WO2024147221A1 - Analysis system - Google Patents

Abstract

An analysis system (100) comprises a storage device (30) and a control device (10), wherein: the storage device (30) comprises a rotating body (40) having a placement surface, a conveying body (50), and a door covering a first opening (35) for placing a sample container on the placement surface from outside the storage device (30); the control device (10) executes conveying processing to cause the sample container to be conveyed by the conveying body (50); the control device (10) determines whether an amount of deviation of a rotation angle of the rotating body (40) before and after the door has been opened and closed exceeds a first threshold; if the amount of deviation of the rotation angle exceeds the first threshold, the control device (10) returns the rotating body (40) to a reference angle position and then executes the conveying processing; and if the amount of deviation of the rotation angle does not exceed the first threshold, the control device (10) executes the conveying processing without returning the rotating body to the reference angle position.

Description

Analysis System

This disclosure relates to an analysis system.

　Conventionally, analytical systems including pretreatment devices are known. The pretreatment devices perform pretreatment on samples such as culture fluid. Pretreatment includes various processes such as centrifugation, liquid removal, reagent supply, stirring, and extraction. The sample that has completed pretreatment is supplied to an analytical device included in the analytical system.

JP 2022-94535 A (Patent Document 1) describes an analysis system that includes a container storage unit that stores a large number of sample containers, a dispensing unit that performs a series of pre-processing steps, and a container transport unit that transports the sample containers between the container storage unit and the dispensing unit. A user places a large number of sample containers on a shelf in the container storage unit. The container transport unit moves the sample containers from the container storage unit to the dispensing unit based on the user's instructions.

JP 2022-94535 A

In order to allow many sample containers to be placed on the analysis system, it is possible to configure the container storage unit with a rotating body equipped with many shelves. By rotating the rotating body, the user can place the sample container on an empty shelf among the multiple shelves provided on the rotating body. It is desirable to provide the analysis system with a transport processing function that automatically transports the sample containers placed on the shelves of the rotating body using a transport body.

In order for the transport body to automatically transport sample containers placed on the shelves of the rotating body, the position of the shelf on which the sample container to be transported is placed must be accurately identified by the analysis system. Therefore, the analysis system must be aware of the rotation angle position of the rotating body based on information such as the driving status of the motor that drives the rotating body.

However, even with this configuration, if, for example, a user touches a shelf and the rotating body rotates without being controlled by the analysis system, the analysis system may lose track of the rotational angle position of the rotating body. In this case, the transport body cannot accurately approach the position of the target shelf.

Therefore, it is conceivable to first return the rotational angle position of the rotating body to a reference angle position, such as the origin position of the rotation direction, for each transport process, and then execute the transport process based on the reference angle position. However, it is not efficient to perform a process of returning the rotational angle position of the rotating body to the reference angle position for each transport process.

The present disclosure has been made to solve the problems described above, and its purpose is to provide an analysis system that can move a transport body toward a sample container to be transported while reducing the frequency with which the rotational angle position of a rotor on which a sample container is placed is returned to a reference angle position.

The analysis system of the present disclosure is an analysis system including a pretreatment device that performs pretreatment, and includes a storage device that stores a sample container containing a sample to be pretreated, and a control device. The storage device includes a rotor, a first placement section provided on the rotor, a transport body, a first opening formed for placing the sample container on the first placement section from outside the storage device, a cover body that covers the rotor, a door that covers the first opening, and a door sensor that detects opening and closing of the door. The control device executes a transport process in which the sample container placed on the first placement section is transported to the outside of the storage device by the transport body. When the door sensor detects that the door is open and then detects that the door is closed by the door sensor, the control device determines whether or not the deviation in the rotation angle of the rotor between when the door is detected to be open and when the door is detected to be closed exceeds a first threshold value. If the deviation in the rotation angle exceeds the first threshold value, the control device returns the rotation angle position of the rotor to a reference angle position and then executes the transport process. If the deviation in the rotation angle does not exceed the first threshold value, the control device executes the transport process without returning the rotation angle position of the rotor to the reference angle position.

According to the present disclosure, it is possible to provide an analysis system that can move a transport body toward a sample container to be transported while reducing the frequency with which the rotational angle position of a rotor on which a sample container is placed is returned to a reference angle position.

FIG. 2 is a block diagram showing a system configuration of an analysis system. FIG. 2 is a perspective view showing a schematic configuration of a pretreatment device. FIG. 2 is a perspective view showing a schematic configuration of a stacker. 13 is a conceptual diagram for explaining a state in which a transport body approaches a sample container in a rack. FIG. 11A and 11B are conceptual diagrams for explaining the movement of a transport body in a stacker. FIG. 1 is a block diagram showing a configuration of an analysis system. 5 is a flowchart for explaining a procedure in which the control device controls a rotating body and a transport body. 13 is a flowchart showing a procedure for an update process. 13 is a flowchart showing a procedure of a transport process.

Below, the embodiments of the present disclosure will be described in detail with reference to the drawings. Note that the same or corresponding parts in the drawings will be given the same reference numerals and their description will not be repeated.

<System configuration of analysis system 100>
FIG. 1 is a diagram showing a system configuration of an analysis system 100. The analysis system 100 is a system for automatically performing pretreatment and analysis of an analyte. In this embodiment, the sample to be analyzed is, for example, plasma collected from a subject. The analysis system 100 is applicable to, for example, a pretreatment device (automatic pretreatment dispensing device) for analyzing amyloid β, which is considered to be a biomarker for Alzheimer's disease, by MS using the MALDI (Matrix Assisted Laser Desorption/Ionization) method.

As shown in FIG. 1, the analysis system 100 includes a preprocessing device 1, an analysis device 2, and a personal computer 3. The preprocessing device 1 includes a preprocessing unit 20 that performs preprocessing on samples, and a stacker 30 that stores sample containers. The personal computer 3 is connected to the preprocessing device 1 and the analysis device 2 so as to be able to communicate with them.

The pre-processing unit 20 is equipped with various pre-processing mechanisms such as a centrifugation mechanism, a liquid removal mechanism, a reagent supply mechanism, a stirring mechanism, and an extraction mechanism. The pre-processing unit 20 operates these mechanisms to perform pre-processing on the sample. The analysis device 2 is composed of a mass spectrometer and the like. The personal computer 3 transmits commands related to pre-processing or analysis to the pre-processing device 1 and the analysis device 2. The personal computer 3 receives information related to pre-processing or analysis from each of the pre-processing device 1 and the analysis device 2.

