1. Field of the Invention
The present invention relates to an incubator and a carrier system.
2. Description of the Related Art
A culture apparatus (incubator) is known as a device for efficiently incubating cultures such as cells while controlling temperature, humidity, for example, as appropriate. In general, a rack called a stacker, which is capable of storing a plurality of containers containing cultures, is stored on a shelf of a culture chamber in the culture apparatus. A carrier device stores the container storing cultures in a specified storage destination in the stacker (see International Publication No. 2007/001002, for example).
As compared with carrying the container with the carrier device, carrying the stacker storing a plurality of containers with the carrier device allows a greater amount of cultures to be efficiently carried into the culture chamber. However, if a user mistakenly specifies the storage destination of the container when causing the carrier device to carry the stacker, the carried stacker might collide with another stacker or a shelf in the culture chamber.
An incubator according to an aspect of the present invention, which is configured to automatically carry a container to a specified storage destination and culture a cell or a microbe in the container at the storage destination, the incubator includes: a mount table configured to have placed thereon the container with a tag; a holding member with the tag at the same height as the height of the tag of the container, the holding member configured to hold the container; or a storage member configured to store the holding members in a multi-stage manner in a vertical direction so that the tag is positioned at a height different from the height of the tag of the container or the holding member; a carrying-in door for carrying the container, the holding member, or the storage member into the incubator, the carrying-in door provided on one side face of the incubator, the carrying-in door including in an interior thereof a first antenna disposed at the same height as the height of the tag of the container or the holding member; and a second antenna disposed at the same height as the height of the tag of the holding member stored in the storage member; a discrimination unit configured to, in a state that the container, the holding member, or the storage member is placed on the mount table and the carrying-in door is open, determine that the container or the holding member is placed on the mount table if radio waves can be transmitted/received between the first antenna and the tag of the container or the holding member, with the first antenna and the tag of the container or the holding member being arranged so as to be opposed to each other, and determine that the storage member is placed on the mount table if radio waves can be transmitted/received between the second antenna and the tag of the holding member stored in the storage member, with the second antenna and the tag of the holding member stored in the storage member being arranged so as to be opposed to each other; and a warning unit configured to give warning if the discrimination unit determines that the container or the holding member is placed on the mount table and the specified storage destination is a place for storing the storage member, or if the discrimination unit determines that the storage member is placed on the mount table and the specified storage destination is a place for storing the holding member.
Other features of the present invention will become apparent from descriptions of this specification and of the accompanying drawings.
At least the following details will become apparent from descriptions of this specification and of the accompanying drawings.
The carrier system 10 includes a carrier table 12, a reader/writer 13, an antenna 14, a control device 15, and a carrier device 16.
On the carrier table 12 (mount table), placed is the carrying target, such as a stacker, to be carried into the incubator 11 or the carrying target carried out of the incubator 11.
The reader/writer 13 is configured to read information recorded in a wireless tag (not shown) attached to the carrying target using the antenna 14. The reader/writer 13 is also configured to write information in the wireless tag using the antenna 14. The wireless tag is a storage element also referred to as an IC (Integrated Circuit) tag or RFID (Radio Frequency Identification), and information can be read therefrom and written thereinto via radio waves.
The control device 15 is configured to integrally control, for example, the incubator 11 and the carrier device 16. As will be described later in detail, the control device 15 is configured to control, for example, a temperature control device (not shown) and a humidity control device (not shown) for the incubator 11, thereby adjusting the temperature and humidity of the incubator 11. Further, the control device 15 is configured to determine the type of the carrying target (container or stacker) based on the information read by the reader/writer 13, and control the carrier device 16 according to the determination result.
An example of the incubator 11 will be described here with reference to
The incubator 11 is a device configured to incubate a culture such as a cell (specimen) and a microbe, and includes an outer case 20 and an inner case 21.
The outer case 20 is a so-called housing of the incubator 11, and is in a substantially rectangular parallelepiped shape with an opening portion in the front thereof. The inner case 21 having a shape with an opening portion in the front similarly to the outer case 20 is provided in the interior of the outer case 20 so as to be covered with the outer case 20. A front door 25 to open or close the opening portion of the inner case 21 is provided on the front face of the outer case 20. The internal space created in the inner case 21 when the front door 25 is closed is served as a culture chamber 22.
As depicted in
The carrying in/out port 26 (carrying-in port) is an opening portion formed to carry the container storing a culture or the stacker storing the container therethrough into the culture chamber 22, or carry it out of the culture chamber 22. On the right side face of the outer case 20, a carrying in/out door 27 (carrying-in door) is provided which is configured to open outward so as to open or close the carrying in/out port 26. The carrying in/out door 27 is configured to pivot about a hinge (support shaft) provided in the vertical direction, and open outward at an angle of 90° with respect to the opening face of the carrying in/out port 26.
