JP2015017868A - Opening device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a plug opening device that can reduce frequency of failure of plug opening by trying plug opening of a specimen container again with a method according to the failure state of plug opening.SOLUTION: The plug opening device comprises: a holding device performing a plug opening operation of a specimen container; a container discrimination device 353 for discriminating the kinds of the specimen container and a plug; a plug opening operation instruction device 355 for causing the holding device to perform a plug opening operation according to the kind of the container discriminated by the container discrimination device 353; a state discrimination device 352 for discriminating the state of the specimen container after the plug opening operation; and a return operation instruction device 356 for causing the holding device to perform a return operation which is preparation of a plug re-opening operation according to the plug opening state on the basis of the discrimination result from the container discrimination device 353 and the state discrimination device 352 in the case of failure of plug opening.

Description

  The present invention relates to an opening device for opening a sample container.

  The sample test automation system is a system including an automatic analyzer that analyzes a biological sample by measuring physical properties of a measurement target (for example, a biological sample such as blood or urine, or a mixture of a biological sample and a reagent). Usually, the specimen test automation system is provided with a processing unit for executing each process such as an opening process, a dispensing process, and an analysis process. One such processing unit is an opening device that opens a sample container. Some of these types of opening devices have a function of opening sample containers having different shapes (see Patent Documents 1-3 and the like).

Japanese Patent No. 3950658 JP 2009-36511 A JP 2003-14770 A

  Here, it is not easy to automate the opening process of the specimen container, and the opening apparatus does not always succeed in opening the container. Therefore, in order to increase the automation rate of the specimen testing process, a function is desired that automatically eliminates errors as much as possible by attempting to open again in the opening device even if opening fails in the opening device. .

  However, there are various aspects of unsuccessful opening. In other words, in general, the opening operation is performed by a plurality of gripping devices that respectively hold the sample container and the stopper. However, there are cases where the sample container slips from the gripping device and the opening fails, and the stopper slips from the gripping device. There is also a case. In addition, the stopper may be damaged. Therefore, it is difficult to automatically eliminate the error only by repeatedly performing the opening operation with a uniform operation.

  An object of the present invention is to provide a capping device that can reduce the frequency of clogging failures by retrying capping of a specimen container by a method according to the mode of capping failure.

  In order to achieve the above object, the present invention relates to a gripping device for opening a specimen container, a container discriminating apparatus for discriminating the type of the specimen container and the stopper, and a container type discriminated by the container discriminating apparatus. An opening operation commanding device for causing the grasping device to execute a corresponding opening operation, a state determining device for determining the state of the sample container after the opening operation, the container determining device when the opening fails, and the container determining device And a return operation command device for causing the gripping device to execute a return operation that is a preparation for a restart plug operation according to a determination result of the state determination device.

  According to the present invention, the frequency of unsuccessful opening can be reduced by retrying the opening of the sample container by a method according to the mode of unsuccessful opening.

It is the figure which represented typically the example of 1 structure of the sample test automation system provided with the stopper apparatus which concerns on one embodiment of this invention. It is a top view showing typically the composition of the capping device concerning one embodiment of the present invention. It is the figure which illustrated the sample container and the kind of stopper. It is a figure which shows the example of the opening operation | movement pattern of the sample container with a comparatively high dimension with which the pushing stopper with a cover was mounted | worn. It is a figure which shows the example of the opening operation pattern of the sample container with a comparatively low height dimension with which the screw-type stopper was mounted | worn. It is the figure which illustrated the kind of open state. It is a figure for demonstrating the upper limit of the raise position of the plug holding part in the case of the state detection after a plug opening process. It is a flowchart showing the control procedure of the opening operation by the opening module control apparatus with which the opening device which concerns on one embodiment of this invention was equipped. It is a flowchart showing the control procedure of the stopper | gripping part sliding return operation | movement by the stopper module control apparatus with which the stopper apparatus which concerns on one embodiment of this invention was equipped. It is a flowchart showing the control procedure of the container holding part slip return operation | movement by the opening module control apparatus with which the opening apparatus which concerns on one embodiment of this invention was equipped. It is a flowchart showing the control procedure of the plug isolation | separation return operation | movement by the opening module control apparatus with which the opening apparatus which concerns on one embodiment of this invention was equipped. It is a functional block diagram of the plug-opening module control apparatus with which the plug-opening apparatus which concerns on one embodiment of this invention was equipped.

  Embodiments of the present invention will be described below with reference to the drawings.

1. Specimen Test Automation System FIG. 1 is a diagram schematically showing a configuration example of a specimen test automation system provided with a stopper device according to an embodiment of the present invention.

  The sample test automation system 100 shown in FIG. 1 includes a sample insertion module 110, a centrifuge module 120, an opening module 130, a barcode pasting module 140, a dispensing module 150, a sample storage module 160, a transport line 170, and an automatic analyzer 180. And a host computer 190.

  The sample loading module 110 is a unit for loading the sample container 103 (see FIG. 3) into the sample test automation system 100 from the outside, that is, an inlet of the sample container 103 in the sample test automation system 100. When the sample tray 101 on which the sample container 103 is installed is set in the sample insertion module 110, the sample container 103 is automatically transferred to the sample carrier 102 (see FIG. 2) on the transport line 170. In the present embodiment, a case where one sample container 103 is loaded per sample carrier 102 is illustrated, but a configuration is adopted in which a plurality of (for example, five) sample containers 103 are loaded on the sample carrier 102. In some cases.

  The centrifuge module 120 is a unit for subjecting a sample container that needs to be centrifuged to a centrifuge process.

  The opening module 130 corresponds to the opening device according to the present invention, and is a unit for removing the stopper 105 (see FIG. 3) formed in the sample container 103. By opening the plug with the plug-opening module 130, it becomes possible to dispense the sample into the sample container 103 in the dispensing module 150 and to put the sample into the automatic analyzer 180.

