Patent Description:
As an example of power saving control of a sensor, there is proposed a technique of providing a relay drive unit between a DC/DC converter and a sensor power supply terminal in order to perform power control of a sensor built in a motor, and allowing a motor control unit to output a signal of opening relay to the relay drive unit when an operation OFF command signal from the outside is input to a servo ON terminal, and interrupting power supply to the sensor by opening the relay to reduce power consumption while the motor operation is OFF. PTL <NUM> discloses a configuration in which a power is fed from a power-input positive terminal of the rotating sensor by a rotating sensor power feed circuit in the motor control device.

However, in the technique of the related art, there is a problem that, when a sensor is not built in a motor, power consumption of the sensor is relatively high, and the lifetime of the sensor is relatively short.

For example, the technique of PTL <NUM> does not disclose a handling of a case where the sensor is not built in the motor.

The present invention has been made to solve such a problem, and an object of the present invention is to provide a control system and an automatic analysis device that, when a sensor is not built in a motor, power saving and extension of a lifetime of the sensor is achieved by controlling power supply to the sensor to be ON/OFF before and after an operation of the motor.

The problem is solved by the subject-matter as set forth in the appended claims. In particular, a control system includes a sensor for monitoring an operation of a motor and a control mechanism for controlling the operation of the motor, in which.

This specification includes the disclosure of <CIT>, which is the basis of the priority of the present application.

According to the present invention, by controlling power supply of a sensor that detects a motor operation, it is possible to provide a power saving of the sensor and a device provided with the sensor and extension of a lifetime of the sensor.

A configuration of the embodiment will be described with reference to <FIG>.

<FIG> is a diagram schematically illustrating an analyzing unit <NUM> of an automatic analysis device according to the embodiment.

In <FIG>, the analyzing unit <NUM> includes a specimen conveying line 101a, a reagent conveying line 101b, a rotor <NUM>, a reagent disk <NUM>, a reaction disk <NUM>, a specimen dispensing mechanism 105a, a reagent dispensing mechanism 105b, a stirring mechanism <NUM>, a spectrometer <NUM>, a reaction cell cleaning mechanism <NUM>, a specimen nozzle cleaning mechanism 109a, a reagent nozzle cleaning mechanism 109b, reaction cells <NUM> (reaction vessels), a shield portion <NUM>, a control unit <NUM>, a specimen dispensing nozzle 116a, a reagent dispensing nozzle 116b, a specimen liquid level sensor 117a (a reagent liquid level sensor is not illustrated), a specimen arm 118a (a reagent arm is not illustrated), a motor 119a for the specimen dispensing mechanism (a motor for the reagent dispensing mechanism is not illustrated), a light source lamp <NUM>, a data storage unit <NUM>, and the like.

The control unit <NUM> includes a control system <NUM> (motor control unit). As such, the automatic analysis device includes the control system <NUM>.

The specimen conveying line 101a conveys a specimen container <NUM> containing a biological specimen such as blood or urine that is an analysis target. The specimen conveying line 101a transfers a rack <NUM> to various portions of the automatic analysis device including a position (a specimen suction position 121a that is referred to as a "specimen dispensing position") where the specimen dispensing mechanism 105a suctions the specimen. The rotor <NUM> is connected to the specimen conveying line 101a, and thus, exchange of the rack <NUM> is performed between the plurality of specimen conveying lines 101a by rotating the rotor <NUM>.

The reagent disk <NUM> is for conveying a plurality of reagent containers <NUM> containing reagents used for specimen analysis, which are mounted to be arranged in the circumferential direction. The reagent disk <NUM> rotates and transfers the target reagent container <NUM> to a position (a reagent suction position or a reagent dispensing position) where the reagent dispensing mechanism 105b suctions a reagent, a replacement position of the reagent container <NUM>, or the like.

The reaction disk <NUM> is for carrying a plurality of the reaction cells <NUM> in which the specimen and the reagent are mixed and reacted, which are mounted to be arranged in the circumferential direction. The reaction disk <NUM> conveys the reaction cell <NUM> to a specimen discharge position 123a where the specimen is discharged by the specimen dispensing mechanism 105a and a reagent discharge position 123b where the reagent is discharged by the reagent dispensing mechanism 105b. The reaction disk <NUM> maintains a reaction solution, which is a mixture of the specimen and the reagent, at a constant temperature by immersing the reaction cell <NUM> in a constant-temperature medium (for example, water). The reaction disk <NUM> rotates and transfers the reaction cell <NUM> to a position such as a stirring position for stirring the reaction solution by the stirring mechanism <NUM>, a measurement position for measuring the reaction solution by the spectrometer <NUM>, and a cleaning position for cleaning the reaction cell <NUM> for which the analysis has been completed by the reaction cell cleaning mechanism <NUM>.

