18a.
  • These pressure gauges 18 are also arranged inside the body of the analysis module 11 .
  • the detergent container 17 is a device that requires replacement by the user
  • the pressure gauge 18 is a device that requires visual confirmation by the user.
  • a plurality of detergent containers 17 and pressure gauges 18 are provided in each analysis module 11 .
  • the detergent container 17 and the pressure gauge 18 are inspected by the robot 20 .
  • the front surface of the body of the analysis module 11 is covered with an opaque opening/closing cover 19, and the detergent container 17 and the pressure gauge 18 to be inspected are covered with the opening/closing cover 19.
  • the detergent container By opening the opening/closing cover 19, the detergent container can be opened. 17 and pressure gauge 18 are accessible.
  • the opening/closing cover 19 is a replacement of the original cover of the analysis module 11, and as indicated by the arrows in FIG. It is configured to open and close.
  • the opening/closing cover 19 is provided with a user handle 19A on which the user holds a hand, and a robot handle 19B on which the hand 23a of the robot 20 is held.
  • the user handle 19A is positioned on the upper side of the opening/closing cover 19 on the opposite side of the rotating shaft.
  • the robot handle 19B is located on the opposite side of the rotating shaft in the lower part of the opening/closing cover 19. As shown in FIG.
  • the robot handle 19B has a configuration in which a part of the opening of a depression provided in the opening/closing cover 19 is closed with a plate-like handle 19b.
  • the front surface of the analysis module 11 may be covered with a partially transparent fixed cover 19' as shown in FIG. 2C.
  • the cover 19' has a window 19C fitted with a transparent member such as acrylic or glass, covers the detergent container 17 and the pressure gauge 18, and allows the detergent container 17 and pressure from the work place Y to pass through the window 19C. A total of 18 are visible.
  • the cover 19' may be made entirely of a transparent member such as acrylic.
  • the cover 19 ′ may be detachable, or may be configured to open and close like the opening/closing cover 19 . When the cover 19' is detachable, the user handle 19A and the robot handle 19B of the cover 19' can be omitted.
  • the analysis module 11 has been described above, but the analysis module 12 also has a detergent and a pump, and the detergent container 17 and the pressure gauge 18 are laid out behind the opening/closing cover 19 or the cover 19' for easy access by the user. The point is the same.
  • the analysis modules 11 and 12 cannot perform normal analysis when the detergent runs out, it is often configured to stop the analysis operation when the detergent required for the analysis cannot be supplied. If the analysis operation stops abruptly, the samples and reagents being analyzed will be wasted.
  • the computer 13 calculates the remaining amount of detergent from the amount of detergent consumed based on the number of times the analysis is performed for each detergent container 17 of the analysis modules 11 and 12, and when the remaining amount of detergent falls below a predetermined value, the user A function of recommending replacement of the detergent container 17 may be provided.
  • the remaining amount of detergent calculated by this function is an estimated value, and there is an error in the actual remaining amount of detergent. must be underestimated. Therefore, if the remaining amount of detergent calculated by the computer 13 is excessively smaller than the actual amount of detergent, a surplus of detergent is generated, which increases the waste of the detergent and its purchase cost, and also increases the environmental cost associated with the disposal of the detergent. It is conceivable to collect surplus detergents for secondary use, but in this case there is a concern that the quality of the detergents will deteriorate and affect the accuracy of analysis. Therefore, it is important to accurately grasp the remaining amount of detergent in real time and use up the detergent.
  • the user needs to operate the computer 13 of the analysis modules 11 and 12 to reset the calculated data of the detergent remaining amount. If this operation is forgotten, the computer 13 erroneously recognizes that the remaining amount of detergent remains low even though the detergent container 17 has just been replaced, and the analysis modules 11 and 12 perform analysis operations with a large amount of detergent remaining. stops due to lack of detergent remaining.
  • the analysis module 11 it is conceivable to provide the analysis module 11 with an optical or contact sensor for measuring the liquid level of the detergent in each detergent container 17 .
  • the analysis module 11 since it is necessary to install a sensor for each detergent container 17 and the user needs to replace the detergent container 17 frequently, there is a concern that the replacement work of the detergent container 17 will become difficult if the sensor is attached. be.