  The barcode pasting module 140 prints a barcode for identifying the specimen on the empty specimen container 103 into which the specimen is subdivided by the dispensing module 150, and pastes the barcode on the empty specimen container 103 to the dispensing module 150. It is a unit to supply.

  The dispensing module 150 is a unit for dispensing a parent sample from the sample containers 103 opened to the plurality of sample containers 103 supplied from the barcode pasting module 140 and subdividing them.

  The sample storage module 160 is a unit that classifies and stores the sample containers 103 in the sample tray 101 for each purpose. When the stored sample container 103 needs to be reexamined, the corresponding sample container 103 is transferred from the sample tray 101 to the sample carrier 102.

  The transport line 170 is a unit that transports the sample carrier 102 and includes a feed line 172 and a return line 173. The feed line 172 is a line that passes through the side of each module and exchanges the sample container 103 with each module. The return line 173 is a line that is laid on the side of the feed line 172 and transports the sample container 103 in the direction opposite to the feed line 172. The feed line 172 and the return line 173 are connected to each other at an endless track. After the sample container 103 is transferred to the sample carrier 102 by the sample insertion module 110, each module of the sample test automation system 100, that is, the centrifuge module 120, the unplugging module 130, and the barcode is pasted by the feed line 172 of the transport line 170. It is appropriately transported to the module 140, the dispensing module 150 and the like. The sample container 103 that has been appropriately processed via each module is transported to the sample storage module 160 by the return line 173 and stored in the sample storage module 160. In the present embodiment, an automatic analyzer 180 is connected, and some of the sample containers 103 are transferred from the feed line 172 to the analyzer transport line 171 after the sample is dispensed by the dispensing module 150. It is conveyed to the automatic analyzer 180 and subjected to various analysis processes. The sample container 103 after the analysis processing can be returned to the transport line 170 via the analyzer transport line 171.

2. Opening Device FIG. 2 is a plan view schematically showing the configuration of the opening device according to the embodiment of the present invention.

  The plug opening module 130 shown in the figure includes a plug discarding section 132, a camera 135, a gripping device 137, and a plug opening module control device 138. The opening module 130 is provided with an opening module transfer line 177 for transferring the sample container 103 to and from the transfer line 170. In the figure, the sample container 103 is omitted, and only the sample carrier 102 on which the sample container 103 is loaded is illustrated.

  The opening module transfer line 177 is formed in a U shape by an in buffer line 174, an opening line 175, and an out buffer line 176. The in-buffer line 174 is a line that accepts the sample container 103 that is sent from the feed line 172 at any time and waits for waiting for the opening process. By providing the in-buffer line 174 with a capacity for receiving the sample container 103, the sample container 103 can be transported without delay in the feed line 172. The sample container 103 waiting on the in-buffer line 174 is sequentially transferred to the opening position 131 by the opening line 175, and is opened by the gripping device 137 at the opening position 131. The opening position 131 is a position where the specimen is opened. The opened specimen container 103 is transported to the out buffer line 176 by the unplug line 175 and returned to the feed line 172 of the transport line 170 through the out buffer line 176. Since the out buffer line 176 has a standby capacity similar to the in buffer line 174, it is possible to wait for the order of carrying out the sample container 103 after being opened to the downstream module (such as the barcode attaching module 140). . As a result, the plug opening process can be continued even when the reception of the sample container 103 of the downstream module of the plug opening module 130 is temporarily stagnant.

  The opening module 130 selects a sample container 103 that is placed on the sample carrier 102 and is transported from the centrifugal module 120 by the feed line 172 by the branching mechanism (not shown). Carried in. Those that do not need to be opened, such as the specimen container 103 put into the specimen loading module 110 without the stopper 105 attached, go straight through the feed line 172 without being loaded into the opening module 130 and go downstream. It is carried in. By omitting unnecessary processing steps in this way, the overall processing efficiency of the specimen test automation system 100 is improved. However, when the order of the sample containers 103 is not changed and the order is kept in the order of loading, the sample containers 103 that need to be opened together with the sample containers 103 that do not need to be opened are sequentially carried into the opening module 130, and the opening is unnecessary. The sample container 103 can be passed through the opening module 130 without being subjected to an opening process.

  The gripping device 137 is a device that performs the opening operation of the sample container 103 and includes a stopper gripping portion 133 and a container gripping portion 134. The container gripping part 134 is configured to sandwich and grip the sample container 103 with a pair of arms 134a and 134b as shown. The arms 134 a and 134 b are arranged with the opening position 131 of the opening line 175 interposed therebetween, and are installed so as to operate in a direction orthogonal to the opening line 175 to hold the sample container 103. The stopper gripping portion 133 is also configured to grip the stopper 105 (see FIG. 3) of the sample container 103 with a plurality of (three in this embodiment) arms. Although not shown in particular, the stopper gripper 133 has an opening / closing drive mechanism for opening and closing the stopper gripper 133 (moving the arm forward and backward with respect to the stopper 105), and rotation for rotating the stopper gripper 133 around the stopper 105. An elevating drive mechanism for moving the drive mechanism and the stopper gripper 133 up and down is provided. Then, the specimen container 103 carried into the opening position 131 is fixed by the container gripping part 134, the stopper gripping part 133 is driven by the opening / closing driving mechanism, and the stopper 105 is gripped by the rotation driving mechanism or the lifting / lowering driving mechanism. The plug holding part 133 is appropriately driven to execute the plug opening process.

  The stopper discarding part 132 is a part for discarding the stopper 105 removed from the sample container 103. After the opening process, the stopper gripper 133 that grips the stopper 105 is moved above the stopper discarding section 132 by a moving mechanism (not shown), and the stopper 105 is released to put the stopper 105 into the stopper discarding section 132 for disposal. .

