Method for operating a sorting device for medicines and a sorting device for medicines

Abstract

The present invention relates to a method for operating a sorting device for medicines and a sorting device for medicines. A disadvantage of known methods for operating a sorting device is that significant damage can occur in the event of a collision with an object that may be arranged in the interior space. In order to avoid this, it is pre-set that: after a predetermined event, an image of a movement space in the interior of the sorting device (1) that can be detected by the optical detection device is created using an optical detection device (70); a predetermined area of ​​the image of the movement space (20) is compared with a corresponding area of ​​a reference image; based on the comparison of the image and the predetermined area of ​​the reference image, it is determined whether there is an obstacle in the detected section of the movement space (20); and based on the determination of the presence of an obstacle, corresponding signals are provided, which, for example, prevent the movement of the operating instrument and require the user to clear the obstacle.

Description

Technical Field

[0001] The invention relates to a method for operating a sorting device for medicaments and to a sorting device which can be operated according to the method according to the invention. Background Art

[0002] In known medicine sorting devices, at least one manipulator is usually constructed, whose clamps can move on corresponding guides in the longitudinal axis (X direction or X axis) and height (Z direction or Z axis) so as to be able to reach different shelves in the sorting device as well as storage equipment and unloading equipment. Modern medicine sorting devices work as automatically as possible, that is to say, only when it is necessary to clean the parts in the sorting device or a functional failure requires the intervention of the operator, for example, when the storage or removal of the medicine packaging cannot be carried out in an orderly manner, it is necessary to step into the internal space of the sorting device. Every time the operator intervenes, it is possible that he or she accidentally leaves an item in the sorting device, such as a ladder for reaching a higher place of the sorting device. Depending on the size and positioning of the item left unintentionally, it can represent an obstacle for the instrument operation. In extreme cases, the habitual movement of the manipulator may cause a collision with the item left behind, which can cause damage to the manipulator. The collision can also cause the medicine packages on one or more storage surfaces to be mixed up, so that it is necessary to manually remove the medicine from the warehouse. Depending on the obstacle and the collision, it is also possible that an obstacle toppled over due to a collision completely destroys several shelf surfaces. In any case, a collision between the handling device and an obstacle remaining in the sorting device will cause the operator to intervene, which in turn leads to downtime of the sorting device. Summary of the Invention

[0003] Therefore, the object of the present invention is to provide a method for operating a sorting device, in which downtimes caused by collisions of handling devices with obstacles are avoided. Furthermore, the object of the present invention is to provide a sorting device with which a corresponding method can be performed.

[0004] This object is achieved by a method for operating a sorting device for medicines according to the present application. The sorting device for carrying out the method comprises: a plurality of storage locations for medicine bottles and / or medicine packages; a manipulator, which can move in a moving space horizontally in the X direction or X axis and vertically in the Z direction or Z axis in front of the storage locations and has a clamp; at least one entry device, by means of which medicine bottles and / or medicine packages can be moved into the sorting device and a clamp can remove medicine bottles and / or medicine packages from the entry device; at least one identification device for identifying medicine bottles and / or medicine packages; an unloading device, to which the medicine bottles and / or medicine packages can be transferred by the manipulator to the unloading device in order to be unloaded from the sorting device; and a control device coupled to the manipulator and the identification device. In addition, the sorting device comprises an optical detection device coupled to the control device, which is arranged in the sorting device so that it can create an image of the moving space.

[0005] In the method according to the present invention, in step a), after a predetermined event, such as routine cleaning of the interior of the sorting device, at least one optical inspection device is used to create an image of a section of the movement space that can be inspected by the optical inspection device. Whether this image includes the entire movement space depends primarily on the precise placement of the optical inspection device and the size of the movement space. If the optical inspection device is, for example, located at an end face of the sorting device and its extension along the X-axis is not excessively large, it is conceivable that the entire movement space can be inspected in a single image using the optical inspection device. However, it is also conceivable that the optical inspection device could be located, for example, in or on a fixture of a manipulator. In such a case, whether a single image is sufficient depends primarily on the positioning of the manipulator within the sorting device. If the manipulator is located, for example, in the middle of the sorting device relative to the X-axis, it may be necessary to capture both a "left" and a "right" image of the manipulator. In such a case, if the sorting device is particularly long, it is conceivable that multiple images may be created until the entire movement space is inspected. To this end, the manipulator always travels in the X-direction for a sufficient distance at which the movement space is inspected and determined to be unobstructed.