  • the aforementioned pressure gauge 18 is an indicator for the user to visually confirm the pump pressure.
  • the analysis module 11 does not have a transducer that converts the pump pressure measured by the pressure gauge 18 into an electrical signal. Therefore, the computer 13 of the analysis module 11 cannot acquire the pump pressure measured by the pressure gauge 18 as data.
  • the analysis module 11 generally has a plurality of pumps, and even if a transducer is provided, it is necessary for each pump, which increases the manufacturing cost of the analysis module 11 . As illustrated in FIG. 1, many analysis modules 11 and 12 are often installed in the examination room L, so if the price per unit of the analysis modules 11 and 12 rises, the economic burden on the user also increases.
  • FIG. 3A is a side view of an automatic analysis support robot according to one embodiment of the present invention
  • FIG. 3B is a front view. 3A are the front and rear of the robot 20, and the right and left of FIG. 3B are the left and right of the robot 20.
  • FIG. 3A are the front and rear of the robot 20, and the right and left of FIG. 3B are the left and right of the robot 20.
  • the robot 20 is an autonomous robot that inspects the remaining amount of detergent and the pump pressure of the analysis modules 11 and 12 on behalf of the user. consists of
  • the vehicle body 21 is a wheel-type traveling device having left and right front wheels 21a and left and right rear wheels 21b, but may be replaced with a crawler-type traveling device having left and right crawlers.
  • the front wheels 21a and the rear wheels 21b can independently control the rotation speed and rotation direction of the left and right wheels, respectively, so that the traveling distance and azimuth angle of the robot 20 can be controlled by combining forward, backward and turning motions. ing.
  • the robot 20 is equipped with magnetic or optical sensors for detecting the route R.
  • the camera 22 is mounted on the vehicle body 21 via a vertically extending post 26 .
  • the post 26 can rotate with respect to the vehicle body 21 around the central axis.
  • a camera 22 is arranged above the post 26 with its optical axis substantially horizontal, and the field of view of the camera 22 can be rotated horizontally with respect to the vehicle body 21 together with the post 26 .
  • Still image and moving image data captured by the camera 22 are recorded in the memory provided in the camera 22 or in the memory of the computer 30 .
  • the manipulator 23 is a working arm for opening and closing the opening/closing covers 19 of the analysis modules 11 and 12, and extends horizontally.
  • a hand 23a to be hooked to the robot handle 19B of the opening/closing cover 19 is provided.
  • the hand 23a rotates in a vertical plane around a rotating shaft (not shown) extending in the extending direction of the manipulator 23 (body arm).
  • a configuration in which the hand 23a rotates alone or a configuration in which the entire manipulator 23 rotates may be used.
  • the rotation axis of the hand 23a is offset with respect to the center of the hand 23a and has an asymmetrical shape with respect to the rotation axis.
  • the manipulator 23 can move up and down along rails 23b extending vertically, and even if the height of the robot handle 19B from the ground changes, the height of the manipulator 23 can be controlled to control the height of the robot handle 19B.
  • the position of the hand 23a is adjustable.
  • the communication device 40 is a device for communicating directly or indirectly with the computers 13 of the analysis modules 11 and 12 .
  • a communication method of the communication device 40 for example, a wireless communication method such as Wi-Fi (registered trademark), ZigBee (registered trademark), Bluetooth (registered trademark), or the like can be adopted.
  • the computer 30 is a control device that controls the post 26 and the manipulator 23 in addition to the vehicle body 21 and the camera 22, and is also an arithmetic device that processes the image of the camera 22.
  • FIG. When inspecting the detergent container 17 or the pressure gauge 18, the computer 30 first moves the robot 20 along the route R to the target work place Y and moves the vehicle body so that it faces the detergent container 17 or the pressure gauge 18 to be inspected. 21.
  • the computer 30 is provided with a CPU that serves as both an arithmetic device and a control device, and a memory that is a storage device.
  • various volatile and nonvolatile storage devices such as RAM, ROM, HDD and SSD are collectively referred to as memory.
  • the computer 30 takes an image of the detergent container 17 or the pressure gauge 18 with the camera 22, processes the image of the detergent container 17 or the pressure gauge 18, and calculates management data regarding the inspection object (that is, reads from the image).