  The camera 135 is an apparatus that images the sample container 103 at the opening position 131. In the present embodiment, the type and opening of the sample container 103 are performed by the opening module control device 138 based on the image captured by the camera 135. The type of failure is determined. The camera 135 is disposed on an extension line of the opening line 175, and by photographing the sample container 103 from a direction orthogonal to the operation direction of the arms 134a and 134b, the gripping state of the sample container 103 by the container gripping unit 134, etc. The position is taken into consideration so that an image can be easily identified.

  Further, a partition plate 136 is provided on the side opposite to the camera 135 across the opening position 131. The partition plate 136 is a member that itself becomes a background of the captured image, and is for preventing extra structures other than the sample container 103 and the gripping device 137 from appearing in the captured image of the camera 135. is there. The partition plate 136 is moved horizontally in a direction orthogonal to the opening line 175 by a partition plate moving mechanism (not shown), and is disposed on the background portion of the sample container 103 and the like only when photographing with the camera 135. This is because the movement of the specimen container 103 on the opening line 175 is not hindered. The surface of the partition plate 136 is made of a material that reflects light. This is for increasing the amount of light incident on the camera 135. In order to increase the amount of light incident on the camera 135, a configuration in which a light emitter such as an LED or an EL is attached to the partition plate 136 to illuminate the sample container 103 may be employed.

3. Opening Module Controller FIG. 11 is a functional block diagram of the opening module controller 138.

  The opening module controller 138 is a controller that controls the operation of the opening module 130 by exchanging information with the host computer 190. The plug opening module control device 138 includes a mechanism control device 351, a state determination device 352, a container determination device 353, and a command calculation unit 354. The command calculation unit 354 includes a plug opening operation command device 355 and a return operation command device 356, and is connected to the host computer 190.

  The mechanism control device 351 controls operations of the transfer line 170, the opening module transfer line 177, the stopper gripper 133, the container gripper 134, the partition plate 136, and the like based on the control signal input from the command calculation unit 354. It is a functional part.

  The container discriminating device 353 is a functional unit that discriminates the type of the sample container 103 to be opened and outputs it to the command calculation device 354. Information on the type of the sample container 103 and the stopper 105 is stored in the host computer 190, and the container determination device 353 analyzes the captured image, and the analysis result corresponds to any of the container types registered in the host computer 190 in advance. Is determined.

  The state determination device 352 is a functional unit that determines the state of the sample container 103 after the opening operation is performed based on image information input from the camera 135 and outputs the determination result to the command calculation unit 354. The state of the sample container 103 after the execution of the opening operation here refers to a state of whether or not the opening of the sample container 103 is successful and what kind of failure the failure is when the opening is unsuccessful. Information on the type of open state (described later) is stored in the host computer 190, and the state determination device 352 analyzes the photographed image, and the analysis result corresponds to any of the open states registered in the host computer 190 in advance. Determine whether to do.

  The opening operation command device 355 instructs the mechanism control device 351 to perform an opening operation according to the container type determined by the container determination device 353, and performs the opening operation with the gripping device 137 (the plug gripping unit 133 and the container gripping unit). 134). Specifically, a table of control parameters for the type of sample container 103 and the corresponding opening operation is stored in the host computer 190, and the opening operation command device 355 displays the information on the opening operation corresponding to the container type. Based on this, the operation command value is output to the gripping device 137.

  When the opening operation fails, the return operation commanding device 356 performs the reopening operation according to the type of the sample container 103 and the type of the opening failure based on the determination results by the container determining device 353 and the state determining device 352. 137 is a functional unit that is executed by the plug holding unit 133 and the container holding unit 134. Specifically, the table of the sample container 103 type, the state of unsuccessful opening, and the control parameter of the return operation are stored in the host computer 190, and the return operation command device 356 resumes corresponding to the container type and the failure type. An operation command value is output to the gripping device 137 based on the stopper operation.

4). Sample Container FIG. 3 is a diagram illustrating a sample container 103 that is put into the sample test automation system 100.

  A biological sample used in the sample test automation system 100 is enclosed in a dedicated sample container 103. In general, the sample container 103 is equipped with a dedicated stopper 105 to prevent foreign substances from entering and the sample from evaporating. Sample containers 103 having different shapes (height, thickness, material, etc.) can be mixed (for example, sample containers 103a-103g). The sample containers 103a to 103d are push stoppers that push the stoppers 105a to 105d and seal them. These push-in plugs are of a type integrally formed of an elastic body such as rubber (in the figure, the plugs 105a and 105d), and the plug body formed of an elastic body is formed of a synthetic resin or the like. A cover with a cover (in the figure, plugs 105b and 105c) may be mixed. The specimen containers 103e-103g are screw-type stoppers in which the stoppers 105e-105g are screwed into the screws cut in the entrance portions, respectively. The stoppers 105e to 105g are made of synthetic resin or the like. Further, an identification information medium 104 (bar code or the like) is affixed to the outer peripheral surface of the sample container 103. The information medium 104 to be pasted is not limited to a barcode, and a two-dimensional code, RFID, or the like can be applied.

5. Opening Operation Here, an operation example of the opening module 130 will be described with reference to FIGS.

  FIG. 4A is a diagram showing an example of the opening operation pattern of the sample container 103c having a relatively high dimension to which the push-in stopper 105c with cover is attached, and FIG. 4B is a comparatively high dimension to which the screw-type stopper 105f is attached. It is a figure which shows the example of the capping operation pattern of the sample container 103g with low. 4A and 4B show the stopper gripping part 133, the container gripping part 134, the specimen carrier 102, the specimen container 103, and the stopper 105 seen from the camera 135 side, and other mechanisms and the like are not shown.