[0006] In the subsequent method step b), a predetermined region of the image of the movement space is compared with a corresponding region of the reference image. The term "predetermined region" can refer to the entire captured image. However, since the image of the movement space inevitably includes areas that are irrelevant to the subsequent evaluation (such as storage areas for medicine bottles and / or medication packaging), it is also conceivable to compare only a portion of the image of the movement space with a corresponding portion of the reference image. In method step c), based on the comparison of the image with the predetermined region of the reference image, it is determined whether an obstacle is present in the detected section of the movement space. The precise manner in which the obstacle is determined is not critical to the present invention; essentially, the comparison is used to determine whether an obstacle that could, under certain circumstances, hinder the movement of the manipulator is present. Various methods are known to those skilled in the art for this purpose, one of which is described in the detailed description of the present invention. Finally, in method step d), a corresponding signal is provided based on the detection of the presence of an obstacle in the detected section of the movement space. In the simplest case, this signal results in the manipulation device being disabled, regardless of the location and size of the obstacle. Furthermore, it is conceivable that in such a case the presence of an obstacle is indicated to the operator, which can be done, for example, optically by means of a display device or acoustically.

[0007] In the simplest form of the method according to the invention, the movement of the manipulator is completely blocked when an obstacle is detected. In a preferred embodiment of the method according to the invention, in step d) of the method according to the invention, the position and size of the obstacle in the detected section of the movement space are determined after comparing the image with a predetermined area of ​​a reference image. This information makes it possible to assess whether blocking the movement of the manipulator is necessary. Depending on the processing algorithm of the image analysis software used, this may require the insertion of several reference points in the sorting device, based on which the size and position can be determined.

[0008] Based on the aforementioned information, it is preferably determined whether the manipulator can circumvent the obstacle based on the determined position and size of the obstacle. If this is the case, the user is presented with the choice of removing the obstacle immediately or removing it later and continuing to operate the sorting system despite the obstacle. Subsequently, the manipulator is naturally steered so that the existing obstacle is circumvented and a collision is avoided.

[0009] The obstacle can be positioned and / or shaped so that the storage surface of the sorting device is not involved, that is, despite the existence of the obstacle, all medicine bottles and / or medicine packages can still be grabbed. For example, it is conceivable that the obstacle only blocks a part of the unloading device, which may hinder the storage of medicine bottles and / or medicine packages, but will not hinder the removal of medicine bottles. In such a case, it is entirely conceivable to continue to operate the sorting device during the business hours of the pharmacy and to remove the obstacle immediately after normal business hours. In a preferred embodiment, it is preset that when the obstacle can be circumvented, the area blocked by the obstacle is marked as inaccessible or not navigable. If medicine packages are stored in this area, this is particularly meaningful. If it is known which storage areas in the sorting device are inaccessible due to obstacles, it can be immediately confirmed when there is a removal request whether medicine packages that can be removed from the warehouse under other circumstances may not be removed from the warehouse due to the obstacle.

[0010] If an obstacle is detected, it must be removed by the user either immediately or, if necessary, later. However, this only applies if, for example, the obstacle cannot be removed by the manipulator itself. Therefore, a preferred embodiment of the method according to the invention provides for determining whether the obstacle can be moved using the manipulator, based on the determined position and size of the obstacle. If this is the case, an attempt can be made to grip the obstacle with the manipulator's gripper and place it at a predetermined location, which can be, for example, a loading device. This makes it conceivable that, for example, if only a small obstacle is located, for example, on the X-guide of the manipulator, it can be removed using the gripper without the assistance of the operator.

[0011] To determine whether there are obstacles in the movement space within the sorting device, the image is compared with a predetermined region of a reference image. To prevent the gripper of the manipulator from obscuring any obstacles during the image capture, a preferred embodiment of the method provides for the gripper of the manipulator to be moved along the Z axis to its maximum Z position before the image is generated.