The specimen dispensing mechanism 105a immerses the specimen dispensing nozzle <NUM> in the specimen of the specimen container <NUM> conveyed to the specimen suction position 121a by the specimen conveying line 101a and suctions the specimen. The specimen dispensing mechanism 105a discharges the specimen into the reaction cell <NUM> of the reaction disk <NUM> by the specimen arm 118a. As such, the specimen dispensing mechanism 105a performs the dispensing of the specimen. Similarly, the reagent dispensing mechanism 105b immerses the reagent dispensing nozzle <NUM> in the reagent (reagent according to the analysis target) of the reagent container <NUM> conveyed to the reagent dispensing position by the reagent disk <NUM> and suctions the reagent. The reagent dispensing mechanism 105b discharges the reagent into the reaction cell <NUM> of the reaction disk <NUM>. As such, the reagent dispensing mechanism 105b performs the dispensing of the reagent.

The specimen dispensing nozzle 116a is retained by the specimen arm 118a. The specimen dispensing mechanism 105a is moved by allowing the specimen arm 118a to be moved in a vertical direction and a rotational direction by the motor 119a for the specimen dispensing mechanism. The specimen liquid level sensor 117a for detecting a distance to a liquid level (or the presence of the liquid level) by changing the electrostatic capacitance of the specimen dispensing nozzle 116a is provided to the specimen arm 118a of the specimen dispensing mechanism 105a. The shield portion <NUM> for suppressing scattering of the specimen by the specimen dispensing mechanism 105a is provided to the specimen suction position 121a.

The stirring mechanism <NUM> stirs a mixed solution (reaction solution) of the specimen dispensed into the reaction cell <NUM> by the specimen dispensing mechanism 105a and the reagent dispensed into the reaction cell <NUM> by the reagent dispensing mechanism 105b in order to promote the reaction of the mixed solution.

The spectrometer <NUM> performs absorbance measurement by spectroscopically measuring transmitted light of light with which the light source lamp <NUM> irradiates the reaction solution in the reaction cell <NUM>. Colorimetric analysis is performed based on a result of the absorbance measurement. Herein, the spectrometer <NUM> and the light source lamp <NUM> constitute a reaction measuring unit for irradiating the reaction solution of the reaction cell <NUM> with the light and measuring the transmitted light.

When the specimen dispensing mechanism 105a is moved to a specimen nozzle cleaning position 122a by the motor 119a for the specimen dispensing mechanism, the specimen nozzle cleaning mechanism 109a performs cleaning of the specimen dispensing nozzle 116a by ultrasonic waves.

The reaction cell cleaning mechanism <NUM> performs cleaning of the reaction cell <NUM> by suctioning the reaction solution from the reaction cell <NUM> of which the measurement is completed and discharging a detergent or the like into the reaction cell <NUM>.

The control unit <NUM> is for controlling entire operations of the analyzing unit <NUM>, executes the analysis operations by controlling the operation of each configuration of the analyzing unit <NUM>, performs the analysis of the specimen based on a detection result of the spectrometer <NUM>, and outputs concentrations of predetermined components contained in the specimen as an analysis result to the data storage unit <NUM>, a display unit (not illustrated), a printer, or the like.

<FIG> is a diagram schematically illustrating an operation of the specimen dispensing mechanism.

When operations of the automatic analysis device are started, the specimen container <NUM> conveyed on the specimen conveying line 101a stops at the specimen suction position 121a. Then, the motor 119a for the specimen dispensing mechanism is driven by the control system <NUM>. Thus, the specimen arm 118a rotates, the specimen arm 118a moves to the specimen suction position 121a, and after that, the specimen dispensing nozzle 116a performs a vertical moving operation. As such, the specimen dispensing nozzle 116a reaches a position and height at which the specimen can be suctioned.