  • the management data relating to the object to be inspected includes the actual remaining amount of detergent inside the detergent container 17 and the display value of the pressure gauge 18 .
  • the computer 30 transmits the management data to the computer 13 of the corresponding analysis module via the communication device 40 .
  • the robot 20 has a function of measuring the distance to an obstacle using a distance sensor such as an ultrasonic sensor, or a function of detecting a person using a human sensor.
  • a distance sensor such as an ultrasonic sensor
  • a human sensor it can be configured to stop running when a user (human) is detected within a predetermined distance in the traveling direction during running. Since the robot 20 works in the same inspection room L as the user, the robot 20 may interfere with the user's flow line and interfere with the user's work. By doing so, it is possible to avoid interfering with the work of the user.
  • -Cover opening/closing operation- 4A and 4B are explanatory diagrams of how the robot 20 opens and closes the opening/closing cover of the analysis module. Although these figures show the analysis module 11 as the target, the cover opening/closing operation is the same when the analysis module 12 is the target.
  • the computer 30 controls the vehicle body 21 to move the robot 20 to the target work place Y and face the robot handle 19B as shown in FIG. 4A.
  • the computer 30 controls the manipulator 23 so that the hand 23a is hooked to the robot handle 19B. Specifically, the computer 30 first adjusts the height of the manipulator 23 to the height of the robot handle 19B based on the height data of the robot handle 19B from the ground, which is recorded in advance in the memory for each analysis module. match. Then, the computer 30 controls the vehicle body 21 to move the robot 20 straight toward the opening/closing cover 19, and inserts the hand 23a into the robot handle 19B (left view in FIG. 4B). After inserting the hand 23a into the robot handle 19B, the computer 30 rotates the hand 23a inside the robot handle 19B and hangs it on the handle 19b (the right figure in FIG. 4B).
  • the computer 30 moves (backwards in an arc) a set distance along the predetermined opening/closing trajectory of the opening/closing cover 19 with the hand 23a hooked to the robot handle 19B. Then, the vehicle body 21 is controlled and the opening/closing cover 19 is opened. While the opening/closing cover 19 is being opened, the computer 30 controls the vehicle body 21 so that the manipulator 23 maintains a vertical posture with respect to the opening/closing cover 19 .
  • the computer 30 After opening the opening/closing cover 19 to a predetermined angle, the computer 30 rotates the hand 23a to remove it from the handle 19b of the robot handle 19B, moves to the work place Y again, and removes the detergent container 17 and the pressure gauge 18. to face the robot 20.
  • the computer 30 closes the opening/closing cover 19 by executing the procedure in reverse to the above procedure, and moves to the next work location Y or standby location X.
  • the angle of the opening/closing cover 19 may have changed from when it was opened.
  • the robot starts moving forward from an angle position larger than the angle of the opening/closing cover 19 when opened, recognizes the robot handle 19B from the photographed image of the camera 22, or measures the distance to the opening/closing cover 19 with a distance sensor. This can be dealt with by adopting a configuration in which the preparatory operation is executed.
  • FIGS. 5A and 5B are explanatory diagrams of the detergent liquid level detection operation of the robot 20.
  • FIG. 5A the body of the analysis module 11 is partially cut away, and the detergent container 17 inside is illustrated by solid lines.
  • FIG. 5B shows both an image of the detergent container 17 (left figure) and an image processing image (right figure).
  • FIGS. 5A and 5B show the analysis module 11 as the target, the detergent level detection operation is the same when the analysis module 12 is the target.
  • the computer 30 controls the camera 22 to display an image showing the entire detergent container 17 (Fig. 5A). still images or moving images) and record them in the memory.
  • the memory of the computer 30 records the position, type and quantity data of the detergent container 17 set in the analysis module 11 . Based on these data, the computer 30 moves to a position suitable for photographing the target detergent container 17 in the work place Y, faces the target detergent container 17 and photographs the detergent container 17 .
  • the detergent container 17 may be photographed one by one, or may be photographed collectively.
  • various aberrations such as distortion aberration affect image processing depending on the angle of view of the camera 22, these aberrations can be corrected and stored in memory.
  • the image captured by the robot 20 is an image of the detergent container 17 taken from the front.