[0012] Depending on the size of the sorting device in the longitudinal direction (i.e. along the X-axis), it may be sufficient to use only one optical detection device. However, for sorting devices that exceed a certain size in the X-direction, it may be necessary to use multiple optical detection devices. In such a case, it is preferred that the image and the reference image consist of multiple single images and that the determination of the obstacle is then carried out based on the combined image. Alternatively, it is conceivable that the comparison of the image and the reference image is carried out based on partial images. If the optical detection device is arranged or implemented in or on the fixture, for example by means of a 2D or 3D camera, it may be necessary to repeat the method multiple times, wherein at each repetition a section of the movement space is detected and checked, i.e. the method according to the invention is carried out for each section.

[0013] This object is also achieved by a sorting device for medicines according to the present application. The sorting device according to the present invention comprises a plurality of storage locations for medicine bottles and / or medicine packages, wherein the storage locations can be provided by a horizontal shelf surface including, if necessary, a storage section for bottles, depending on the medicines (packages or bottles) to be stored. The sorting device also includes: a manipulator, which can move in the moving space horizontally in the X direction (X axis) and vertically in the Z direction (Z axis) before the storage position, and has a clamp; at least one storage device, through which the medicine bottles and / or medicine packages can be moved into the sorting device, and the clamp can take out the medicine bottles and / or medicine packages from the storage device; at least one identification device for identifying medicine bottles and / or medicine packages; an unloading device, to which the medicine bottles and / or medicine packages can be transferred by the manipulator from the unloading device in order to be unloaded from the sorting device; and at least one optical detection device, which is arranged in the sorting device so that it can create an overall image of the moving space; and a control device coupled to the manipulator, the identification device and the optical detection device, which is designed to implement the method steps of the method according to the present invention described above.

[0014] In a preferred embodiment of the sorting system, the optical inspection device is a component of the gripper of the handling instrument. In this embodiment, the method according to the present invention utilizes components commonly present in each gripper. In this case, the additional costs for implementing the method are limited to the necessary software modifications, since no new components need to be integrated into the existing sorting system. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Hereinafter, preferred embodiments of the method according to the present invention and preferred embodiments of the sorting device according to the present invention are described with reference to the accompanying drawings, wherein

[0016] Figure 1a and Figure 1b An oblique view showing an embodiment of a sorting device according to the present invention;

[0017] Figure 2 shows a top view of the sorting device;

[0018] Figure 3 A side cutaway view is shown with one row of shelves omitted;

[0019] Figure 4 and Figure 5 Shown is the corresponding Figure 2 and Figure 3 wherein an obstacle is arranged in each case in the movement space of the sorting device;

[0020] Figure 6a and Figure 6bAn overall image of the movement space is shown, including obstacles arranged at different positions; and

[0021] Figures 7a to 7d schematically illustrates a comparison between the overall image and a baseline overall image; and

[0022] Figure 8 A flow chart illustrating a preferred embodiment of the method according to the present invention is shown. DETAILED DESCRIPTION

[0023] Figure 1a and Figure 1b An oblique view of an embodiment of a sorting device 1 suitable for pharmaceutical packaging according to the present invention is shown, wherein the external panels are omitted in the embodiment shown. In the embodiment shown, the sorting device comprises a plurality of shelf bottoms 10, which form two parallel rows of shelves, between which a moving space 20 is provided, within which a manipulator 30 with a clamp 31 can move horizontally in the X direction and vertically in the Z direction. To this end, the sorting device comprises a horizontal guide or X guide 32 and a vertical guide or Z guide 33. Further, the sorting device comprises two warehousing devices 41, 42, which are designed as conveyor belts in the embodiment shown. Figure 1a In the storage end face shown in , these storage-in devices extend with a section above the original storage end face of the sorting device, and the operator can place the drug packages to be stored in these sections. Above each storage-in device, identification devices 51, 52 are arranged within the storage end face range of the sorting device, through which the drug packages to be stored are identified and, if necessary, measured. Further, the sorting device includes an unloading device 60, to which the clamp 31 of the operating instrument 30 can transfer the drug packages. The operating instrument 30 and the identification devices 51, 52 are coupled to the control device 80, which is also arranged within the storage end face range in the shown embodiment (see Figure 1a ) According to the invention, the sorting device comprises an optical detection device 70, which is arranged in the sorting device so that it can create an overall image of the movement space 20. In the embodiment shown, the optical detection device is also arranged at the storage end face. Alternatively, the optical detection device can also be arranged at Figure 1b The optical detection device is arranged at the rear end face shown in FIG or centrally above the movement space, wherein the ideal arrangement of the optical detection device depends on the type of detection device used and the shape of the movement space.