After the specimen dispensing nozzle 116a suctions the specimen, the motor 119a for the specimen dispensing mechanism is driven to allow the specimen arm 118a to rotate. After the specimen arm 118a moves to the specimen nozzle cleaning position 122a, external cleaning of the tip of the specimen dispensing nozzle 116a is performed by the specimen nozzle cleaning mechanism 109a. This is to prevent carryover of the specimen. After the external cleaning, the motor 119a for the specimen dispensing mechanism is driven. Thus, the specimen arm 118a rotates and moves to the specimen discharge position 123a, and after that, the specimen dispensing nozzle 116a performs the vertical moving operation. As such, the specimen dispensing nozzle 116a reaches a position and height at which the specimen can be discharged.

After the specimen dispensing nozzle 116a discharges the specimen, the motor 119a for the specimen dispensing mechanism is driven to allow the specimen arm 118a to rotate. After the specimen arm 118a moves to the specimen nozzle cleaning position 122a, the specimen dispensing nozzle 116a discharges the specimen remaining in the specimen dispensing nozzle 116a, and internal cleaning of the specimen dispensing nozzle 116a and external cleaning of the tip thereof are performed. After that, the specimen arm 118a moves to the specimen suction position 121a, and the suctioning operation described above is repeated. The suctioning and discharging cycles continue to be performed until the operation is interrupted.

<FIG> is a simplified diagram illustrating a control system related to a specimen dispensing mechanism in the related art.

When a central processing unit (CPU) <NUM> issues a command, a field programmable gate array (FPGA) <NUM> mounted on a controller board <NUM> (which may be called a motor controller board) receives the command, processes the command into a digital signal, and transmits the digital signal to a motor controller <NUM>. The motor controller <NUM> outputs a pulse signal required for motor operation. The pulse signal is input to a first motor driver 306a and a second motor driver 306b mounted on a driver board <NUM>. A storage unit <NUM> is connected to the CPU <NUM>. The storage unit <NUM> is, for example, a semiconductor memory or a hard disk drive.

As the motor for driving the specimen dispensing mechanism 105a, the motor 119a for the specimen dispensing mechanism of <FIG> includes a motor <NUM> for the arm rotating operation and a motor <NUM> for the arm vertical moving operation of <FIG>. The first motor driver 306a and the second motor driver 306b control the amounts, directions, timings, and the like of currents flowing through the motor <NUM> for the arm rotating operation and the motor <NUM> for the arm vertical moving operation to operate the motors. The position of the specimen dispensing mechanism 105a, which changes according to the operation of the motor, is constantly monitored by a first sensor 309a and a second sensor 309b until the power of the automatic analysis device is turned off. The operation of the specimen dispensing mechanism 105a in the automatic analysis device is stored in the storage unit <NUM> as an integrated program.

<FIG> is a simplified diagram illustrating the specimen dispensing mechanism 105a and the control system <NUM> according to the embodiment of the present invention. The control system <NUM> includes the CPU <NUM>, the controller board <NUM>, the driver board <NUM>, the first sensor 309a, and the second sensor 309b. The driver board <NUM> includes a motor driver circuit for driving the motor (the first motor driver 306a and the second motor driver 306b in this example) and a power control circuit (ON/OFF circuit <NUM> in the present example) for controlling the power supply to the sensor.

The automatic analysis device includes the motor <NUM> for the arm rotating operation and the motor <NUM> for the arm vertical moving operation that drive the specimen dispensing mechanism 105a. The first sensor 309a and the second sensor 309b monitor the operation of the motor <NUM> for the arm rotating operation and the operation of the motor <NUM> for the arm vertical moving operation, respectively. The CPU <NUM>, the controller board <NUM>, and the driver board <NUM> configure a control mechanism and control the operation of the motor <NUM> for the arm rotating operation and the operation of the motor <NUM> for the arm vertical moving operation.

In a control system in the related art illustrated in <FIG>, even in a device state where power is supplied to the first sensor 309a and the second sensor 309b with the power of the automatic analysis device being turned ON and the specimen dispensing mechanism 105a does not operate, the power continues to be supplied until the power of the automatic analysis device is turned OFF. This is not limited to the specimen dispensing mechanism 105a, the power supply to sensors belonging to such a mechanism consumes a large amount of power, and in the system, the lifetime of the sensor is shortened.