<Overall configuration of pretreatment device 1>
Fig. 2 is a perspective view showing a schematic configuration of the pretreatment device 1. Fig. 3 is a perspective view of the stacker 30. Fig. 4 is a conceptual diagram for explaining the manner in which the transport body 50 approaches the sample container 80 in the rack 42. Fig. 5 is a conceptual diagram for explaining the movement of the transport body 50 in the stacker 30.

In this embodiment, the three mutually orthogonal axes X, Y, and Z are defined as shown in FIG. 2. The X-Y plane formed by the X-axis and Y-axis is a plane parallel to the installation surface of the pre-processing device 1.

In FIG. 2, a dispensing device 21 is shown as an example of a pre-processing mechanism possessed by the pre-processing unit 20. In addition to the dispensing device 21, the pre-processing unit 20 includes a plurality of modules 23, a mounting stand 24, and a table 22 on which the plurality of modules 23 and the mounting stand 24 are mounted.

The dispensing device 21 moves inside the housing of the pre-processing unit 20 and has the function of dispensing liquid such as a reagent into the sample container 80. The dispensing device 21 is provided with an arm 210 for transporting the sample container 80 while holding it.

As shown in FIG. 2, a wall surface 251 exists between the pre-processing unit 20 and the stacker 30. The wall surface 251 separates the stacker 30 from the mounting table 24. An opening 25 is formed in the wall surface 251. The sample container 80 is transported from the stacker 30 to the mounting table 24 of the pre-processing unit 20 through the opening 25.

As shown in FIG. 3, inside the stacker 30, a rotating body 40 capable of holding a large number of sample containers 80 is provided. The rotating body 40 is covered by a transparent cover body 31. The cover body 31 has an opening 35 formed therein to allow a user to access the rotating body 40. The stacker 30 is provided with a door 32 for opening and closing the opening 35.

The rotating body 40 rotates around a rotation axis 47 along the Z-axis direction. The rotating body 40 includes a number of racks 42 (see FIG. 4) arranged in the circumferential direction of the rotation axis 47. As shown in FIG. 4, the racks 42 are provided with a number of shelves 43 arranged in the Z-axis direction. The user opens the door 32 of the stacker 30 and places the sample container 80 on the shelf 43 from outside the stacker 30 through the opening 35.

As shown in Figures 2 and 3, the stacker 30 is provided with rotation switches 33, 34 that can be operated by the user. When the rotation switch 33 is pressed, the rotating body 40 rotates a certain angle counterclockwise and then stops. When the rotation switch 34 is pressed, the rotating body 40 rotates a certain angle clockwise and then stops. The stacker 30 may rotate the rotating body 40 when it receives a command equivalent to the operation of the rotation switches 33, 34 from the personal computer 3.

If there is no space in the rack 42 portion of the rotating body 40 facing the opening 35 to place the sample container 80, the user closes the door 32 and then presses the rotation switch 33 or the rotation switch 34. This causes the rotating body 40 to rotate, and the rack 42 facing the opening 35 is changed from before the rotating body 40 rotated. The user can then open the door 32 and place the sample container 80 on any of the many shelves 43 of the rack 42 where a sample container 80 is not placed.

As shown in Figures 4 and 5, the stacker 30 includes a transport body 50 that transports the sample container 80. The transport body 50 moves in a first direction (Z-axis direction) along the rotation axis 47, and also moves retractably in a second direction (X-axis direction) that is perpendicular to the first direction and along a straight line that passes through the rotation axis 47 and the mounting table 24.

When viewed from above in the X-axis direction, the shelf 43 has a mounting surface 431 on which the sample container 80 is placed, and a recess 432 recessed in the negative direction of the Z-axis from the mounting surface 431 (see FIG. 4). The size of the recess 432 in the Z-axis direction is larger than the thickness of the transport body 50 in the Z-axis direction. Therefore, the transport body 50 can enter the recess 432 of the shelf 43 on which the sample container 80 is placed.

<Operation of the conveyor 50>
Here, the operation of the transport body 50 will be described with reference to Figures 4 and 5. As already described, an opening 25 is formed in the wall surface 251 between the pre-processing unit 20 and the stacker 30. The transport body 50 transports the sample container 80 placed on the rack 42 facing the opening 25 among the many racks 42 of the rotating body 40. The stacker 30 can change the rack 42 facing the opening 25 by rotating the rotating body 40. As a result, the stacker 30 can transport the sample container 80 placed on any of the many racks 42 of the rotating body 40.

The pre-processing device 1 receives, for example, a command from the personal computer 3 to transport the sample container 80 in the stacker 30 to the pre-processing unit 20. When such a command is received, the transport body 50 transports the sample container 80 to be transported from the stacker 30 to the loading platform 24 of the pre-processing unit 20 in the manner described below.

First, the transport body 50 moves to the sample container 80 to be transported among the sample containers 80 placed on the rack 42 facing the opening 25 (movement in the Z-axis direction). Next, the transport body 50 moves in the Z-axis direction to match the height of the mounting table 24, and then extends toward the mounting table 24 with the sample container 80 to be transported on it, and places the sample container 80 on the mounting table 24 (movement in the X-axis direction). Figure 4 shows the movement of the transport body 50 to the sample container 80 to be transported. Figure 5 shows the movement of the transport body 50 to the mounting table 24 and placing the sample container 80 on the mounting table 24.

Here, the rack 42 shown in FIG. 4 faces the opening 25. Furthermore, when the rack 42 shown in FIG. 4 is used as a reference, the rotating shaft 47 of the rotating body 40 and the conveying body 50 are positioned in the negative direction of the X-axis, and the opening 25 is positioned in the positive direction of the X-axis.

As shown in FIG. 4, the transport body 50 moves in the Z-axis direction and approaches the recess 432 of the shelf 43 on which the sample container 80 to be transported is placed. The transport body 50 then moves in the positive direction of the X-axis to enter between the sample container 80 and the recess 432. The transport body 50 then moves in the positive direction of the Z-axis to place the sample container 80 that was placed on the shelf 43 onto the transport body 50.