  • an image processing determination range J is set in advance for each type of detergent container 17 for the image of the detergent container 17 .
  • the image processing determination range J is an image area that vertically traverses the detergent container 17, and is set so as to avoid irregularities such as the opening 17a so as to be an image area of only the outer wall surface of the detergent container 17 as much as possible.
  • the computer 30 performs edge processing on the image processing determination range J using the magnitude of the rate of change in brightness of the image as the signal strength, and acquires signal strength and height data G.
  • a strong edge detection signal S is obtained.
  • the upper and lower ends of the detergent container 17 and the bent portion of the outer wall surface are known for each type of the detergent container 17, except for the liquid surface of the detergent, and the height position or relative positional relationship data of these is stored in the memory. pre-recorded.
  • the range J1 of the possible height of the liquid surface of the detergent in the image processing determination range J is also set in advance for each type of detergent container 17 and stored in the memory. In the example of FIG. 5B, the range J1 is set between the height of the lower end of the detergent container 17 and the height of the bent portion of the outer wall surface. That is, the edge detection signal S detected in the range J1 becomes the level position of the detergent.
  • the computer 30 calculates the vertical distance (height difference) between the position where the edge detection signal S is detected in the range J1 and the position where the edge detection signal S corresponding to the lower end of the detergent container 17 is detected. It is calculated as height H and recorded in the memory.
  • a plurality of edge detection signals may appear in the aforementioned range J1.
  • the same empty detergent container 17 is imaged in advance and image-processed (obtained in the same manner as the data G) is stored in the memory as reference data. Then, by finding the difference between the data G obtained for the detergent container 17 to be inspected for the remaining amount of detergent and the reference data, the level position of the detergent can be detected.
  • FIG. 6A and 6B are explanatory diagrams of a method of calculating the actual amount of detergent remaining in the robot 20.
  • FIG. These figures represent data defining the relationship between the detergent liquid level (horizontal axis) and the remaining amount of detergent (vertical axis). Since the detergent container 17 has a different shape (that is, a change in cross-sectional area due to height) depending on the type of detergent container 17, such data is defined in advance for each type of detergent container 17 and recorded in the memory. That is, the data illustrated in FIG. 6A represents the data of type A of the detergent container 17, and the data illustrated in FIG. 6B represents the data of type B of the detergent container 17.
  • FIG. 6A represents the data of type A of the detergent container 17
  • FIG. 6B represents the data of type B of the detergent container 17.
  • the computer 30 converts the detergent liquid level height H calculated by detecting the detergent liquid level into the remaining amount of detergent based on the relational data illustrated in FIGS. 6A and 6B.
  • FIG. 7 is a diagram showing an example of a display screen for the actual amount of detergent remaining inspected by the automatic analysis support robot according to one embodiment of the present invention.
  • the computer 30 communicates with the console 50 and displays on the console 50 the latest actual amount of detergent remaining inspected by the method described above and the inspection time for each detergent type (or detergent container 17). Further, the computer 30 reads out the inspection history of each detergent container 17 from the memory, and determines the time when the remaining amount of detergent becomes 0 based on the actual amount of detergent remaining in a plurality of inspections and the consumption pace of the detergent obtained from the inspection times. The estimated time is calculated and displayed on the console 50 together.
  • the estimated detergent disappearance time t3 can be obtained by, for example, the following arithmetic expression.
  • t3 (V2 ⁇ t1 ⁇ V1 ⁇ t2)/(V2 ⁇ V1)
  • t2 detergent inspection time of the latest inspection
  • t1 detergent inspection time of the previous inspection
  • V2 actual detergent remaining amount of the latest inspection
  • V1 actual detergent remaining amount of the previous inspection.
  • the expected detergent disappearance time t3 cannot be calculated, so the expected detergent disappearance time is displayed on the actual detergent remaining amount screen of the console 50. [-] shall be displayed.
  • the computer 30 stores inspection data of the actual remaining amount of each detergent container 17 (or each type of detergent) for all the analysis modules 11 and 12 arranged in the inspection room L. For example, by operating the console 50 (selecting the tabs labeled "Module A", “Module B”, etc. in the example of FIG. 7), the inspection data of the actual amount of detergent remaining in each analysis module is switched to the console 50 and displayed. 7, a request signal is transmitted from the console 50 to the computer 30, and data of the selected analysis module is transmitted from the computer 30 to the console 50. displayed.