In the first embodiment of the present invention illustrated in <FIG>, when the CPU <NUM> issues the command, the FPGA <NUM> mounted on the controller board <NUM> receives the command, processes the command into a digital signal, and transmits the digital signal to the motor controller <NUM>. The motor controller <NUM> outputs the pulse signal required for motor operation. The pulse signal is input to the first motor driver 306a and the second motor driver 306b mounted on the driver board <NUM>. So far, the embodiment is substantially equivalent to the related art illustrated in <FIG>.

In the embodiment, an ON/OFF circuit <NUM> that starts or stops the power supply to the first sensor 309a and the second sensor 309b is provided to the driver board <NUM>. The operation control of the ON/OFF circuit <NUM> is performed by, for example, the motor controller <NUM>. For example, a control function is built in the motor controller <NUM>, and the power supply of the first sensor 309a and the second sensor 309b is controlled to be turned ON/OFF before and after the operation of the motor according to a motor drive pattern stored in advance. The motor drive pattern is stored in the storage unit <NUM>, for example, before the analyzing unit <NUM> starts the operation.

<FIG> is a diagram illustrating comparison of the power supply control to the first sensor 309a for detecting the rotating operation of the specimen arm 118a between the example of the related art and the first embodiment of the present invention. <FIG> is a schematic diagram of a vicinity of the first sensor 309a. A detection plate <NUM> is fixed to the specimen arm 118a to rotate integrally with the specimen arm 118a. The rotational direction is a counter clockwise (CCW) direction or a clockwise (CW) direction according to the control of the driver board <NUM>. The first sensor 309a includes two photointerruptor (PI) sensor units, that is, a PI sensor unit <NUM> and a PI sensor unit <NUM>. All of the sensor units function as sensors.

When the detection plate <NUM> is rotated in the CCW direction from the position illustrated in <FIG> by the motor <NUM> for the arm rotating operation, a first edge 601a of the detection plate <NUM> is detected by the PI sensor unit <NUM>. In response to the detection, the operation of the specimen arm 118a is stopped. The operation corresponds to a motor operation <NUM> of <FIG> and represents an operation in which the specimen dispensing nozzle 116a moves from the specimen nozzle cleaning position 122a to the specimen suction position 121a.

That is, the "specimen suction position detection sensor" of <FIG> corresponds to the PI sensor unit <NUM> of <FIG>. As illustrated in <FIG>, power is supplied to the PI sensor unit <NUM> (or the first sensor 309a) only for the motor operation <NUM> and a predetermined time before and after the motor operation <NUM>.

Next, when the detection plate <NUM> is further rotated in the CCW direction by the motor <NUM> for the arm rotating operation, a second edge 601b of the detection plate <NUM> is detected by the PI sensor unit <NUM>. In response to the detection, the operation of the specimen arm 118a is stopped. The operation corresponds to a motor operation <NUM> of <FIG> and represents an operation in which the specimen dispensing nozzle 116a moves from the specimen suction position 121a to the specimen nozzle cleaning position 122a.

That is, the "nozzle cleaning position detection sensor" in the motor operation <NUM> of <FIG> corresponds to the PI sensor unit <NUM> of <FIG>. As illustrated in <FIG>, power is supplied to the PI sensor unit <NUM> (or the first sensor 309a) only for the motor operation <NUM> and a predetermined time before and after the motor operation <NUM>.

Next, the detection plate <NUM> is rotated in the CW direction by the motor <NUM> for the arm rotating operation, and a third edge 601c of the detection plate <NUM> is detected by the PI sensor unit <NUM>. In response to the detection, the operation of the specimen arm 118a is stopped. The operation corresponds to a motor operation <NUM> of <FIG> and represents an operation in which the specimen dispensing nozzle 116a moves from the specimen nozzle cleaning position 122a to the specimen discharge position 123a.

That is, the "specimen discharge position detection sensor" of <FIG> corresponds to the PI sensor unit <NUM> of <FIG>. As illustrated in <FIG>, power is supplied to the PI sensor unit <NUM> (or the first sensor 309a) only for the motor operation <NUM> and a predetermined time before and after the motor operation <NUM>.

Next, the detection plate <NUM> is further rotated in the CW direction by the motor <NUM> for the arm rotating operation, and the third edge 601c of the detection plate <NUM> is detected by the PI sensor unit <NUM>. In response to the detection, the operation of the specimen arm 118a is stopped. The operation corresponds to a motor operation <NUM> of <FIG> and represents an operation in which the specimen dispensing nozzle 116a moves from the specimen discharge position 123a to the specimen nozzle cleaning position 122a.