  FIG. 7 is a flowchart showing the control procedure of the opening operation by the opening module controller 138.

Step S201
When the opening operation is started, the opening module control device 138 first outputs a command signal to the mechanism control device 351 by the opening operation command device 355 in accordance with a command from the host computer 190 in step S201. A control signal is sent to the opening module transfer line 177 via the line 351, and the waiting sample carrier 102 is moved by the in-buffer line 174 on which the sample container 103 is placed, and is positioned at the opening position 131 on the opening line 175. . The state of the sample container 103 at the stage where it is positioned at the opening position 131 is illustrated as states S201a and S201b in FIGS. 4A and 4B.

Step S202
In step S <b> 202, the opening module control device 138 identifies the type of the sample container 103 by the container determination device 353. Specifically, the opening operation command device 355 outputs a command signal to the mechanism control device 351, controls the moving mechanism of the partition plate 136 and the camera 135 via the mechanism control device 351, and samples within the field of view of the camera 135. The partition plate 136 is moved to the background position (on the opening line 175) of the container 103 and the like, and the sample container 103 with the stopper 105 attached at the opening position 131 is photographed by the camera 135 and image processing is performed. The type of the sample container 103 and the stopper 105 is discriminated by the above. After the identification, the opening module control device 138 controls the moving mechanism of the partition plate 136 via the mechanism control device 351 by the opening operation command device 355, and puts the partition plate 136 in the standby position off the opening line 175. Move.

Step S203
In step S203, the opening module control device 138 grasps an appropriate opening operation for the specimen container 103 and the stopper 105 based on the type information of the specimen container 103 and the stopper 105 by the opening action command device 355. A control parameter to be executed by the device 137 is read from the host computer 190. The control parameters read from the host computer 190 include (1) gripping force by the container gripping unit 134 according to the thickness and material of the specimen container 103, and (2) stopper gripping operation according to the types of the specimen container 103 and the stopper 105. The target height of the lowering / raising of the stopper gripper 133 during or after opening, (3) the gripping force by the stopper gripper 133 according to the thickness and material of the stopper 105, and (4) depending on the type of stopper 105 Each control value related to the rotation operation and the ascending operation during the opening operation is included. In particular, with regard to the control value during the opening operation of (4), the above-described push-in stopper is set so that the amount of increase is somewhat larger than the push-in amount of the stopper 105 into the specimen container 103. Is set so that the amount of increase (lead) per rotation is appropriate according to the pitch and amount of rotation of the screw.

Steps S204 and S205
When the control parameters are read from the host computer 190, the plug opening module control device 138 outputs a command signal to the mechanism control device 351 by the plug opening operation command device 355, and the plug gripping portion 133 and the container gripping device via the mechanism control device 351. The unit 134 is controlled to perform the opening preparation operation. Specifically, first, the opening operation command device 355 outputs a command signal to the container gripper 134 via the mechanism control device 351 according to the control parameter, and grips and fixes the sample container 103 by the container gripper 134 ( Step S204). Further, the plug opening operation command device 355 outputs a command signal to the plug gripper 133 via the mechanism control device 351 according to the control parameter, and lowers the plug gripper 133 to execute a plug grip preparation operation (step) S205). Either the gripping operation of the sample container 103 or the stopper 105 may be executed first, but in the present embodiment, it is executed in parallel to shorten the processing time. Therefore, in the procedure of step S205, the stopper 105 is placed so that the stopper gripper 133 does not interfere with the stopper 105 or the specimen container 103 and cause the specimen container 103 to fall over when the gripping operation of the specimen container 103 is not completed. The height positioning information is set so that the stopper gripper 133 is not lowered to a position lower than the upper end. The state of the sample container 103 at the stage where the processes of steps S204 and S205 are executed is illustrated as states S205a and S205b in FIGS. 4A and 4B. Since the heights of the stoppers 105c and 105f are different in the sample containers 103c and 103g, the lowered position of the stopper gripper 133 is different in the states S204a and S204b.

Steps S206 and S207
Steps S206 and S207 are a continuation of the stopper gripping operation. When the sample container 103 is gripped by the container gripping part 134 and the stopper gripping part 133 is lowered to the vicinity of the upper end of the stopper 105, the opening control module control device 138 sends the mechanism control device 351 to the mechanism control device 351 according to the control parameter by the opening operation command device 355. A command signal is output, the stopper gripper 133 is controlled via the mechanism control device 351, and the stopper gripper 133 is further lowered to a height at which the stopper 105 is gripped (step S206). After that, the plug opening module control device 138 outputs a command signal to the mechanism control device 351 according to the control parameter by the plug opening operation command device 355, and controls the plug gripping portion 133 via the mechanism control device 351, so that the plug gripping portion 133 causes the stopper 105 to be gripped (step S207). The state of the sample container 103 at the stage where the processes of steps S206 and S207 are executed is illustrated as states S207a and S207b in FIGS. 4A and 4B.

Step S208
In the subsequent step S208, the plug opening module control device 138 outputs a command signal to the mechanism control device 351 according to the control parameter by the plug opening operation command device 355, and controls the plug gripper 133 via the mechanism control device 351, The stopper gripper 133 is raised while rotating, and the stopper 105 attached to the sample container 103 is removed.

Step S209
In step S209, the plug-opening module control device 138 outputs a command signal to the mechanism control device 351 according to the control parameter by the plug-opening operation command device 355, controls the plug gripper 133 via the mechanism control device 351, The gripper 133 is raised to the post-opening state detection position. The state of the sample container 103 at the stage where the processes of steps S208 and S209 are executed is illustrated as states S209a and S209b in FIGS. 4A and 4B. In the sample containers 103c and 103g, the rotation operation, the raising operation, and the stop position of the stopper gripper 133 are different.