  • FIG. 8 is an explanatory diagram of a method of reflecting the actual amount of detergent remaining inspected by the robot 20 in the management data of the computer 13 of the analysis module. Although the figure shows the case of the analysis module 11 as the object, the detergent level detection operation is the same when the analysis module 12 is the object. 8 is exchanged between the computer 30 mounted on the robot 20 and the computer 13 that manages the analysis module 11 via the mutual communication devices 40 and 14 .
  • the robot 20 After inspecting the actual amount of detergent remaining as described above, the robot 20 transmits a detergent information reception request signal to the computer 13 that manages the amount of detergent remaining in the analysis module whose data is to be updated.
  • the analysis module subject to data update is, for example, the analysis module 11 that has finished inspecting the actual amount of detergent remaining, and can be exemplified by the analysis module 11 that the robot 20 is currently facing.
  • the computer 13 Upon receiving the request signal, the computer 13 transmits a detergent information receivable response signal to the computer 30 of the robot 20 when the detergent information of the target analysis module can be transmitted.
  • the computer 30 when the computer 30 is stopped, or when the analysis module 11 is powered off or in a similar situation, the computer 13 on the analysis module side may not be able to receive the signal or may not be able to respond even if it receives it. .
  • the computer 30 mounted on the robot 20 terminates the processing as a communication error.
  • the computer 30 When receiving a detergent information receivable response signal from the computer 13 on the analysis module side, the computer 30 transmits the latest actual remaining detergent amount data to the computer 13 on the analysis module side as the detergent information.
  • the computer 13 on the analysis module side reflects the received data on the actual amount of detergent remaining in the management data of the target analysis module, and updates the management data on the remaining amount of detergent managed by itself.
  • the computer 13 updates the remaining amount of detergent management data by estimating the amount of detergent consumed based on the number of times the analysis is performed until the opportunity to update the actual remaining amount of detergent inspected by the robot 20 arrives again. go.
  • the computer 30 on the robot 20 side cannot grasp the actual value of the remaining detergent amount of the target analysis module until the next opportunity for the robot 20 to inspect the actual remaining amount of detergent, and the computer 30 cannot grasp the actual value of the remaining detergent amount of the target analysis module.
  • the actual remaining amount of detergent data deviates from the actual remaining amount of detergent.
  • the value of the detergent actual remaining amount screen displayed on the console 50 deviates from the actual value.
  • the computer 30 transmits a detergent information transmission request signal to the analysis module side computer 13 at regular time intervals or in response to the user's operation of the console 50 .
  • the computer 13 Upon receiving the signal, the computer 13 transmits the remaining amount of detergent data, which is continuously updated by estimation calculation based on the number of analyzes performed as described above, to the computer 30 on the robot side as detergent information.
  • the computer 30 records the received data in its self-stored detergent remaining amount management data.
  • FIGS. 9A and 9B are explanatory diagrams of the pump pressure reading operation of the automatic analysis support robot according to one embodiment of the present invention.
  • FIG. 9A the body of the analysis module 11 is partially cut away and the internal pressure gauge 18 is illustrated by solid lines.
  • FIG. 9B also shows an image of the pressure gauge 18 (left figure) and data (right figure) defining the relationship between the angle of the pointer 18a and the pump pressure.
  • FIGS. 9A and 9B show the analysis module 11 as the target, the pump pressure reading operation is the same when the analysis module 12 is the target.
  • the computer 30 controls the camera 22 to control the image of the pressure gauge 18 (still image or movie) and record it in memory.
  • the memory of the computer 30 records data on the position, type and quantity of the pressure gauges 18 provided in the analysis module 11 . Based on these data, the computer 30 moves to a position suitable for photographing the target pressure gauge 18 at the work place Y, faces the target pressure gauge 18, and shoots the pressure gauge 18 for a certain period of time.
  • the pressure gauges 18 may be configured to capture images one by one, or may be configured to collectively capture a plurality of pressure gauges 18 . When photographing a plurality of pressure gauges 18 collectively, if various aberrations such as distortion aberration affect image processing depending on the angle of view of the camera 22, these aberrations can be corrected and stored in memory.