In a recess 28 formed in an inner surface of the carrying in/out door 27, antennas 14a to 14e are provided which are configured to transmit/receive radio waves to/from the wireless tags attached to, for example, a culture container. The space formed by the recess 28 is hermetically closed with an acrylic plate 29 which allows radio waves to pass therethrough. Therefore, even though the culture chamber 22 is humidified with the carrying in/out door 27 being closed, the antennas 14a to 14e can be prevented from deteriorating due to humidity.
The inner case 21 includes, as depicted in
The carrier table 12 has the container or the stacker placed thereon, and the container or the stacker is carried to the specified place by the carrier device 16.
The carrier device 16 is attached so as to be movable on a rail 47 that is attached in the Y-axis direction on the surface of the installation stand 40. The rail 47 is attached at the position between the storage rack 41 and the storage rack 42.
The observation device 44 is a device configured to observe the culture stored in the container, and includes an observation stand 50 and a camera 51.
On the observation stand 50, the container having been carried by the carrier device 16 is placed. The observation stand 50 is provided with motors to move the observation stand 50 in the X-axis, Y-axis, and Z-axis directions, respectively, so that shooting of the container 100 by the camera 51 can be facilitated. The camera 51 is configured to shoot a video or an image of the culture in the container.
The right side face of the stacker 200 is provided with opening portions 310a to 310d for allowing radio waves to pass therethrough from the antennas 14a to 14d, respectively. The stacker 200 according to an embodiment of the present invention is formed using metal plates. Since the metal has a radio wave shielding property, only the opening portions 310a to 310d in the right side face of the stacker 200 can allow radio waves to transmit therethrough. Note that the material of the stacker 200 is not limited to metal, and any material with a radio wave shielding property may be used. For example, a resin material coated with a coating agent for shielding against radio waves (radio wave shielding) may be used.
The trays 110a to 110d (holding members) are members for holding containers 100a to 100d for storing cultures (including liquid such as culture media).
Two apertures are arranged at the bottom of the stacker 200 (only the aperture 300 is depicted). The apertures are used for positioning the stacker 200 and restraining the horizontal movement of the stacker 200 when the stacker 200 is placed on the carrier table 62. The trays 110a to 110d are also formed with recesses for positioning the trays 110a to 110d and restraining the horizontal movement of the trays 110a to 110d when the trays 110a to 110d each are placed on the carrier table 12.
The storage rack 41 depicted in
In an embodiment of the present invention, the storage space of the storage rack 41 is sectioned into nine virtual compartments constituted by compartments 1 to 9, as depicted in
The storage rack 42 is a rack to store a plurality of stackers 200 similarly to the storage rack 41, and is installed on the installation stand 40 so as to be arranged near a wall surface on the right side of the inner case 21. The storage rack 42 is also provided with three shelves 46a to 46c in the vertical direction. The shelves 45a to 45c are attached at heights equal to those at which the shelves 46a to 46c are attached.
As depicted in
Although three-stage shelves are provided for each of the storage racks 41 and 42 in an embodiment of the present invention, it is not limited thereto, and for example, only one shelf may be provided instead. In this case, the installation stand 40 may also serve as a shelf.
The slide device 60 is attached to a rail 47 in a manner movable along the Y-axis direction. The motor (for Y axis) provided in the interior of the slide device 60 rotates, thereby moving (sliding) the slide device 60 on the rail 47. The slide device 60 is attached with the rail member 61 along the vertical direction.
The carrier table 12 (mount table) includes a base plate 65 and slide plates 66 and 67, and is attached to the rail member 61 in a manner movable along the Z-axis direction. The motor (for Z axis) provided in the interior of the slide device 60 rotates, thereby moving (sliding) the carrier table 12 in the Z-axis direction. The motor (for X axis) provided in the interior of the base plate 65 rotates, thereby sliding the slide plates 66 and 67 in positive and negative directions of the X axis. The tray 110 or the stacker 200 is placed directly on the slide plate 67.
A description will be given here of the state of the stacker 200 placed on the carrier table 12 when a user carries the stacker 200 in, with reference to
When the tray 110a is placed in a state where the slide plate 67 has slid to the predetermined position A, the wireless tag 350a attached to the tray 110a is opposed to the antenna 14e. As such, the antenna 14e is provided at the position corresponding to the position (height) at which the wireless tag 350a is attached to the tray 110a that is directly placed on the slide plate 67, and thus the reader/writer 13 can read the information stored in the wireless tag 350a or writes the information in the wireless tag 350a via the antenna 14e. Note that, on this occasion, it might be possible to read/write the information from/into the wireless tag 350a using the antenna 14d as well.