Then, the transport body 50 extends in the positive direction of the X-axis with the sample container 80 placed on it. This causes the sample container 80 to be transported from the stacker 30 to the mounting table 24 of the pre-processing unit 20 through the opening 25, as shown in FIG. 5. The rotating body 40 is provided with a plurality of racks 42 (see FIG. 4) arranged in the circumferential direction of the rotation axis 47, but there is a row at the height of the opening 25 where no racks 42 are provided so that the transport body 50 can pass through the opening 25. For example, the dispensing device 21 transports the sample container 80 located on the mounting table 24 to the destination module 23.

As explained above, the transport body 50 transports the sample container 80 placed on the rack 42 facing the opening 25 to the mounting table 24. The transport body 50 can also move the sample container 80 placed on any shelf 43 of the rack 42 facing the opening 25 to another shelf 43. The pretreatment device 1 of this embodiment is provided with an opening 25 for automatic transport by the transport body 50 and an opening 35 for enabling manual operation by the user with respect to the sample container 80.

<Block diagram of analysis system 100>
Fig. 6 is a block diagram showing the configuration of an analysis system 100. As shown in Fig. 6, the analysis system 100 includes a preprocessing device 1, an analysis device 2, and a personal computer 3. The preprocessing device 1 includes a control device 10, a preprocessing unit 20 including a dispensing device 21, and a stacker 30.

The control device 10 includes a processor 11, a storage device 12, and a communication interface 13. The control device 10 communicates with the personal computer 3, the pre-processing unit 20, and the stacker 30 via the communication interface 13.

The processor 11 is typically configured with a CPU (Central Processing Unit) or an MPU (Multi-Processing Unit). The processor 11 reads and executes programs stored in the storage device 12 to realize various processes related to the pre-processing unit 20 and the stacker 30. The processor 11 is an example of an arithmetic device. The processor 11 is also an example of a processing circuit.

The storage device 12 includes a volatile storage area (e.g., a working area) that temporarily stores program code, work memory, and the like when the processor 11 executes any program. For example, the storage device 12 includes volatile memory such as DRAM (dynamic random access memory) and SRAM (static random access memory), or non-volatile memory such as ROM (read only memory) and flash memory. Furthermore, the storage device 12 may be an SSD (solid state drive) or HDD (hard disk drive), etc.

The stacker 30 comprises a rotating body 40, a transport body 50, a door sensor 320, and rotation operation sensors 330 and 340. The door sensor 320 detects when the door 32 provided on the stacker 30 is opened or closed. The rotation operation sensor 330 detects the operation of the rotation switch 33. The rotation operation sensor 340 detects the operation of the rotation switch 34.

The stacker 30 further includes a drive mechanism 41 that drives the rotating body 40 to rotate, a drive mechanism 51 that drives the transport body 50 in the Z-axis direction, a drive mechanism 61 that expands and contracts the transport body 50 in the X-axis direction, an origin sensor 45 that detects that the rotational angle position of the rotating body 40 is at the origin position (reference angle position), an origin sensor 55 that detects that the position of the transport body 50 in the Z-axis direction is at the origin position (reference position), and an origin sensor 65 that detects that the tip position of the transport body 50 in the X-axis direction is at the origin position (reference position).

The drive mechanism 41 includes a motor 411, a driver 412, and a rotary encoder 413. The drive mechanism 51 includes a motor 511, a driver 512, and a linear encoder 513. The drive mechanism 61 includes a motor 611 and a driver 612. The motors 411, 511, and 611 are, for example, stepping motors. The drivers 412, 512, and 612 output excitation signals to the corresponding motors 411, 511, and 611, respectively, based on commands from the control device 10.

The rotary encoder 413 detects the rotation angle position of the rotating body 40 and transmits the detected rotation angle position to the control device 10 via the driver 412. The linear encoder 513 detects the position of the transport body 50 in the Z-axis direction and transmits the detected position in the Z-axis direction to the control device 10 via the driver 512. The control device 10 constantly checks the positional deviation of the rotating body 40 and the transport body 50 based on the output values of the rotary encoder 413 and the linear encoder 513.

When the control device 10 acquires a detection signal from the rotation operation sensor 330, it rotates the rotating body 40 counterclockwise by a fixed angle. At this time, the driver 412 controls the motor 411 with the number of drive steps corresponding to that fixed angle. After that, when the control device 10 acquires a detection signal from the rotation operation sensor 330 again, it rotates the rotating body 40 counterclockwise by a fixed angle. At this time, the driver 412 controls the motor 411 again with the number of drive steps corresponding to the fixed angle.

As a result, the control device 10 can repeatedly position the rotating body 40 at a predetermined angular position, such as 0 degrees, 120 degrees, 180 degrees, 360 degrees (0 degrees), 120 degrees, ... from the origin angular position, each time it acquires a detection signal from the rotation operation sensor 330. The control device 10 also rotates the rotating body 40 clockwise in a similar manner when it acquires a detection signal from the rotation operation sensor 340.

In this way, the control device 10 controls the rotation angle position of the rotating body 40 based on the number of drive steps for driving the motor 411. When the sample container 80 is transported by the transport body 50, the control device 10 also rotates the rotating body 40 according to the position of the rack 42 on which the sample container 80 to be transported is placed. In this way, the control device 10 positions the rack 42 on which the sample container 80 to be transported is placed facing the opening 25. At this time as well, the control device 10 controls the rotation angle position of the rotating body 40 based on the number of drive steps of the motor 411.

Similarly, the control device 10 controls the position of the conveyor 50 in the Z-axis direction and the tip position of the conveyor 50 in the X-axis direction based on the number of steps for driving the motors 511 and 611.

<Characteristic configuration>
Here, a characteristic configuration of the analysis system 100 according to the present embodiment will be described. When the rotation of the rotating body 40 is stopped at a target angular position and then the rotating body 40 is rotated again, the number of driving steps of the motor 411 required to rotate the rotating body 40 to the next target angular position is calculated based on the stop position. Similarly, when the transport body 50 is stopped at a target position and then the transport body 50 is moved again, the number of driving steps of the motor 511 required to move the transport body 50 to the next target position is calculated based on the stop position.