That is, the "nozzle cleaning position detection sensor" in the motor operation <NUM> of <FIG> corresponds to the PI sensor unit <NUM> of <FIG>. As illustrated in <FIG>, power is supplied to the PI sensor unit <NUM> (or the first sensor 309a) for the motor operation <NUM> and a predetermined time before and after the motor operation <NUM> in addition to the above-mentioned motor operation <NUM> and the predetermined time before and after the motor operation <NUM>.

The four motor operations <NUM> to <NUM> illustrated in <FIG> are the operations of one cycle of the specimen dispensing mechanism 105a. As illustrated in <FIG>, in the method of the related art, power is continuously supplied to each of the sensors, and monitoring is constantly performed. On the other hand, in the first embodiment of the present invention, as illustrated in <FIG>, an operation pattern of the motor <NUM> for the arm rotating operation is stored in advance, and power is supplied to the sensor only for the time required for detection by the sensor.

That is, the control mechanism configured with the CPU <NUM>, the controller board <NUM>, and the driver board <NUM> has a function of starting and stopping power supply to the first sensor 309a, the PI sensor unit <NUM>, or the PI sensor unit <NUM> at a predetermined timing stored in advance. The specific timings of starting and stopping the power supply are preferably defined by the program executed by the CPU <NUM>, but the timings of starting and stopping the power supply may be defined in the FPGA <NUM> or may be defined by hardware or software of the motor controller <NUM>.

More specifically, the control mechanism configured with the CPU <NUM>, the controller board <NUM>, and the driver board <NUM> may have a function of starting the power supply to the first sensor 309a, the PI sensor unit <NUM>, or the PI sensor unit <NUM> before only a first predetermined time from the time when the motor <NUM> for the arm rotating operation starts the rotating operation and a function of stopping the power supply to the first sensor 309a, the PI sensor unit <NUM>, or the PI sensor unit <NUM> after only a second predetermined time from the time when the motor <NUM> for the arm rotating operation terminates the rotating operation. Similarly to the above description, the specific timings of starting and stopping the power supply are preferably defined by the program executed by the CPU <NUM>, but the specific timings of starting and stopping the power supply may be defined in the FPGA <NUM> or may be defined by the hardware or software of the motor controller <NUM>.

The first predetermined time and the second predetermined time may be the same or different from each other. For example, all of the first predetermined time and the second predetermined time may be set to <NUM>, but the values may be values within a range of <NUM> to <NUM>, or may be values other than the range. In the case of controlling a plurality of sensors, the values may be the same for all of the sensors or may be different for some or all of the sensors. The time stored in advance by the control mechanism may be the times when the motor <NUM> for the arm rotating operation starts and terminates the rotating operation or may be times obtained by adding or subtracting the first predetermined time and the second predetermined time to or from the times.

The method of acquiring the "time when the motor <NUM> for the arm rotating operation terminates the rotating operation" can be arbitrarily designed, but for example, a detection time by the first sensor 309a may be used, a control signal output from the motor controller <NUM> may be used, or a predefined and stored time may be used.

For example, the control mechanism may have.

The fifth predetermined time and the sixth predetermined time can be appropriately designed based on the above-mentioned first predetermined time, second predetermined time, and the like. For example, the fifth predetermined time may be a time equal to the first predetermined time. The sixth predetermined time may be a sum of the first predetermined time, the second predetermined time, and the operating time of the motor.

According to such method, it is possible to reduce the power consumption of the sensor. For example, it is assumed that one operation cycle of the specimen dispensing mechanism 105a is <NUM>. In the technique of the related art, the power supply to the sensor is always performed, but when the method is applied, in some cases, the power supply to the sensor may be performed for <NUM> on average per motor operation. Therefore, when a configuration is assumed in which four times of the position detection are performed by different sensors, it is possible to reduce the power consumption to <NUM>/<NUM> = <NUM>/<NUM> ≈ <NUM>% as compared with the technique of the related art.