A description will be given here of the control device 15 configured to control, for example, the incubator 11, with reference to
The carrier device 16 of the incubator 11 includes motors 80a to 80c and a sensor 81. The motor 80a is a motor for X-axis for moving the slide plates 66 and 67 of the carrier table 12 in the X-axis direction depicted in
The control device 15 is a device configured to integrally control the carrier system 10 and the incubator 11 (for example, a terminal device such as a personal computer), and includes an operation panel 90, a storage device 91, and a microcomputer 92.
The operation panel 90 (input unit) is a panel (for example, a touch panel) for allowing a user to set the operation of the carrier system 10 and the incubator 11. The results of operations on the operation panel 90 are transmitted to the microcomputer 92, and the control device 15 controls each of the blocks in the incubator 11 based on the results of the operations. Further, the operation panel 90 is configured to display various types of information such as the results of the operations, the state of the incubator 11 (for example, temperature and humidity), and the storage locations of the stacker or the container. The operation panel 90 is provided in the control device 15 (the aforementioned personal computer), however, it is not limited thereto. The operation panel 90 may be provided, for example, on the exterior wall surface of the incubator 11.
The storage device 91 is configured to store program data to be executed by the microcomputer 92 and various types of data. For example, as depicted in
The predetermined storage destinations at which the stacker 200 can be stored are spaces such as “compartment 1”, “compartment 2”, and “compartment 16”. Note that the “compartment 1” and the like refer to the compartments which have been described with reference to
The predetermined storage destinations at which the tray 110 holding the container 110 can be stored are, for example, spaces such as “compartment 1: 1st stage” to “compartment 1: 4th stage” and “compartment 2: 1st stage” to “compartment 2: 4th stage”. Note that “compartment 1: 1st stage” refers to the uppermost space in the spaces of the stacker 200 configured to store the trays 110 when the stacker 200 is stored in “compartment 1”. “Section 1: 4th stage” refers to the lowermost space in the spaces of the stacker 200 configured to store the trays 110 when the stacker 200 is stored in “compartment 1”. “Section 7: observation stand” refers to the space in which the observation stand 50 of the observation device 44 in which the tray 110 is placed.
The acquisition unit 500 is configured to cause the reader/writer 13 to read the information of the wireless tag 350, and acquire the information read by the reader/writer 13. In an embodiment of the present invention, if the stacker 200 is placed on the carrier table 12 as depicted in
The recording unit 501 is configured to control the reader/writer 13 so as to record, for example, data indicative of the specified storage destination, information about the culture, into the wireless tag 350. The storage destination data indicative of the storage destination correspond to the data including the information indicative of “compartment” and the information indicative of “stage” or “observation stand”. Note that the information indicative of “stage” or “observation stand” is hereinafter simply referred to as information indicative of “stage”, for convenience's sake.
The carrier device control unit 502 is configured to control the motors 80a to 80c based on, for example, the results of operations of the operation panel 90 (hereinafter, referred to as operation results).
The discrimination unit 503 is capable of determining whether the carrying target (placed object) placed on the carrier table 12 is a container or a stacker, based on the acquisition result of the acquisition unit 500. In an embodiment of the present invention, when the information of the wireless tag is acquired via the antennas 14a to 14d, the discrimination unit 503 determines that the carrying target is the stacker. Whereas, when the information of the wireless tag is acquired via the antenna 14e, the discrimination unit 503 determines that the carrying target is the container. In the aforementioned example of
The antenna 14e and the control device 15 correspond to one reading device and one writing device, and the antennas 14a to 14d and the control device 15 correspond to a plurality of reading devices and a plurality of writing devices.
The storage destination determination unit 504 is configured to determine whether the storage destination of the carrying target is appropriate or not based on the determination result of the discrimination unit 503, the storage destination of the carrying target specified by a user (first information), and reference data stored in the storage device 91 (second information). Specifically, in the case where the determination result indicates the stacker, if the specified storage destination coincides with any of the predetermined storage destinations of the stacker in the reference data of
The record data determination unit 505 is configured to determine whether or not the wireless tag 350 has recorded therein the information (data) indicative of the storage destination.