Step S210
In step S <b> 210, the opening module control device 138 uses the state determination device 352 to determine the state after the opening process. Specifically, the opening operation command device 355 first outputs a command signal to the camera 135 via the mechanism control device 351 in the same manner as in the procedure of step S202, and the sample container 103 after the opening processing is performed. The stopper 105 is photographed. Then, the opening operation command device 355 causes the state determination device 352 to perform image processing on the captured image data from the camera 135, and whether the opening processing has been successful, has failed, or if it has failed, the type of failure (described later). ) Is determined based on the classification information of the opened state stored in the host computer 190. After the determination, the opening operation commanding device 355 controls the moving mechanism of the partition plate 136 via the mechanism control device 351 and moves the partition plate 136 to a standby position that is off the opening line 175. As a result of the determination, if it is determined that there is no problem in the state after opening and that the opening has been successful, the opening module control device 138 shifts the procedure to the operation after successful opening (steps S211 and S212). . On the other hand, when a plug opening failure is detected as the state after the plug opening process, the plug opening module control device 138 identifies the type of the failed state, and shifts to an appropriate return operation according to the type of failure. The determination of the state after the opening operation will be described later with reference to FIG. Steps S215-S217 related to the return operation from the unplugging failure will also be described later.

Steps S211, S212
If it is determined in step S210 that the opening has been successful, the opening module control device 138 outputs a command signal to the mechanism control device 351 by the opening operation command device 355, and the container gripping unit 134 and the device via the mechanism control device 351. The stopper gripper 133 is controlled to cause the container gripper 134 to release the sample container 103 (step S211), and the stopper gripper 133 is raised to the upper limit (step S212). The state of the sample container 103 at the stage where the processes of steps S211 and S212 are executed is illustrated as states S212a and S212b in FIGS. 4A and 4B. In the states S212a and S212b, the stopper gripper 133 is positioned at the upper limit regardless of the types of the sample container 103 and the stopper 105, and the container gripper 134 is open. Either of the processes in steps S211 and S212 may be executed first, but in this embodiment, the processes are executed in parallel to reduce the processing time.

Steps S213 and S214
Subsequently, the opening module control device 138 outputs a command signal to the mechanism control device 351 by the opening operation command device 355, and controls the opening module transport line 177 and the plug gripping portion 133 via the mechanism control device 351. Then, the sample container 103 is discharged from the opening line 175 to the out buffer line 176 (step S213), and the stopper gripper 133 is moved above the stopper discarding part 132 to cause the stopper discarding part 132 to discard the stopper 105 ( Step S214). After the disposal of the plug 105 is completed, the unplugging module control device 138 controls the plug gripping portion 133 via the mechanism control device 351 by the plugging operation command device 355, and the plug gripping portion 133 is moved to the plugging position 131. Return. Either of the processes in steps S213 and S214 may be executed first, but in the present embodiment, the processes are executed in parallel to reduce the processing time.

  For one sample container 103, when the opening process is successful, the opening process is completed by executing the above steps S201 to S214. When there is a sample container 103 waiting to be opened in the in-buffer line 174, the same opening process is executed for the next sample container 103.

6). State Types After Opening Process FIG. 5 is a diagram exemplifying types of open states (states of the sample container 103 and the plug 105 immediately after the execution of the process of step S209). The various open states shown in FIGS. 5A to 5E are typical examples of the open state classifications stored in the host computer 190 as described above. That is, in step S210 of FIG. 7, the state determination device 352 classifies the states into the states of FIGS. 5 (a) to 5 (e).

  FIG. 5A shows a successful plug opening state 301. The successful opening state 301 is a state in which the stopper 105 and the specimen container 103 are normally separated without causing the specimen gripping part 134 and the stopper gripping part 133 to slip. FIG. 5B to FIG. 5D show the unplugging failure state. FIG. 5 (b) shows the stopper gripper sliding state 302. The stopper gripping portion sliding state 302 is a state in which opening has failed due to slippage between the stopper gripping portion 133 and the stopper 105. FIG. 5C shows the container gripper sliding state 303. The container gripper sliding state 303 is a state in which opening has failed due to slippage between the container gripper 134 and the sample container 103. FIG. 5D shows the plug separation state 304. The plug separation state 304 is a state in which the plug 105 is separated into the plug main body 105h and the cover 105i covering the plug main body 105h and the plug opening has failed. Note that the plug separation state 304 does not basically occur in the case where the plug 105 is integrally formed and there is no possibility of separation (for example, the plug 105a in FIG. 3). May be. FIG. 5E shows the container floating state 305. The container floating state 305 is a state in which the stopper 105 and the sample container 103 are separated when the sample container 103 is lifted from the sample carrier 102 due to slippage between the container gripping part 134 and the sample container 103. In this case, the process can be continued as long as the floating amount of the sample container 103 does not hinder the execution of the process in the module downstream of the opening module 130. Therefore, in the state determination device 352, when the lifting amount does not exceed a predetermined threshold value, it is determined as a successful plug opening state 301, and when it exceeds the threshold value, it is determined as a gripper sliding state 303.

7). Field of view of the camera In the case where the container gripper sliding state 303 is in the unplugging failure state, the stopper gripper 133, the sample container 103 and the stopper 105 are connected, so that the specimen container 103 and the stopper gripper 133 are opened for imaging. It cannot be moved from the stopper position 131. Therefore, in order to recognize the container sliding state 303 and try the return operation as described later, the sample container 103 and the stopper gripper 133 are not moved, that is, the sample container 103 is stopped at the opening position 131. Must be able to shoot. In the present embodiment, since the camera 135 is arranged as described above, there is no problem in this respect.