Ideally, it is desirable to start the power supply to the sensor immediately before the starting of the motor operation and to stop the power supply to the sensor immediately after the terminating of the motor operation. However, since it is actually necessary to consider the response speed of the sensor and the like, in the embodiment, the power supply is turned ON and OFF with a margin of <NUM> before and after the motor operation. Although the embodiment is an embodiment relating to the specimen dispensing mechanism 105a, any sensor for detecting the operation of the motor or the rotation position of the motor can be applied. For example, the configurations with the analyzing unit <NUM> can be applied to the sensors used in the conveying line <NUM>, the rotor <NUM>, the reagent disk <NUM>, the reaction disk <NUM>, the reaction cell cleaning mechanism <NUM>, and the nozzle cleaning mechanism <NUM> and can be applied to most of the sensors used in the device. There is a possibility that the embodiment can not be applied to some sensors that require constant power supply (a temperature sensor for maintaining the reaction solution at a constant temperature by a heater, a sensor for detecting liquid exhaustion of a reagent, or the like).

The automatic analysis device is used in hospital and outsourced clinical testing businesses, and after the power supply to the device, the device is assumed to be used in any one of the standby mode (standby state) and the operation mode (analysis operation state). Specially in the standby mode, except for some sensors (the above-mentioned temperature sensor or the like) that always require power supply, in the technique of the related art in which power supply to the sensor is always performed, since the power supply is not performed by the method, it is considered that the effect of the present invention is great.

According to such method, it is possible to achieve the power saving of the automatic analysis device and the extension of the lifetime of the sensor.

In the first embodiment, since all of the first motor driver 306a, the second motor driver 306b, and the ON/OFF circuit <NUM> are provided on the same driver board <NUM>, the number of boards can be relatively reduced.

In a second embodiment, the power control circuit is formed in a different board in the first embodiment. Hereinafter, the second embodiment of the present invention will be described with reference to <FIG> and <FIG>.

<FIG> is a simplified diagram illustrating a specimen dispensing mechanism 105a and a control system <NUM> according to the second embodiment of the present invention.

In the second embodiment, the control system <NUM> includes an additional driver board <NUM> that is different from the driver board <NUM>. In the process of operation of the control system <NUM> described in the first embodiment, the signal output from the motor controller <NUM> that drives each motor is transmitted to the additional driver board <NUM> in addition to the driver board <NUM>.

The control system <NUM> includes a first power control circuit 311a and a second power control circuit 311b. In the second embodiment, the power control circuit is provided not as the ON/OFF circuit <NUM> but as the first power control circuit 311a and the second power control circuit 311b. Each of the first power control circuit 311a and the second power control circuit 311b includes a built-in ON/OFF circuit and is mounted on the additional driver board <NUM>. The signal from the motor controller <NUM> is also input to the first power control circuit 311a and the second power control circuit 311b.

The motor controller <NUM> outputs a rotation control signal for controlling the rotating operation of the motor. Each of the first power control circuit 311a and the second power control circuit 311b includes a built-in ON/OFF circuit, receives the rotation control signal, and controls the power supply to the corresponding sensor (each of the second sensor 309b and the first sensor 309a) in response to the rotation control signal.

In the embodiment, since the power control circuit and the motor driver are provided on different boards, there is an advantage that the controller board <NUM> and the driver board <NUM> of the related art can be used without changing the boards.

According to the embodiment, as illustrated in <FIG>, by supplying power for only the time required for monitoring by the sensor, the power saving of the automatic analysis device and the extension of the lifetime of the sensor can be achieved.

In a third embodiment, the function of the power control circuit in the first embodiment is realized by an integrated program (integrated software). Hereinafter, the third embodiment of the present invention will be described with reference to <FIG> and <FIG>.

<FIG> is a simplified diagram illustrating the specimen dispensing mechanism 105a and the control system <NUM> according to the embodiment of the present invention.

The CPU <NUM> executes the integrated program stored in the storage unit <NUM>, and thus, the operation of the control system <NUM> as described in the first embodiment is realized. The operation of the motor may be defined in advance, for example, as a fixed parameter of the integrated program. The CPU <NUM> realizes a function of controlling the power supply to the first sensor 309a and the second sensor 309b by executing the integrated program. That is, the CPU <NUM> controls ON/OFF of the power supply to the first sensor 309a and the second sensor 309b through the motor controller <NUM>, the first motor driver 306a, and the second motor driver 306b by executing the integrated program.

Although not particularly illustrated in <FIG>, in the third embodiment, the power control circuit for controlling the power supply to the sensor may be provided.