The storage destination data determination unit 506 is configured to determine whether or not the specified storage destination is the same as the storage destination recorded in the wireless tag 350. Specifically, if the carrying target is the stacker, the storage destination data determination unit 506 determines whether or not the “compartment” recorded in the wireless tag 350 is the same as the specified “compartment”. If the carrying target is the container, the storage destination data determination unit 506 determines whether or not the “compartment: stage” recorded in the wireless tag 350 is the same as the specified “compartment: stage”. Note that whether or not the “compartments” coincide with each other is determined by comparing the storage destination data indicative of the “compartments”, and whether or not the “compartments: stages” coincide with each other is determined by comparing the storage destination data indicative of the “compartment: stage”.
The warning unit 507 is configured to display warning on the operation panel 90 when it has been determined that the carrying target is not appropriate or when it has been determined that the specified storage destination is different from the storage destination recorded in the wireless tag 350.
First, when the carrying-in instruction is inputted through the operation panel 90, the acquisition unit 500 acquires the information of the wireless tag of the carrying target read by the reader/writer 13 (S100). The discrimination unit 503 determines whether the carrying target is the container 100 or the stacker 200 based on the information acquired by the acquisition unit 500 (S101). Then, based on the determination result, the specified storage destination, and the reference data, the storage destination determination unit 504 determines whether or not the specified storage destination for the carrying target is appropriate (S102).
If the specified storage destination for the carrying target is not appropriate (S102: NO), that is, for example, if the predetermined storage destination for “container 100” is specified although the carrying target is “stacker 200”, the warning unit 507 displays warning on the operation panel 90 (S103). Whereas, if the specified storage destination for the carrying target is appropriate (S102: YES), the record data determination unit 505 determines whether or not the storage destination data are stored in the wireless tag 350 of the carrying target (S104).
If the wireless tag 350 of the carrying target does not have the storage destination data recorded therein (S104: NO), that is, for example, if the carrying target is carried in the culture chamber 22 for the first time, the recording unit 501 records the specified storage destination data in the wireless tag 350 (S105). Then, when the storage destination data is recorded in the wireless tag 350, the carrier device control unit 502 carries the carrying target to the specified storage destination (S106). Whereas, if the wireless tag 350 of the carrying target has the storage destination data recorded therein (S104:YES), that is, for example, if the carrying target carried out of the chamber once is carried back thereinto again, the storage destination data determination unit 506 determines whether or not the specified storage destination coincides with the storage destination recorded in the wireless tag 350 of the carrying target (S107).
When the storage destination data determination unit 506 determines that the specified storage destination has coincided with the storage destination recorded in the wireless tag 350 of the carrying target (S107: YES), the carrier device control unit 502 carries the carrying target to the specified storage destination (S106). Whereas, when the storage destination data determination unit 506 determines that the specified storage destination has not coincided with the storage destination recorded in the wireless tag 350 of the carrying target (S107: NO), the warning unit 507 displays warning on the operation panel 90 (S103).
In an embodiment of the present invention, the control unit 92 stores the specified storage destination data in the storage device 91 in such a manner that the specified storage destination data is associated with read identification information of the wireless tag 350. Thus, when the storage destination of the storage object or the identification information is inputted, the carrier device control unit 502 can cause the specified storage object to be carried out based on the information stored in the storage device 91.
==Method of Determining Carrying Target when Stacker has Low Height==
The stacker 600 is similar to the stacker 200 except that, due to the low height of the stacker 600, the antenna 14e (second antenna) is provided covering a part of the antenna 14d (first antenna) which corresponds to the wireless tag 350d. Since the wireless tag 350d is opposed to the antenna 14d via the opening portion 310d, the antenna 14d can transmit/receive radio waves to/from the wireless tag 350d. Whereas, since the antenna 14e is arranged lower than the opening portion 310d (second opening portion), a side face of the stacker 600 shields against radio waves transmitted from the antenna 14e. Thus, the antenna 14e cannot transmit/receive radio waves to/from the wireless tag 350d, and therefore, the information recorded in the wireless tag 350d cannot be read by the antenna 14e.
==Method of Determining when Using Wireless Tag Having Information Indicative of Stacker Recorded Therein==
The stacker 650 is similar to the stacker 200 except that a wireless tag 360 (second tag), having the information indicative of “stacker” recorded therein, is attached at the position, opposed to the antenna 14e, on a side face below the opening portion 310d of the stacker 650. Thus, as depicted in
An opening portion 710 for carrying the culture in/out is provided on the front face of the culture flask 700. After the culture is stored in the culture flask 700, the opening portion 710 is closed with a screw cap (stopper member) 750. A wireless tag 370 (first tag), having the information indicative of “container” recorded therein, is provided on the right side face of the culture flask 700 (surface on the carrying in/out door 27 side). In the state where the culture flask 700 is placed on the carrier table 12, the wireless tag 370 transmits/receives radio waves to/from the antennas 14d and 14e. In this case, the antennas 14d and 14e receive the information indicative of “container” recorded in the wireless tag 370. Thus, based on the information indicative of “container” received with the antennas 14d and 14e, the discrimination unit 503 can determine that the carrying target is “container (culture flask)”. Note that, in this case, since the wireless tag 370 has the information indicative of “container” recorded therein, if any one of the antennas 14a to 14e can transmit/receive radio waves to/from the wireless tag 370, it can be determined that the carrying target is “container”. The reader/writer 13 corresponds to a reading device, and the control device 15 (discrimination unit 503) corresponds to a discrimination device.