  Next, the height range of the field of view of the camera 135 will be described. At the post-opening state detection position 311, an image range is required that can discriminate four types of states: a successful opening state 301, a stopper gripping part sliding state 302, a container gripping part sliding state 303, and a stopper separating state 304. Therefore, the lower end of the visual field of the camera 135 needs to be set lower than the grounding portion so that the grounding portion of the sample container 103 in the sample carrier 102 is reflected. On the other hand, the upper end of the visual field needs to accommodate the stopper holding portion 133 in a raised state. It is the plug separation state 304 that requires the stopper gripper 133 to be raised highest for identification, and the upper end of the visual field is set so that it can be identified on the image that the plug body 105h and the cover 105i have been separated. There is a need.

  Note that the plug separation state 304 is not assumed for the plug 105 that is integrally formed and that does not basically separate even when the plug opening process is performed (for example, the plug 105a in FIG. 3). It is the successful plug opening state 301 that the plug gripper 133 for identification needs to be raised to the highest level. In this case, it is only necessary to set the upper end of the visual field to such an extent that the successful opening can be identified on the image.

  FIG. 6 is a view for explaining the upper limit of the ascending position of the stopper gripper 133 when detecting the state after the opening process.

  In the container gripper sliding state 303 (FIG. 5C), slip occurs between the container gripper 134 and the sample container 103, and the sample container 103 is lifted as the stopper gripper 133 is lifted. In this case, since the state becomes unstable when the sample container 103 is completely removed from the sample carrier 102 as shown in FIG. 6 (a), the sample container 102 and the sample container are shown in FIG. 6 (b). It is necessary to limit the rising height of the stopper gripping portion 133 at the time of state detection so that 103 does not come off. At worst, it is necessary to prevent the specimen container 103 from being pulled out from the container gripping portion 134. It is desirable to set the field of view of the camera 135 so that such conditions are satisfied for each type of the specimen container 103 and the stopper 105.

8). Restarting Plug Operation A series of processes when it is determined that the plug opening success state 301 (FIG. 3) is determined in step S210 of FIG. 7 is as described above. Here, various restart plugging processes that are executed according to the type of state when it is determined in step S210 that the plugging has failed will be described.

(1) Plug gripping part slip return operation Step S215
When it is determined by the state determination device 352 that the plug gripping portion slip state 302 is detected in step S210, the plug opening module control device 138 shifts the procedure from step S210 to the plug gripping portion slip return operation in step S215.

  FIG. 8 is a flowchart showing a control procedure of the stopper gripper slip return operation in step S215 by the stopper module controller 138.

  When the operation moves to the stopper gripper slip return operation, the opening module controller 138 first determines the number of times the return operation (in other words, opening failure) in the opening process of the sample container 103 is performed (step S250). . When the return operation exceeds the preset upper limit value, the plug-opening module control device 138 outputs a command signal to the mechanism control device 351 by the return operation command device 356, and the container control device 351 receives the container via the mechanism control device 351. The sample container 103 is released by controlling the grip 134 (step S256). When the sample container 103 is released, the plug-opening module control device 138 outputs a command signal to the mechanism control device 351 by the return operation command device 356, opens the plug gripper 133, and before the plug-opening operation (for example, at the time of step S201). The position is raised to the initial position (step S257). When the stopper gripper 133 is returned to the initial position, the opening module control device 138 outputs a command signal to the mechanism control device 351 by the return operation command device 356, and drives the opening module conveyance line 177 to move the sample container 103. It is carried out as an error sample (step S258). The sample container 103 carried out as an error sample is transported to an error sample carry-out unit installed in the sample storage module 160 or the sample insertion module 110. At that time, the plug-opening module control device 138 outputs an error signal to the host computer 190, for example. As a result, the host computer 190 notifies the operator of the unsealing failure information by a predetermined method. The manner of notifying the information to the operator is not particularly limited. For example, in addition to a mode in which an error message is displayed on the monitor of the host computer 190, a mode in which information is transmitted to a portable terminal held by the operator can be considered.

  If it is determined in step S250 that the return operation is equal to or lower than the upper limit value, the plug-opening module control device 138 outputs a command signal to the mechanism control device 351 by the return operation command device 356, and the mechanism control device 351. The sample container 103 and the stopper 105 are photographed by controlling the camera 135 through the container, and the type of the specimen container 103 and the stopper 105 is determined by the container determination device 353 (step S251). This is because there is a possibility that the opening has failed due to an error in the type determination of the sample container 103 and the stopper 105 in step S202. Next, the host computer 190 is queried for control parameters based on the identification results of the sample container 103 and the stopper 105 (step S252). The process of step S252 is the same as that of step S203. Thereafter, the plug-opening module control device 138 outputs a command signal to the mechanism control device 351 by the return operation command device 356, controls the plug gripper 133 via the mechanism control device 351, and opens (Step S253). The stopper gripper 133 is caused to perform a lowering operation (step S254) and a gripping operation (step S255). The processing of steps S254 and S255 is the same as the processing of steps S206 and S207 executed via the opening operation command device 355. Then, the plug-opening module control device 138 returns the procedure to step S208 and executes the restart plug processing.

(2) Container gripper slip return operation Step S216
When the state discriminating device 352 discriminates that the container gripping portion is in the slip state 303 in step S210, the opening module control device 138 shifts the procedure from the step S210 to the container gripping portion slip return operation in step S216.

  FIG. 9 is a flowchart showing a control procedure of the container gripper slip return operation in step S216 by the opening module controller 138.