As such, the control system <NUM> includes the CPU <NUM> for controlling the controller board <NUM> and the controller board <NUM>, and the control system <NUM> realizes each function by allowing the CPU <NUM> to execute the integrated program.

According to the third embodiment, since the power control of the first sensor 309a for monitoring the motor <NUM> for the arm rotating operation illustrated in for example, <FIG> can be executed, the power saving of the automatic analysis device and the extension of the lifetime of the sensor can be achieved.

In the third embodiment, since the timing of the control operation related to the power supply to the sensor is defined not by the motor controller <NUM> but by the integrated program, the motor controller <NUM> of the related art can be used without changing.

In a fourth embodiment, the timings of starting and stopping the power supply to the sensor are changed in the first embodiment. Hereinafter, the fourth embodiment of the present invention will be described with reference to <FIG> and <FIG>.

In the example of <FIG>, as sensors for monitoring the operation of the motor <NUM> for the arm rotating operation, illustrated are three sensors of a specimen suction position detection sensor, a nozzle cleaning position detection sensor, and a specimen discharge position detection sensor in one cycle of the entire operations. In the case of the embodiment, the three sensors are assumed to be configured as different hardware. Here, the power supply time is distributed among the three sensors.

There are sensors such as the nozzle cleaning position detection sensor which operate twice during one cycle operation. In the example of <FIG>, there is an interval of about <NUM> from the motor operation <NUM> of the nozzle cleaning position detection sensor to the next motor operation <NUM>. Thus, even when the power supply to the nozzle cleaning position detection sensor is turned ON and OFF with a margin of <NUM> before and after each motor operation, there is a large margin in the time until the next detection operation, and a response speed or the like does not matter.

However, there are cases where it is necessary to monitor the operation of the motor at smaller intervals due to the operation of the device. <FIG> is a simplified diagram illustrating timings of starting and stopping the power supply according to the fourth embodiment. The interval between the two motor operations is as small as less than <NUM>. When the interval is shortened as such, there is a possibility that malfunction may occur according to performance such as the response speed of the sensor.

Therefore, in the fourth embodiment, when the interval between the motor operations is less than a predetermined time, the power supply to the sensor continues to be performed. That is, when the time from the terminating of the first rotating operation to the starting of the second rotating operation following the first rotating operation of the motor is less than a predetermined time (third predetermined time), the control mechanism continues to perform the power supply to the sensor from the terminating of the first rotating operation to the starting of the second rotating operation.

The third predetermined time may be set to, for example, <NUM>. Here, a margin of <NUM> can be provided before and after the motor operation, and thus, it is considered to be suitable for performance such as the response speed of the sensor. As illustrated in <FIG>, when the interval of the motor operation is less than <NUM>, the starting of the power supply to the sensor is performed at <NUM> before the start time of the first motor operation, and the stopping of the power supply to the sensor is performed after <NUM> from the time of the terminating of the second time of the motor operation.

The third predetermined time is not limited to <NUM>. For example, the value may be values within a range of <NUM> to <NUM>, or may be values other than the range.

However, the eighth predetermined time is a time stored in advance so that the power supply to the sensor continues to be performed from the starting of the first rotating operation of the motor to the stopping of the second rotating operation.

The seventh predetermined time and the eighth predetermined time can be appropriately designed based on the above-mentioned first predetermined time, second predetermined time, and the like. For example, the seventh predetermined time may be a time equal to the first predetermined time. The eighth predetermined time may be a sum of the first predetermined time, the time from the starting of the first rotating operation to the terminating of the second rotating operation, and the second predetermined time.

With such a power supply operation, it is possible to supply power so that the sensor operates reliably even when the interval of the motor operation is so small that the response speed of the sensor causes a problem. Since the power supply can be turned OFF when the power supply is not necessary, the power saving of the automatic analysis device and the extension of the lifetime of the sensor can be achieved.

a fifth embodiment is modified in the first embodiment to output an alarm when the rotating operation of the motor is not detected. Hereinafter, the fifth embodiment of the present invention will be described with reference to <FIG>.

<FIG> is a simplified diagram illustrating the power supply control to the sensor when the motor does not rotate in the embodiment. Step-out or the like may be considered as the cause of non-rotation.