In order to stop the rotation of the rotating body 40, rotate the rotating body again, and stop the rotation accurately at the next target angle position, it is necessary to prevent any deviation in the rotational angle position of the rotating body when the rotation of the rotating body 40 is being controlled to stop. Similarly, in order to move the transport body 50 accurately to the next target position, it is necessary to prevent any deviation in the position of the transport body 50 when the transport body 50 is controlled to stop.

In particular, when the door 32 is open, the user may touch the rotating body 40, causing a shift in the rotation angle position of the rotating body 40, or the user may touch the conveying body 50, causing a shift in the position of the conveying body 50.

In order to prevent such deviations from occurring, it is conceivable to continuously supply an excitation signal to motor 411 to maintain the state of rotating body 40 while the rotation of rotating body 40 is being controlled to stop, and to continuously supply an excitation signal to motors 511, 611 to maintain the state of conveying body 50 while the conveying body 50 is being controlled to stop.

However, if the excitation signal continues to be supplied while the door 32 is open, it cannot be completely ruled out that some trouble with the device may cause the rotating body 40 or the conveying body 50 to automatically start moving. If such a trouble occurs, there is a risk that the rotating body 40 or the conveying body 50 may collide with the user's hand.

The control device 10 locks the door 32 while the rotating body 40 is rotating and while the transport body 50 is operating. Furthermore, when the door 32 is open, the control device 10 does not accept operation of the rotation switches 33 and 34, and does not accept a command to operate the transport body 50. Therefore, when the user has access to the rotating body 40, the rotating body 40 does not normally rotate and the transport body 50 does not normally operate.

However, it is preferable to implement an interlock mechanism in the analysis system 100 in consideration of the possibility of trouble occurring. Thus, when the door sensor 320 detects that the door 32 is open, a switch on the power supply line connecting the power source (power source for the motor) and the motors 411, 511 is mechanically switched from ON to OFF in conjunction with the detection by the door sensor 320. In this way, the stacker 30 stops supplying power to the motors 411, 511 while the door sensor 320 detects that the door 32 is open.

This prevents the rotating body 40 from automatically rotating due to some trouble with the device when the door 32 is open. Also, when the door 32 is open, it prevents the transport body 50 from automatically moving in the Z-axis direction due to some trouble with the device.

In this embodiment, even if the door sensor 320 detects that the door 32 is open, the power supply from the power source to the motor 611 is not cut off. This is because, even if the conveyor 50 extends in the X-axis direction due to some device trouble while the door 32 is open, the tip of the conveyor 50 cannot collide with the user. As shown in FIG. 5, the movement direction of the conveyor 50 in the X-axis direction is toward the pre-processing unit 20, not toward the opening 35 that the user faces. In addition, the user cannot touch the shelf board 43 that is in the movement direction of the conveyor 50 in the X-axis direction. Therefore, even if the door sensor 320 detects that the door 32 is open, an excitation signal is supplied to the motor 611. As a result, the tip position of the conveyor 50 in the X-axis direction is maintained by the excitation signal while the door 32 is open.

By implementing an interlock mechanism, when the door 32 of the stacker 30 is open, the rotational angle position of the rotating body 40 changes when the user touches the rotating body 40. Similarly, when the door 32 of the stacker 30 is open, the position of the transport body 50 in the Z-axis direction changes when the user touches the transport body 50.

If the rotation angle position of the rotating body 40 changes as a result of the user touching the rotating body 40 and then the motor 411 is driven with a specified number of drive steps, the rotation angle position of the rotating body 40 cannot be controlled to a specified angle position. Similarly, if the position of the transport body 50 in the Z-axis direction changes as a result of the user touching the transport body 50 and then the motor 511 is driven with a specified number of drive steps, then the transport body 50 cannot be moved to the intended position.

In order to solve this problem, when it is detected that the door 32 is open and then closed, it is possible to return the rotational angle position of the rotating body 40 to the origin position (reference angle position) and return the position of the transport body 50 in the Z-axis direction to the origin position (reference position). Hereinafter, the control for returning the rotational angle position of the rotating body 40 to the origin position (reference angle position) and the control for returning the position of the transport body 50 in the Z-axis direction to the origin position (reference position) are referred to as "return control". In addition, hereinafter, "detection that the door 32 is open and then closed" may be referred to as "detection of opening or closing of the door 32".

By executing the return control as described above, when operation of the rotation switch 33 or rotation switch 34 is detected, the control device 10 can drive the motor 411 based on the number of steps calculated with reference to the origin position (reference angle position) and rotate the rotating body 40 to the correct rotation angle position. Similarly, when the control device 10 receives a command to transport a sample container 80, it can rotate the rotating body 40 so that the rack 42 on which the sample container 80 to be transported is placed faces the opening 25. Furthermore, the control device 10 can drive the motor 511 based on the number of steps calculated with reference to the origin position (reference position) and move the transport body 50 to the position of the sample container 80 to be transported.

However, it is not efficient to perform the above-mentioned reset control every time the opening and closing of the door 32 is detected. Each time the opening and closing of the door 32 is detected, the user must wait for the end of the reset control, which increases the time required for work. Reset control is also performed when the user who opened the door 32 finishes the work without touching the rotating body 40 and the transport body 50. In this case, there is a possibility that the user may complain to the manufacturer of this system about the fact that reset control is performed simply by opening and closing the door 32. Furthermore, there is a risk that the durability of the drive parts of the rotating body 40 and the transport body 50 will be reduced early if reset control is performed every time the opening and closing of the door 32 is detected.

In this embodiment, the control device 10 checks the amount of deviation in the rotational angle position of the rotating body 40 between when the door 32 is opened and when the door 32 is closed. Furthermore, the control device 10 checks the amount of deviation in the position of the transport body 50 in the Z-axis direction between when the door 32 is opened and when the door 32 is closed.

Even if an excitation signal is not supplied to the motors 411, 511 when the door 32 is open, the rotary encoder 413 and the linear encoder 513 are functioning. Therefore, the control device 10 determines the amount of deviation in the rotation angle position based on the number of driving steps of the motor 411 before the door 32 is opened and the detection value of the rotary encoder 413 after the door is opened and closed. The control device 10 also determines the amount of deviation in the position in the Z-axis direction based on the number of driving steps of the motor 511 before the door 32 is opened and the detection value of the linear encoder 513 after the door is opened and opened and closed.