  When shifting to the container gripper slip return operation, the opening controller control device 138 first outputs a command signal to the mechanism control device 351 by the return operation command device 356 and controls the container gripper 134 via the mechanism control device 351. Then, the sample container 103 fixed by the container gripping part 134 is released (step S260). Next, the plug opening module control device 138 outputs a command signal to the mechanism control device 351 by the return operation command device 356, controls the plug gripper 133 via the mechanism control device 351, and the control inquired in step S203. Based on the parameters, the stopper gripper 133 is lowered to the height at the start of the opening operation (step S208) (step S261). Subsequently, the opening module controller 138 determines how many times the return operation (in other words, opening failure) in the opening process of the sample container 103 is performed (step S262). When the return operation exceeds the preset upper limit value, the plug opening module control device 138 outputs a command signal to the mechanism control device 351 by the return operation command device 356, and opens and opens the plug gripper 133. The position is raised to the initial position before the stopper operation (for example, at step S201) (step S266). When the stopper gripper 133 is returned to the initial position, the opening module control device 138 outputs a command signal to the mechanism control device 351 by the return operation command device 356, and drives the opening module conveyance line 177 to move the sample container 103. It is carried out as an error sample (step S267). The sample container 103 carried out as an error sample is transported to an error sample carry-out unit installed in the sample storage module 160 or the sample insertion module 110. At that time, the plug-opening module control device 138 outputs an error signal to the host computer 190, for example. As a result, the host computer 190 notifies the operator of the unsealing failure information by a predetermined method. The manner of notifying the operator of the information can be the same as the stopper gripping slip return operation.

  If it is determined in step S262 that the return operation is equal to or lower than the upper limit value, the plug-opening module control device 138 outputs a command signal to the mechanism control device 351 by the return operation command device 356, and the mechanism control device 351. The sample container 103 and the stopper 105 are photographed by controlling the camera 135 via the camera, and the type of the specimen container 103 and the stopper 105 is determined by the container determination device 353 (step S263). This is because there is a possibility that the opening has failed due to an error in the type determination of the sample container 103 and the stopper 105 in step S202. Next, the host computer 190 is queried for control parameters based on the identification results of the sample container 103 and the stopper 105 (step S264). The process of step S264 is the same as that of step S203. Thereafter, the opening module control device 138 outputs a command signal to the mechanism control device 351 by the return operation command device 356, controls the container gripping portion 134 via the mechanism control device 351, and causes the container gripping portion 134 to receive the sample container. 103 is held (step S265). The process of step S265 is the same as the process of step S204 executed via the opening operation command device 355. Then, the plug-opening module control device 138 returns the procedure to step S208 and executes the restart plug processing.

(3) Plug separation return operation-Step S217
When it is determined that the plug separation state 304 is detected by the state determination device 352 in step S210, the plug opening module control device 138 shifts the procedure from the step S210 to the plug separation return operation in step S217.

  FIG. 10 is a flowchart showing a control procedure of the plug separation return operation in step S217 by the plug opening module control device 138.

  When shifting to the plug separation return operation, the plug opening module control device 138 first outputs a command signal to the mechanism control device 351 by the return operation command device 356, and controls the plug gripper 133 via the mechanism control device 351, The stopper gripper 133 is moved above the stopper discarding part 132 and the cover 105i is discarded by the stopper discarding part 132 (step S270). After the disposal of the cover 105i is completed, the plug opening module control device 138 controls the plug gripping portion 133 via the mechanism control device 351 by the return operation command device 356 to return the plug gripping portion 133 to the plug opening position 131. . The reason why the cover 105i is discarded is that the restart plug processing cannot be executed unless the stopper gripper 133 discards the cover 105i. Subsequently, the plug-opening module control device 138 outputs a command signal to the mechanism control device 351 by the return operation command device 356, controls the container gripping portion 134 via the mechanism control device 351, and the container gripping portion 134 is fixed. The sample container 103 is released (step S271). The stopper separation return operation is as described above. In this state, the cover 105i is lost, and the shape and material of the stopper 105 are different from those before separation. Therefore, there is a high possibility that the control parameter before entering the plug separation state does not match the restart plug operation. Therefore, in the plug separation state returning operation, the plug opening module control device 138 returns the procedure to step S202 after completing step S271. As a result, the plug main body 105h from which the cover 105i has been removed is newly identified, and the restart plug processing is executed.

9. Effect (1) Reduction in frequency of unsuccessful opening As described above, according to the present embodiment, the types of the sample containers 103 are identified and the types of the sample containers 103 are identified for the sample containers 103 having various shapes. A corresponding opening operation can be executed. Therefore, the sample container 103 can be handled appropriately. Further, even if the opening process is unsuccessful, the return operation according to the sample container 103 and the failure type can be executed to automatically execute the restarting process. Therefore, the frequency of unplugging failures can be reduced, and the operator's work burden when the unplugging process fails can be reduced.

(2) Improvement of discrimination accuracy In this embodiment, since the type of the sample container 103 and the opened state is discriminated based on the image taken by the camera 135, high discrimination accuracy can be ensured. For example, as shown in FIGS. 5D and 5E, the plug separation state 304 and the container floating state 305 are separated from the plug 105 after the plug opening process and remain (plug body 105h (FIG. 5 ( d)) and the sample container 103 (FIG. 5E) may have the same apparent height as a result, in which case, for example, the height of the upper end of the sample container 103 is detected by a sensor or the like. In this method, it is difficult to discriminate the state of failure.When the sample container 103 and the open state are discriminated by processing an image taken by the camera 135, the open state and the like are discriminated accurately even in such a case. In particular, in the case of the present embodiment, since the partition plate 136 can omit unnecessary information from the background of the captured image, it is possible to further improve the discrimination accuracy such as the open state. Above In terms of the obtained corresponding essentially effect, using the sensor or the like without using the camera 135 may be configured to determine the open plug state or the like. In this case, the partition plate 136 is not needed naturally.