In determining the carrying target, a switch 800 may be provided at a predetermined position of the slide plate 67 on the carrier table 12 as depicted in
Since the stacker 200 is heavier than the tray 110, for example, a pressure sensor (not shown) may be used in place of the switch 800, for example, and the carrying target may be determined based on the output of the pressure sensor.
A description will be given here of a stacker 201 used when the antennas 14 has high radio-wave directivity with reference to
As depicted in
It may be necessary to increase the distance d between the antenna 14 and the wireless tag 350 considering the structures of the stacker 201 and the incubator 11. In the case where the distance d is greater than the predetermined distance (for example, dl), even though the antenna 14 having high radio wave directivity is used, crosstalk might be caused by diffraction of radio waves. In this case, the stacker 202 having a plurality of opening portions 312a to 312d (small windows) as depicted in
The incubator 11 and the carrier system 10 according to an embodiment of the present invention have been described hereinabove.
At least two antennas are disposed at different heights in the interior of the carrying in/out door 27 of the incubator 11. Further, in the incubator 11, the antenna 14 and the wireless tag 350 are provided so as to be opposed to each other, and from the result of transmitting/receiving radio waves according to the positional relationship therebetween, the placed object is determined among the stacker (storage member), the tray 110 (holding member), and the container 100. Then, based on the determination result and the specified storage destination for the placed object, if it is not appropriate to carry the placed object to the specified storage destination, a warning is given. Thus, the incubator 11 can safely carry the container 100 or the stacker 200.
In an embodiment of the present invention, whether the placed object placed on the carrier table 12 is the container 100 or the stacker 200 is determined, and thereafter the placed object is carried. Accordingly, the carrier system 10 can safely carry the container 100 or the stacker 200.
Further, the containers 100a to 100d stored in the stacker 200 are attached with the wireless tags 350a to 350d storing the identification information capable of uniquely identifying the containers 100a to 100d. Thus, when the reader/writer 13 reads the information of these wireless tags 350a to 350d, it can be determined that the carrying target is the stacker 200.
Further, the wireless tag 350 has recorded therein the storage data indicative of the storage destination. Thus, even after the container 100 is once taken out to the exterior of the culture chamber 22, the container 100 can be returned to the original place with reliability.
Further, as depicted in
Further, as depicted in
Further, the carrying target can be determined with reliability by recording the information indicative of “stacker” or “container” in the wireless tag 350.
Further, in an embodiment of the present invention, it is determined whether the carrying target is the predetermined object that is to be stored at the specified storage destination (for example, process 102 in
The above embodiments of the present invention are simply for facilitating the understanding of the present invention and are not in any way to be construed as limiting the present invention. The present invention may variously be changed or altered without departing from its spirit and encompass equivalents thereof.
For example, the wireless tag 350 may be directly attached to the container 100. Further, a tag such as a bar code may be used in place of the wireless tag.
Furthermore, the carrier device control unit 502 may adjust, for example, the speed or movable range of the carrier device 16 based on the result of the determination of the carrying target. Specifically, when the carrying target is the stacker, the carrier device control unit 502 may move the carrier device 16 at a predetermined speed V1; and when the carrying target is the container, the carrier device control unit 502 may move the carrier device 16 at the predetermined speed V2 (>V1).
Number | Date | Country | Kind |
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2011-218014 | Sep 2011 | JP | national |
This application is a continuation under 35 U.S.C. §120 of PCT/JP2012/073912, filed Sep. 19, 2012, which is incorporated herein reference and which claimed priority to Japanese Application No. 2011-218014, filed Sep. 30, 2011. The present application likewise claims priority under 35 U.S.C. §119 to Japanese Application No 2011-218014, filed Sep. 30, 2011, the entire content of which is also incorporated herein by reference.
Number | Date | Country | |
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Parent | PCT/JP2012/073912 | Sep 2012 | US |
Child | 13917252 | US |