If the deviation in the rotational angle position of the rotating body 40 between when the door 32 is opened and when the door 32 is closed exceeds a threshold value, the control device 10 executes the above-mentioned return control and rotates the rotating body 40 to the target rotational angle position. If the deviation in the rotational angle position of the rotating body 40 between when the door 32 is opened and when the door 32 is closed does not exceed a threshold value, the control device 10 rotates the rotating body 40 to the target rotational angle position without executing return control.

If the amount of positional deviation of the conveying body 50 in the Z-axis direction between when the door 32 is opened and when the door 32 is closed exceeds a threshold value, the control device 10 executes the above-mentioned return control and moves the conveying body 50 to the target position. If the amount of positional deviation of the conveying body 50 in the Z-axis direction between when the door 32 is opened and when the door 32 is closed does not exceed a threshold value, the control device 10 moves the conveying body 50 to the target position without executing return control.

The control device 10 does not execute return control if the amount of deviation in the rotational angle position of the rotating body 40 does not affect the positional accuracy of the rotating body 40, and if the amount of deviation in the position of the transport body 50 in the Z-axis direction does not affect the positional accuracy of the transport body 50. As a result, according to this embodiment, it is possible to cause the transport body 50 to approach the sample container 80 to be transported while reducing both the frequency with which the rotational angle position of the rotating body 40 is returned to the reference angle position and the frequency with which the transport body 50 is returned to the reference position.

<Explanation of Processing Procedure Based on Flowchart>
Next, the above-mentioned characteristic configuration according to the present embodiment will be described with reference to a flowchart.

FIG. 7 is a flowchart for explaining the procedure by which the control device 10 controls the rotating body 40 and the transport body 50. FIG. 8 is a flowchart showing the procedure for the update process. FIG. 9 is a flowchart showing the procedure for the transport process. The update process and the transport process are subroutines of the flowchart shown in FIG. 7.

First, the control device 10 detects that the door 32 is open based on the detection output of the door sensor 320 (step S1). Next, the control device 10 stores the current angular position Pa1 of the rotating body 40 in the storage device 12 based on the number of steps of the motor 411 (step S2). Next, the control device 10 stores the current position Pz1 of the conveying body 50 in the Z-axis direction in the storage device 12 based on the number of steps of the motor 511 (step S3).
Next, the power supply to the motors 411 and 511 is stopped (step S4). More specifically, based on the detection by the door sensor 320, a switch present on the power supply line connecting the power source and the motors 411 and 511 is mechanically switched from ON to OFF. Note that in step S4, the power supply to the motor 611 may also be stopped. While the door 32 is open, the user places the sample container 80 on any one of the shelves 43 of the rack 42 facing the opening 35.

When the user has finished their work, they close the door 32. The control device 10 detects that the door is closed based on the change in the detection output of the door sensor 320 from ON to OFF (step S5). Next, power supply to the motors 411, 511 is started (step S6). More specifically, based on the detection by the door sensor 320, a switch present on the power supply line connecting the power source and the motors 411, 511 is mechanically switched from OFF to ON.

Then, the control device 10 determines the current angular position Pa2 based on the output value of the rotary encoder 413 (step S7). Next, the control device 10 determines the current position Pz2 in the Z-axis direction based on the output value of the linear encoder 513 (step S8).

Then, the control device 10 determines whether or not operation of the rotation switch 33 or the rotation switch 34 has been detected (step S9). If operation of the rotation switch 33 or the rotation switch 34 has been detected, the control device 10 executes an update process (step S10) and ends the process based on this flowchart. The update process will be described with reference to FIG. 8.

If operation of rotation switch 33 or rotation switch 34 is not detected, control device 10 determines whether or not a command to move conveying body 50 has been received (step S11). The command to move conveying body 50 is sent to control device 10 from personal computer 3, for example. If control device 10 receives a command to move conveying body 50, it executes conveying processing (step S12) and ends the processing based on this flowchart. The conveying processing will be explained using Figure 9. If control device 10 does not receive a command to move conveying body 50, it ends the processing based on this flowchart.

Next, the update process will be described with reference to FIG. 8. First, the control device 10 determines whether the absolute value of "angle position Pa1 - angle position Pa2" is smaller than the threshold value α (step S21). That is, the control device 10 determines whether the amount of deviation in the rotational angle position of the rotating body 40 between when the door 32 is opened and when the door 32 is closed is smaller than the threshold value α. The threshold value α is an example of a first threshold value.

If the control device 10 judges NO in step S21, it returns the rotating body 40 to the origin angular position once (step S24). After that, the control device 10 rotates the rotating body 40 to the next rack 42 based on the origin angular position (step S25). At this time, the control device 10 rotates the rotating body 40 counterclockwise or clockwise depending on the type of rotation switch whose operation was detected (rotation switch 33, rotation switch 34).

As a result, the rack 42 facing the opening 35 is changed to a different rack 42 from the rack 42 that was facing the opening 35 before the rotating body 40 started to rotate. In other words, the rack 42 of the rotating body 40 facing the opening 35 is changed to the next rack 42 that should be placed facing the opening 35. As a result, when a certain rack 42 of the rotating body 40 faces the opening 35, the rotating body 40 rotates based on the operation of the rotation switch, and when the other rack 42 faces the opening 35, the rotation of the rotating body 40 stops. As a result, the shelf board 43 facing the opening 35 is changed from one shelf board 43 (first mounting portion) to another shelf board 43 (second mounting portion).

If the control device 10 judges YES in step S21, it does not return the rotating body 40 to the origin angular position. This is because the deviation in the rotational angle position of the rotating body 40 between when the door 32 is opened and when it is closed is small enough not to affect the accuracy of the rotational angle position. In this case, the control device 10 calculates the number of drive steps of the motor 411 required to rotate the rotating body 40 to the next rack 42 based on the angular position Pa1 stored when the door 32 was opened (step S22). Next, the control device 10 rotates the rotating body 40 to the next rack 42 based on the calculated number of drive steps (step S23), and ends the processing based on this flowchart.

Next, the transport process will be described with reference to FIG. 9. Steps S31 to S35 of the transport process correspond to steps S21 to S25 of the update process. Steps S31 to S35 of the transport process are processes for rotating the rotating body 40, similar to steps S21 to S25 of the update process.