(3) Diversification of the return operation In the case of the present embodiment, even when the stopper 105 is separated into the stopper body 105h and the cover 105i, the stopper separation return operation described above is executed and the stopper body 105h is recognized as a new stopper. Then, the opening operation can be retried after changing the operating conditions as appropriate according to the newly recognized plug type. Therefore, not only when the stopper gripping part 133 or the container gripper 134 slips and the opening fails, but also flexibly supports various failure states including the case where the stopper 105 is separated and the opening process fails. A restart plug process can be performed.

10. Others In the above embodiment, the opening operation of opening the stopper 105 upward with respect to the fixed specimen container 103 has been described as an example, but for example, the specimen container 103 is attached to the fixed stopper 105. The present invention can also be applied to the case of performing a plug-opening operation that pulls down and opens the plug. The sample container 103 may be rotated instead of the stopper 105. For example, in addition to the opening operation of lowering the specimen container 103 while rotating the stopper 105, the opening of the stopper 105 raising the stopper 105 while rotating the specimen container 103. Operation is also possible.

  Further, although the control parameter for the opening operation by the gripping device 137 is read from the host computer 190, the control parameter may be stored in the opening module control device 138. The same applies to the classification information of the sample container 103 and the stopper 105, the classification information of the opened state, and the control parameter of the return operation.

  Although the partition plate 136 is used to omit unnecessary background information when photographing the sample container 103 and the like, the state of the sample container 103 can be identified by image processing without using the partition plate 136. If possible, the partition plate 136 can be omitted.

  In addition, as described above, the container type and the open state type are not limited to the method of determining based on the image captured by the camera 135, for example, a non-contact position sensor using a laser or sound wave, or a contact type A method is also conceivable in which the external shape of the sample container 103 and the stopper 105 is measured using a position sensor, and the measurement result is compared with the classification of the sample container 103 and the stopper 105 and the opened state registered in advance. Regarding the types of the specimen container 103 and the stopper 105, the specimen container 103 and the like are identified in advance by an apparatus other than the opening module 130, and information on the identified specimen container 103 and the like is stored in the host computer 190 to perform the opening process. It is also possible to adopt a configuration in which the identification information of the sample 103 or the like is read from the host computer 190 to the plug-opening module control device 138 when executing the above. In addition, when the sample tray 103 on which the sample container 103 and the like are installed is determined for each type of the sample container 103 and the stopper 105 at the stage of installing the sample container 103 in the sample input module 110, the sample container is set at the time of sample input. A configuration in which the type of the sample container 103 or the like is discriminated based on the information of the sample tray 101 in which the 103 is installed may be employed.

  The case where the upstream module of the opening module 130 is the centrifugal module 120 and the downstream module is the label attaching module 140 has been described as an example, but the arrangement order of the modules is not particularly limited and can be changed as appropriate. The module adjacent to 130 may be changed to another module. Further, addition and omission of modules can be appropriately performed according to the use of the system.

100 Specimen Test Automation System 103 Specimen Container 105 Plug 110 Specimen Input Module 130 Opening Module 131 Opening Position 132 Plug Disposal Unit 133 Plug Holding Unit 134 Container Holding Unit 135 Camera 136 Partition Plate 138 Opening Module Controller 150 Dispensing Module 180 Automatic analyzer 301 Opening success state 302 Slip state of stopper gripping portion 303 Slipping state of container gripper portion 304 Slip state of stopper 305 Container lifting state 351 Mechanism control device 352 State determination device 353 Container determination device

Claims (8)

A gripping device for opening the specimen container;
A container discriminating device for discriminating the type of specimen container and stopper;
An opening operation command device that causes the gripping device to execute an opening operation according to the type of the container determined by the container determination device;
A state discriminating device for discriminating the state of the sample container after execution of the opening operation;
A return operation commanding device for causing the gripping device to execute a return operation that is a preparation for a reopening operation according to the open state based on the determination result by the container determining device and the state determining device when the opening fails An opening device comprising: The opening device according to claim 1,
Equipped with a camera to photograph the sample container,
The state discriminating apparatus processes a photographed image of the camera, the specimen container and the stopper are normally opened successfully, and the opening of the stopper fails due to a slippage between the gripping apparatus and the stopper. Determining at least three types of opening states classified in advance, that is, a sliding state of the stopper gripping portion that is slipped, and a sliding state of the container gripping portion that has failed to open due to slippage between the gripping device and the sample container Opening device characterized by. The opening device according to claim 2,
When the state determining device determines that the open state is the plug gripping portion sliding state, the return operation command device controls the gripping device as the return operation to grip the plug again,
The opening operation commanding device controls the gripping device to execute a reopening operation. The opening device according to claim 2,
When the state determining device determines that the opened state is the container gripper sliding state, the return operation command device controls the gripping device as the return operation to release the sample container, Hold the sample container again,
The opening operation commanding device controls the gripping device to execute a reopening operation. The opening device according to claim 3 or 4,
The return operation command device instructs the camera and the container determination device to re-identify the type of the specimen container and the stopper before instructing the return operation by the gripping device. The opening device according to claim 2,
The state discriminating device further discriminates the plug separation state where the plug is separated into the plug body and the cover and the opening has failed, as the opened state,
When the state determining device determines that the open state is the plug separation state, the return operation command device controls the gripping device to discard the cover separated from the plug body,
The unplugging operation commanding device performs a reopening plugging operation by controlling the gripping device for the plug body newly determined as a plug by the container determination device. The opening device according to claim 2,
The opening device according to claim 1, wherein the camera is arranged in a direction orthogonal to an operation direction of a gripping operation of the sample container by the gripping device with respect to a position where the sample container is gripped by the gripping device. A sample loading device for loading a sample container;
The capping device according to any one of claims 1 to 7, wherein a capping process is performed on the sample container charged through the sample container;
A dispensing device for dispensing the parent sample from the opened sample container;
A sample test automation system comprising an automatic analyzer for performing various analysis processes on a sample.

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