Similarly to the first to fourth embodiments, the power supply to the sensor is started <NUM> before the time when the motor starts the rotating operation. After that, a normal operation is that the motor starts the rotating operation. Herein, it is assumed that the motor does not rotate for some reason and does not operate even after a normal timing (that is, after <NUM> after the starting of the power supply to the sensor) elapses.

In the control system <NUM> according to the sixth embodiment, the control mechanism has a function of outputting an alarm signal when a fourth predetermined time elapses in a state where the sensor does not detect the rotating operation of the motor after the starting of the power supply to the sensor. The fourth predetermined time may be set to, for example, <NUM>. The fourth predetermined time may be a time obtained by adding an arbitrary margin time to <NUM>.

The control mechanism may determine that a state where the fourth predetermined time elapses in a state where the sensor does not detect the rotating operation of the motor is an abnormal state (or step-out state). Although persons skilled in the art can arbitrarily design the format, content, outputting method, and the like of the alarm signal, for example, when the automatic analysis device includes the motor control unit, the alarm signal may be transmitted to the CPU <NUM> through the motor control unit. The CPU <NUM> may receive the alarm signal by executing an integrated program. When the automatic analysis device includes a graphical user interface (GUI), the CPU <NUM> may display a warning on the GUI.

During the time when the motor is operating normally, since the control system <NUM> according to the fifth embodiment operates in the same manner as in the first to fourth embodiments, the power saving of the automatic analysis device and the extension of the lifetime of the sensor can be achieved. As illustrated in <FIG>, the control system <NUM> interrupts the power supply to the sensor after outputting the alarm signal. Here, the motor controller <NUM> excites the brake mechanism that suppresses the future rotation of the motor to prevent the motor from rotating. By doing so, it is possible to achieve the power saving of the automatic analysis device and the extension of the lifetime of the sensor.

According to the fifth embodiment, when the motor does not rotate normally, an alarm signal is output, so that it is possible to accurately detect an abnormality of the motor.

a sixth embodiment is modified in the fifth embodiment not to interrupt the power supply to the sensor. Hereinafter, the sixth embodiment of the present invention will be described with reference to <FIG>.

<FIG> is a simplified diagram illustrating power supply control to a sensor when a motor does not rotate in the embodiment. Unlike the fifth embodiment (<FIG>), a control mechanism continues to perform the power supply to the sensor after the outputting of the alarm signal. That is, after the alarm signal is output, the power supply to the sensor continues to be performed even after a second predetermined time elapses from the time when the motor terminates the rotating operation. In other words, after the alarm signal is output, the "function of stopping the power supply to the sensor" is not executed. More specifically, after the alarm signal is output, the "function of stopping the power supply to the sensor after only a second predetermined time from the time when the motor terminates the rotating operation" is not executed. By doing so, when the motor starts the rotating operation with a delay, this state can be detected. The motor controller <NUM> does not control (excite the brake mechanism, or the like) for suppressing the future rotation of the motor.

During the time when the motor is operating normally, since the control system <NUM> according to the sixth embodiment operates in the same manner as in the first to fifth embodiments, it is possible to achieve the power saving of the automatic analysis device and the extension of the lifetime of the sensor.

According to the sixth embodiment, when the motor does not rotate normally, an alarm signal is output, so that it is possible to accurately detect an abnormality of the motor.

In the above-described first to sixth embodiments, the contents described by taking the first sensor 309a and the motor <NUM> for the arm rotating operation as an example can be similarly applied to the second sensor 309b and the motor <NUM> for the arm vertical moving operation and can be similarly applied to a combination of a another sensor and another motor.

Claim 1:
A control system (<NUM>) comprising:
a sensor for monitoring an operation of a motor; and
a control mechanism for controlling the operation of the motor,
characterized in that
the control mechanism has a function of starting and stopping power supply to the sensor at a predetermined timing stored in advance,
the control system (<NUM>) further comprises a driver board (<NUM>),
the driver board (<NUM>) includes a motor driver circuit for driving the motor and a power control circuit for controlling the power supply to the sensor, and
the control mechanism has
a function of controlling the power control circuit to start the power supply to the sensor,
a function of controlling the motor driver circuit to start the rotating operation of the motor after only a fifth predetermined time from a time when the power control circuit starts power supply to the sensor, and
a function of stopping the power supply to the sensor after only a sixth predetermined time from the time when the power control circuit starts the power supply to the sensor.