Steps S21 to S25 of the update process show the process of rotating the rotor 40 to the next rack 42 in response to the operation of the rotation switch 33 or the rotation switch 34. Steps S31 to S35 of the transport process show the process of rotating the rotor 40 in response to a command to move the transport body 50 so that the rack 42 on which the sample container 80 to be transported is placed faces the opening 35.

In the transport process, the control device 10 determines whether the absolute value of "angle position Pa1-angle position Pa2" is smaller than the threshold value α (step S31). If the control device 10 determines NO in step S31, it temporarily returns the rotating body 40 to the origin angular position (step S34). Thereafter, the control device 10 rotates the rotating body 40 to the target position based on the origin angular position (step S35). Here, the "target position" refers to the position where the rack 42 on which the sample container 80 to be transported is placed faces the opening 25. Therefore, by step S35, the rack 42 on which the sample container 80 to be transported is placed faces the opening 25.

If the control device 10 judges YES in step S31, it does not return the rotating body 40 to the origin angular position. As described above, this is because the deviation in the rotational angle position of the rotating body 40 between when the door 32 is opened and when it is closed is small enough not to affect the accuracy of the rotational angle position. In this case, the control device 10 calculates the number of drive steps of the motor 411 required to rotate the rotating body 40 to the above-mentioned "target position" based on the angular position Pa1 stored when the door 32 was opened (step S32). Next, the control device 10 rotates the rotating body 40 to the target position based on the calculated number of drive steps (step S33).

After step S33 or step S35, the control device 10 moves the transport body 50 in the procedure described below. First, the control device 10 determines whether the absolute value of "position Pz1 in the Z-axis direction - position Pz2 in the Z-axis direction" is smaller than the threshold value β (step S41). That is, the control device 10 determines whether the amount of positional deviation of the transport body 50 in the Z-axis direction between when the door 32 is opened and when the door 32 is closed is smaller than the threshold value β. The threshold value β is an example of a second threshold value.

If the control device 10 judges NO in step S41, it first returns the transport body 50 to the origin position (reference position) in the Z-axis direction (step S46). After that, the control device 10 moves the transport body 50 to the target position in the Z-axis direction, based on the origin position (step S47). Here, the "target position in the Z-axis direction" refers to the position of the shelf 43 on which the sample container 80 to be transported is placed, among the multiple shelves 43 of the rack 42 facing the opening 35.

Then, the control device 10 controls the transport body 50 to place the sample container 80 to be transported on the transport body 50 (step S44). As a result, as described with reference to FIG. 4, the sample container 80 to be transported is transferred from the shelf 43 to the transport body 50. Next, the control device 10 moves the transport body 50 in the Z-axis direction so that the position of the transport body 50 in the Z-axis direction matches the height of the mounting table 24, and then extends the transport body 50 in the X-axis direction to transport the sample container 80 to the mounting table 24 in the pre-processing unit 20 (step S45).

If the control device 10 judges YES in step S41, it does not return the transport body 50 to the origin position. This is because the amount of deviation in the position of the transport body 50 in the Z-axis direction between when the door 32 is opened and when it is closed is small enough not to affect the accuracy of its position. In this case, the control device 10 calculates the number of driving steps of the motor 511 required to move the transport body 50 to the "target position in the Z-axis direction" based on the position Pz1 in the Z-axis direction that was stored when the door 32 was opened (step S42).

Then, the control device 10 moves the transport body 50 to the target position in the Z-axis direction based on the calculated number of drive steps (step S43). Thereafter, the control device 10 executes the processes of steps S44 and S45 already described, thereby transporting the sample container 80 to the mounting table 24 in the pre-processing unit 20. Thereafter, the control device 10 ends the process based on this flowchart.

In the embodiment described above, the stacker 30 is an example of a storage device that stores sample containers containing samples to be pre-processed. The shelf 43 is an example of a first mounting section and a second mounting section. The motor 411 is an example of a first motor. The motor 511 is an example of a second motor. The rotary encoder 413 is an example of a first encoder. The linear encoder 513 is an example of a second encoder.

<Modification>
Next, modifications of the present embodiment will be listed.

(1) In this embodiment, when the door 32 of the stacker 30 is open, no power is supplied to the motors 411 and 511. However, it is also possible to configure the motor 411 so that no power is supplied when the door 32 is open, while continuing to supply power to the motor 511 in order to maintain the position of the transport body 50. When adopting such a modified example, the stacker 30 may be configured so that the arrangement of the multiple racks 42 that surround the transport body 50 around the rotation axis 47 is devised to prevent users from accessing the transport body 50.

(2) After the door sensor 320 detects that the door 32 is open or closed, the control device 10 determines whether the deviation in the rotation angle of the rotating body 40 before and after the door 32 is opened or closed exceeds a first threshold value (threshold value α). Here, the timing of such a determination may be immediately after the door sensor 320 detects that the door 32 is open or closed, or when some predetermined condition is met after the door sensor 320 detects that the door 32 is open or closed. Such a predetermined condition is, for example, "receiving a command to move the conveying body 50 (step S11)" as shown in FIG. 7. Alternatively, the predetermined condition may be the passage of a certain amount of time.

(3) The motors 411, 511, and 611 may be stepping motors, DC motors, AC motors, or the like.

(4) The control device that controls the pre-processing unit 20 may be different from the control device that controls the stacker 30.

(5) The number of shelves 43 mounted on one rack 42 may be one or more. In addition, the number of shelves 43 mounted on a rack 42 may be the same or different among multiple racks 42.

(6) In this embodiment, an example has been described in which the sample container 80 is transported to the mounting table 24 included in the pre-processing unit 20 as the "transport process in which the sample container is transported to the outside of the storage device by the transport body." However, examples of the "transport process in which the sample container is transported to the outside of the storage device by the transport body" are not limited to this. For example, the transport body 50 may transport the sample container 80 to a mounting table provided outside the pre-processing device 1. Alternatively, the transport body 50 may transport the sample container 80 to the module 23 in the pre-processing unit 20.