  • the video shooting time is set to a predetermined number of cycles based on the analysis cycle time of the analysis module 11 .
  • the predetermined number of cycles is set in advance in consideration of the amplitude and swing of the pointer 18a.
  • the shooting sampling frames of the moving image can sufficiently complement the movement of the pointer 18a.
  • a large number of still images that constitute a captured moving image are stored in a memory together with their respective shooting times. The contents of a series of image processing will be described below.
  • the image captured by the robot 20 is an image showing the pressure gauge 18 from the front.
  • an image processing determination range K is set in advance so that the entire pressure gauge 18 is included in the image of the pressure gauge 18 .
  • a pointer tracking point K1 is set inside the image processing determination range K.
  • the pointer tracking point K1 is the tip of the pointer 18a searched by the computer 30 based on the shape characteristic points of the pointer 18a stored in advance in the memory. Data of the XY coordinates of the pointer tracking point K1 within the image processing determination range K are specified for each still image constituting the captured moving image and recorded in the memory.
  • the computer 30 obtains the origin O (corresponding to the center of rotation of the pointer 18a) from the coordinate data of the pointer tracking point K1 of the three still images selected according to a predetermined algorithm.
  • a triangle is assumed with the needle tracking point K1 of the three images as the apex angle, and the intersection of the perpendicular bisectors of the two sides of the assumed triangle excluding the longest side is set as the origin O. can ask.
  • the computer 30 converts the XY coordinate system (rectangular coordinate system) of each still image into a polar coordinate system with the origin O as the origin, and draws a line connecting the pointer tracking point K1 and the origin O in each still image.
  • the angle ⁇ of the minute (corresponding to the pointer 18a) is calculated and recorded in the memory.
  • the memory of the computer 30 stores data defining the relationship between the angle of the pointer 18a and the pump pressure as shown on the right side of FIG. 9B. Since the scale of the pressure gauge 18 differs depending on the type, such data is defined in advance for each type of the pressure gauge 18 and recorded in the memory.
  • the computer 30 converts the angle of the pointer 18a into pump pressure based on the relational data illustrated in FIG. 9B, and reads the pump pressure indicated by the pointer tracking point K1 in each still image.
  • FIG. 10 is a diagram showing changes in pump pressure over time calculated from images captured by the robot 20 .
  • each still image that makes up a video is associated with the data of the shooting time, and the pressure and time data of each image are plotted in a coordinate system with the horizontal axis as the time axis and the vertical axis as the pressure axis. Then, the data (FIG. 10) of the change over time of the pump pressure (the actual display value of the pressure gauge 18) is obtained.
  • the computer 30 stores the analysis cycle time CT of the analysis module 11 in a memory, and calculates the maximum pressure Pmax, minimum pressure Pmin and stable pressure Pst for each analysis cycle time CT based on the pump pressure and time data of each image. Calculate.
  • the video shooting time is set to a predetermined number of cycles (eg, 10 cycles) based on the analysis cycle time CT.
  • the minimum pressure Pmin and the stable pressure Pst are calculated.
  • the maximum pressure Pmax and minimum pressure Pmin are the maximum and minimum values of the pump pressure for one cycle time CT.
  • the stable pressure Pst is, for example, the mode of the histogram analysis of the pump pressure for one cycle time CT.
  • the computer 30 thus obtains the maximum pressure Pmax, minimum pressure Pmin and stable pressure Pst for each analysis cycle time CT, and calculates the average values of the maximum pressure Pmax, minimum pressure Pmin and stable pressure Pst.
  • Each average value of the maximum pressure Pmax, minimum pressure Pmin, and stable pressure Pst is recorded in the memory in association with the inspection date and time as the pump pressure inspection value (read value displayed on the pressure gauge 18).
  • FIG. 11A is a diagram showing an example of a display screen of pump pressures inspected by the automatic analysis support robot according to one embodiment of the present invention.
  • the computer 30 communicates with the console 50 and displays on the console 50 the latest pump pressure inspected by the method described above and the inspection time for each pressure gauge 18 (or the pump corresponding to the pressure gauge 18).