[0024] Figure 2 A preferred embodiment of the sorting device according to the invention is shown in a top view, wherein in this top view in particular the movement space 20 formed between the rows of shelves for handling the instrument 30 can be seen. Figure 2 In the figure, the movement space 20 is divided by dashed lines into a left-hand movement space section 21 and a right-hand movement space section 22. Due to the arrangement of the horizontal X-guide 32, movement space section 21 is the "critical" movement space section, in which obstacles would always lead to a collision with the manipulator moving in the X direction. More precisely, due to the fact that the Z-guide 33 always moves in the X direction during movement in the X direction. Movement space section 22 is the "non-critical" movement space section, as obstacles arranged in this movement space section of movement space 20 can be circumvented, if necessary, by correspondingly moving the gripper of the manipulator.

[0025] Figure 3 A sectional view is shown, in which in particular the lower X-guide 32 of the manipulator 30 can be seen. Further, it can be seen why the movement space section 21 is defined as a "critical" movement area. Even when the clamp 31 moves upwards in the Z direction in order to move an obstacle, an obstacle in this critical movement space section 21 can cause a collision between the obstacle and the manipulator due to the movement of the Z-guide in the X direction. For the clamp 31 of the manipulator, an optical detection device is also provided, such as a 2D or 3D camera, which is usually required for the normal operation of the clamp. In addition, in an alternative embodiment, the optical detection device can be used to detect an image of the movement space, as already described above.

[0026] Figure 4 and Figure 5 Shown Figure 2 and Figure 3 , where Figure 4 and Figure 5 In the example, an obstacle 5 is located in a non-critical travel space section 22. Due to the design of the control device, including the arrangement of the X-guide on one side of the travel space, it is theoretically possible to use the control device to circumvent the obstacle. Whether the obstacle is circumvented or the control device is immediately prohibited from moving when the obstacle is detected depends on the ability to determine the position and size of the obstacle and on the operator's instructions.

[0027] Figure 6a and Figure 6b Two images of a movement space 20 are schematically shown, which include differently arranged obstacles 5, wherein the displayed images should each show the entire movement space. Figure 6a In the situation shown in FIG, the obstacle 5 is arranged in the "non-critical" movement space section 22. As can be seen from the schematically shown X-guide and Z-guide, in Figure 6aIn the situation shown in , it is possible for the maneuvering device to circumvent the obstacle 5 with a corresponding orientation of the gripper 31 without a collision. However, a corresponding travel guidance is only possible if the exact position and size of the obstacle 5 can be determined, which depends primarily on the size itself and the obstacle / background contrast. Figure 6b If the obstacle 5 shown in FIG. 5 obstructs the X-guide 32, i.e., is arranged within the critical movement space section 21, further operation of the sorting device is impossible, at least when the entire length of the sorting device extending in the X direction is to be utilized. If this situation is detected, intervention by the operator is unavoidable under the aforementioned conditions.

[0028] In the following, reference Figures 7a to 7d and Figure 8 , describes a preferred embodiment of the method according to the invention, wherein Figures 7a to 7d The diagram schematically illustrates the determination of obstacles based on an image and a reference image. In this case, the entire movement space is also detected by the image and the reference image, and the optical detection device is arranged on the end face of the sorting device opposite the manipulator. First, in step 100, in the presence of a predetermined event, such as routine cleaning of the interior of the sorting device, and in this embodiment, before the manipulator 30 moves along the X axis, an image of the movement space 20 is created using the optical detection device 70 (not shown). Figure 6a and Figure 6b Two schematic views of such an image are shown in Figure 6a In the example, the obstacle is arranged in the non-critical movement space section 22, while in the example Figure 6b , which is arranged in the critical motion space section 21. Subsequently, in step 110, a predetermined area of ​​the image of the motion space is compared with a corresponding area of ​​the reference image. Figure 7a In order to illustrate the detection of obstacles, a reference image is schematically illustrated in the upper section, while an image captured by an optical detection device is schematically illustrated in the lower section. Due to the geometry of the interior of the sorting device, the image of the movement space always includes not only the movement space itself, but also sections of two opposite rows of shelves, which are Figure 7a Schematically marked.