(7) The stacker 30 may also stop the power supply to the motor 611 when the door sensor 320 detects that the door 32 is open. In this case, the control device 10 performs the above-mentioned return control and the like for the X-axis direction of the transport body 50. Also, in the flowchart shown in FIG. 7, the control device 10 performs control based on the "current X-axis position" in addition to the "current Z-axis position." When adopting such a modified example, the drive mechanism 61 is provided with the necessary encoder and sensor so that the X-axis position can be identified.

(8) In FIG. 6, a rotary encoder 413 and a linear encoder 513 are shown. However, these are merely examples of encoders, and both encoders may be configured as the same type of encoder.

(9) The size of the opening 25 in the Z-axis direction is not limited to the size shown in FIG. 2, and may be any size that allows the transport body 50 to transport the sample container 80 to the mounting table 24. Therefore, the size of the opening 25 in the Z-axis direction may be smaller than that shown in FIG. 2.

[Aspects]
It will be understood by those skilled in the art that the above-described embodiment and its modified examples are specific examples of the following aspects.

(1) An analytical system according to one embodiment is an analytical system including a pretreatment device that performs pretreatment, and includes a storage device that stores a sample container containing a sample to be pretreated, and a control device. The storage device includes a rotating body, a first mounting section provided on the rotating body, a transport body, and a first opening formed therein for mounting the sample container on the first mounting section from outside the storage device, a cover body that covers the rotating body, a door that covers the first opening, and a door sensor that detects whether the door is open or closed. The control device controls a transport process in which the sample container mounted on the first mounting section is transported to the outside of the storage device by the transport body. and when the door sensor detects that the door is open and then detects that the door is closed, the control device determines whether or not the deviation in the rotation angle of the rotating body between when the door is detected to be open and when the door is detected to be closed exceeds a first threshold value, and if the deviation in the rotation angle exceeds the first threshold value, the control device returns the rotation angle position of the rotating body to a reference angle position and then executes a conveying process, and if the deviation in the rotation angle does not exceed the first threshold value, executes a conveying process without returning the rotation angle position of the rotating body to the reference angle position.

The analytical system described in paragraph 1 can provide an analytical system that can move a transport body toward a sample container to be transported while reducing the frequency with which the rotational angle position of the rotor on which the sample container is placed is returned to a reference angle position.

(2) In the analysis system described in 1, when the control device receives a command to execute a transport process after the door sensor detects that the door is closed, the control device determines whether the deviation in the rotation angle exceeds a first threshold value.

The analysis system described in paragraph 2 can determine whether or not the rotational angle position of the rotating body needs to be returned to the reference angle position before the transport process is performed.

(Clause 3) In the analysis system described in clause 1 or clause 2, the storage device includes a first motor that rotates the rotating body, and the storage device stops supplying power to the first motor while the door sensor detects that the door is open.

The analysis system described in paragraph 3 can prevent the rotor from rotating due to a malfunction while the door is open, and colliding with the user.

(4) In the analysis system described in 3, the storage device further includes a first position sensor that detects that the rotating body is located at a reference angle position, and a first encoder that detects the rotation angle of the rotating body, and the control device returns the rotation angle position of the rotating body to the reference angle position based on the detection of the first position sensor, and the control device determines whether the deviation in the rotation angle exceeds a first threshold value based on the number of drive steps of the first motor when the door is open and the detection value of the first encoder when the door is closed.

The analysis system described in paragraph 4 allows the rotational angle position of the rotating body to be accurately controlled based on the detection outputs of the first position sensor and the first encoder.

(5) The analytical system according to any one of paragraphs 1 to 4 further includes a mounting table on which a sample container is placed, the control device transports the sample container to the mounting table by a transport body, the control device is capable of controlling the transport body to drive a first direction along the rotation axis and driving a second direction along a straight line perpendicular to the first direction and passing through the rotation axis and the mounting table, the control device, when the door sensor detects that the door is open and then detects that the door is closed, determines whether or not the amount of deviation of the transport body in the first direction between when the door is detected to be open and when the door is detected to be closed exceeds a second threshold value, and if the amount of deviation in the first direction exceeds the second threshold value, returns the transport body to a reference position in the first direction and then executes the transport process, and if the amount of deviation in the first direction does not exceed the second threshold value, executes the transport process without returning the transport body to the reference position in the first direction.

The analysis system described in paragraph 5 makes it possible to reduce the frequency with which the transport body is returned to the reference position while allowing the transport body to approach the sample container to be transported.

(6) In the analysis system described in 5, the storage device includes a second motor that drives the transport body in the first direction, and the storage device stops supplying power to the second motor while the door sensor detects that the door is open.

The analysis system described in paragraph 6 can prevent the conveyor from colliding with the user if a problem occurs while the door is open and the conveyor moves.

(Section 7) In the analysis system described in Section 6, the storage device further includes a second motor that drives the transport body in a first direction, a second position sensor that detects that the transport body is located at a reference position, and a second encoder that detects the position of the transport body in the second direction, and the control device returns the transport body to the reference position based on the detection of the second position sensor, and the control device determines whether the amount of deviation in the first direction exceeds a second threshold value based on the number of drive steps of the second motor when the door is opened and the detection value of the second encoder when the door is closed.

According to the analysis system described in paragraph 7, the position of the transport body can be accurately controlled based on the detection output of the second position sensor and the second encoder.

(8) In the analysis system described in any one of paragraphs 1 to 7, the storage device further includes a second mounting section on which a sample container is placed and a rotation switch that receives an operation to rotate the rotating body, the first mounting section and the second mounting section are arranged in the circumferential direction of the rotation axis, and the control device rotates the rotating body based on the operation of the rotation switch when the first mounting section faces the first opening, and stops the rotation of the rotating body when the second mounting section faces the first opening.

According to the analysis system described in paragraph 8, the placement portion of the rotating body facing the first opening can be automatically changed from the first placement portion to the second placement portion.

(Section 9) In the analysis system described in Section 8, when the door sensor detects that the door is closed and then the control device detects operation of the rotation switch, the control device determines whether the deviation in the rotation angle exceeds a first threshold value, and if the deviation in the rotation angle exceeds the first threshold value, the control device returns the rotation angle position of the rotating body to a reference angle position and then rotates the rotating body so that the second mounting portion faces the first opening, and if the deviation in the rotation angle does not exceed the first threshold value, the control device rotates the rotating body so that the second mounting portion faces the first opening without returning the rotation angle position of the rotating body to the reference angle position.