  • the stable pressure Pst is displayed as the pump pressure. This is because it is common to use the stable pressure as an index in the operation of the analysis module. However, the maximum pressure Pmax and the minimum pressure Pmin can also be displayed by a predetermined operation.
  • the computer 30 stores the inspection data of the pump pressure of each pressure gauge 18 (or the pump corresponding to the pressure gauge 18) for all the analysis modules 11 and 12 arranged in the inspection room L. For example, by operating the console 50 (in the example of FIG. 11A, selecting the tabs labeled “Module A”, “Module B”, etc.), the inspection data of the pump pressure of each analysis module can be switched and displayed on the console 50. 11A, a request signal is transmitted from the console 50 to the computer 30, and data of the analysis module selected from the computer 30 is transmitted to the console 50. Is displayed.
  • the computer 30 also stores a history of pump pressure inspection data in its memory.
  • the display screen of the pump pressure of the present embodiment displays a display button Bt for displaying the trend of the inspection value of the pump pressure over a long period of time.
  • this display button Bt is operated, based on the historical data stored in the computer 30, the pump data for a specified period (for example, the last several months) is displayed with time (for example, date) on the horizontal axis and pump pressure on the vertical axis.
  • a screen displaying pressure trends (FIG. 11B) is displayed. The user can infer signs of abnormality or deterioration of the pump from the screen of FIG. 11B.
  • the difference between the pump pressure data shown in FIG. It is also possible to evaluate the state of In addition, it is conceivable to incorporate the evaluation of the Mahalanobis distance by the Mahalanobis Taguchi method for the inspection value of the pump pressure and the inspection time data.
  • the pump pressure data acquired by the inspection by the robot 20 is associated with data such as the model of the analysis module, the environment of the inspection room L, operation information, etc., and accumulated as big data. In this case, by applying data analysis by AI to big data, it is useful to search for a method of operating the analysis modules 11 and 12 and the examination room L with higher accuracy and efficiency.
  • the robot 20 captures images of inspection objects such as the detergent container 17 and the pressure gauge 18 with the camera 22 , processes the captured images with the computer 30 , and collects management data such as the amount of actual detergent remaining and the display value of the pressure gauge 18 . can be read on behalf of the user. As a result, it is possible to reduce the burden on the user regarding the maintenance of the automatic analyzer.
  • the robot 20 takes over the user's work such as visual confirmation of the detergent container 17 and the pressure gauge 18 .
  • the inspection of the detergent container 17 and the pressure gauge 18, which may or may not be performed depending on the user's convenience, can be performed daily at mechanically stable timing (for example, every hour).
  • the robot 20 can be made to perform the inspection without interfering with the user's work.
  • the robot 20 that can be introduced at a low cost, there is no need to provide a liquid level sensor for each detergent container 17 or a transducer for each pressure sensor, and automatic analysis can be performed while suppressing an increase in the cost of the automatic analyzer.
  • the operating rate of the device can be improved.
  • the robot 20 uses the manipulator 23 to open/close the opening/closing cover 19 by itself. be able to. This eliminates the need for the user to perform preparation work such as opening and closing the opening/closing cover 19 for inspection by the robot 20 .
  • the configuration in which the robot 20 is equipped with the computer 30 that performs control and image processing of the robot 20 has been described as an example.
  • the computer 30 may be the first computer
  • the computer e.g. console 50
  • the robot 20 may be the second computer
  • the functions may be shared by these two computers.
  • the first computer mounted on the robot 20 takes an image of the inspection target such as the detergent container 17 with the camera 22 in response to a command from the second computer, and the communication module (communication device 40) does not execute image processing. ) to the second computer.
  • the image of the inspection object is processed to calculate management data (residual amount of detergent, etc.) related to the inspection object, and the management data is transmitted to the computer 13 of the analysis module via the communication device.
  • the first computer controls the vehicle body 21 and the like in response to a trigger signal from the second computer, and the first computer responds to the control command value from the second computer. Both configurations for driving the vehicle body 21 and the like are applicable.
  • the pump pressure is managed by the computer 13 that manages the analysis modules 11 and 12
  • the data of the pump pressure inspected using the robot 20 may be sent to the computer 13.

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