The analysis system described in paragraph 9 can automatically update the mounting portion of the rotating body facing the first opening from the first mounting portion to the second mounting portion while reducing the frequency with which the rotational angle position of the rotating body is returned to the reference angle position.

(10) In the analysis system described in any one of paragraphs 5 to 7, the storage device has a wall surface that separates the storage device from the mounting table, and the wall surface between the storage device and the mounting table has a second opening through which the transport body passes when transporting the sample container to the mounting table.

According to the analysis system described in paragraph 10, the transport body can transport the sample container to the mounting table through the second opening.

The embodiments disclosed herein should be considered in all respects as illustrative and not restrictive. The scope of the present invention is indicated by the claims, not by the description of the embodiments above, and is intended to include all modifications within the meaning and scope of the claims.

1 Pretreatment device, 2 Analytical device, 3 Personal computer, 10 Control device, 11 Processor, 12 Storage device, 13 Communication interface, 20 Pretreatment unit, 21 Dispensing device, 22 Table, 23 Module, 24 Placement table, 25, 35 Opening, 30 Stacker (storage device), 31 Cover body, 32 Door, 33, 34 Rotation switch, 40 Rotating body, 41 Drive mechanism, 42 Rack, 43 Shelf board, 45 origin sensor, 47 rotation axis, 50 carrier, 51, 61 drive mechanism, 55, 65 origin sensor, 80 sample container (labware), 100 analysis system, 210 arm, 251 wall surface, 320 door sensor, 330, 340 rotation operation sensor, 411, 511, 611 motor, 412, 512, 612 driver, 413 rotary encoder, 431 mounting surface, 432 recess, 513 linear encoder.

Claims (10)

An analytical system including a pretreatment device for performing pretreatment.
a container for containing a sample container containing a sample to be pretreated;
a control device;
The storage device includes:
A rotor that rotates around a rotation axis;
A first placement portion provided on the rotating body;
A carrier;
a cover body for covering the rotating body, the cover body having a first opening for placing the sample container on the first placement part from the outside of the storage device;
A door covering the first opening;
a door sensor for detecting opening and closing of the door,
the control device executes a transport process for transporting the sample container placed on the first mounting portion to the outside of the storage device by the transport body;
The control device includes:
when the door sensor detects that the door is open and then detects that the door is closed, it is determined whether or not a deviation amount of a rotation angle of the rotating body between the time when the door is detected to be open and the time when the door is detected to be closed exceeds a first threshold value;
When the deviation amount of the rotation angle exceeds the first threshold value, the rotation angle position of the rotating body is returned to a reference angle position, and then the conveying process is executed;
When the deviation amount of the rotation angle does not exceed the first threshold value, the analysis system executes the transport process without returning the rotation angle position of the rotating body to the reference angle position. The analysis system of claim 1, wherein the control device determines whether the deviation of the rotation angle exceeds the first threshold value when the control device receives a command to execute the transport process after the door sensor detects that the door is closed. The storage device includes a first motor that rotates the rotating body,
3. The analysis system according to claim 1, wherein the storage device stops supplying power to the first motor while the door sensor detects that the door is open. The storage device includes:
a first position sensor that detects that the rotating body is located at the reference angular position;
A first encoder for detecting a rotation angle of the rotating body,
The control device includes:
returning the rotational angular position of the rotating body to the reference angular position based on the detection of the first position sensor;
The analysis system of claim 3, wherein the control device determines whether or not the deviation in the rotation angle exceeds the first threshold value based on the number of driving steps of the first motor when the door is opened and the detection value of the first encoder when the door is closed. The container further includes a mounting table provided outside the container storage device and on which the sample container is mounted.
The control device transports the sample container to the mounting table by the transport body,
the control device is capable of executing control to drive the transport body in a first direction along the rotation axis and control to drive the transport body in a second direction perpendicular to the first direction and along a straight line passing through the rotation axis and the mounting table,
The control device includes:
when the door sensor detects that the door is open and then detects that the door is closed, it is determined whether or not an amount of deviation of the conveying body in the first direction between the time when the door is detected to be open and the time when the door is detected to be closed exceeds a second threshold value;
When the deviation amount in the first direction exceeds the second threshold value, the conveying body is returned to a reference position in the first direction, and then the conveying process is performed;
3 . The analysis system according to claim 1 , wherein, when the amount of deviation in the first direction does not exceed the second threshold, the transport process is executed without returning the transport body to a reference position in the first direction. the storage device includes a second motor that drives the transport body in the first direction;
The analysis system according to claim 5 , wherein the storage device stops supplying power to the second motor while the door sensor detects that the door is open. The storage device includes:
a second position sensor that detects when the conveying body is located at the reference position;
a second encoder for detecting a position of the conveyor in the second direction,
The control device includes:
returning the conveying body to the reference position based on the detection of the second position sensor;
The analysis system of claim 6, wherein the control device determines whether the amount of deviation in the first direction exceeds the second threshold value based on the number of driving steps of the second motor when the door is opened and the detection value of the second encoder when the door is closed. The storage device includes:
A second placement portion on which the sample container is placed;
A rotation switch that receives an operation to rotate the rotating body is further provided.
The first mounting portion and the second mounting portion are provided in a circumferential direction of the rotation shaft,
3. The analysis system of claim 1, wherein the control device rotates the rotating body based on operation of the rotation switch when the first mounting portion faces the first opening, and stops the rotation of the rotating body when the second mounting portion faces the first opening. The control device includes:
when an operation of the rotation switch is detected after the door sensor detects that the door is closed, it is determined whether or not a deviation amount of the rotation angle exceeds the first threshold value;
When the deviation amount of the rotation angle exceeds the first threshold value, the rotation angle position of the rotating body is returned to the reference angle position, and then the rotating body is rotated so that the second placement portion faces the first opening;
The analysis system of claim 8, wherein if the deviation in the rotation angle does not exceed the first threshold value, the rotating body is rotated so that the second mounting portion faces the first opening without returning the rotational angle position of the rotating body to the reference angle position. the storage device has a wall surface that separates the storage device from the placement table,
The analytical system according to claim 5 , wherein the wall surface is formed with a second opening through which the transport body passes when transporting the sample container to the mounting table.

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