[0029] According to a preferred embodiment, the following measures are taken to detect obstacles: First, the reference image and the current image are subtracted from each other so that only objects that are present in the current image but not in the reference image remain. Figure 7a In the example shown in FIG, a drug package 6 and an obstacle 5 are provided; Figure 7b The result of the difference is schematically illustrated in FIG.

[0030] Now, based on the comparison of the image with the reference image, it is determined whether there are obstacles in the movement space (step 120). Since the image (and the reference image) always also includes areas that do not relate to the movement space itself but to the side shelf storage area, the result of the subtraction between the image and the reference image is the same as the result of the subtraction between the image and the reference image. Figure 7c In combination with the mask 25 shown in FIG, the mask hides those areas of the difference result that do not involve the movement space itself. Figure 7d The result of this combination of the difference image and the mask is shown in ; only the obstacle 5 remains, which is now processed further using the usual known processing methods. Figure 7d The image marked in the image is usually converted (binarized) into a black and white image and subsequently subjected to a spot analysis. All areas exceeding a certain predetermined size in terms of their size are then classified as obstacles, and their position and size are forwarded to the control device if possible and desired. Based on the precise travel guidance, any movement of the manipulator is prohibited in the presence of an obstacle. Instead, it is possible to predetermine a route around the obstacle or, for optimally positioned small obstacles, to initiate the removal of the obstacle using the manipulator's grippers.

[0031] exist Figure 8 In the embodiment shown in FIG, the size and position of the obstacle are determined in step 130. To this end, it may be necessary to predetermine reference points in the sorting device and / or train the control system for size and position determination based on a plurality of reference overall images. Alternatively or additionally, the bottom surface of the movement area and / or both movement space segments may be pre-defined with a specific pattern and / or signature. With the fixed point position of the optical detection device known, the size and position can then be determined where appropriate.

[0032] Based on the knowledge of the size and position of the obstacle, it is determined in step 140 whether the obstacle can be circumvented, depending on the structural shape of the movement space. If this is not the case, for example because the obstacle is at least partially located within a critical movement space section, the control device is locked, i.e., further movement is prohibited (step 200), until the operator instructs to remove the obstacle.

[0033] If it is possible (and there is intention) to go around, then the storage locations that cannot be reached due to obstacles are marked accordingly. For the continued operation of the next possible sorting device, this means that the medicine packaging stored in these storage locations cannot be removed from the warehouse.

[0034] In alternative embodiments, it may be necessary (when the optical detection device is arranged in or used in or on a fixture and the entire moving space cannot be detected with one image) to repeat the method described above for multiple sections of the sorting device or (when multiple optical detection devices are used) to combine multiple partial images into an image.

Claims

1. A method for operating a medicine sorting device, the medicine sorting device comprising: multiple storage locations for medicine bottles and / or drug packages (6); a manipulator (30) capable of traveling in the movement space (20) horizontally in the X direction and vertically in the Z direction before the storage position and comprising a clamp (31); at least one storage device (41, 42), by which medicine bottles and / or medicine packages (6) can be moved into the medicine sorting device (1), and the clamp (31) can remove medicine bottles and / or medicine packages (6) from the storage device; at least one identification device (51, 52) for identifying a medicine bottle and / or a medicine package (6); an unloading device (60) to which the medicine bottles and / or medicine packages (6) can be transferred by the manipulator in order to remove them from the medicine sorting device (1); at least one optical detection device (70) arranged in the medicament sorting device (1) such that it is capable of creating an image of the movement space (20); and A control device (80) coupled to the operating instrument (30), the identification device (51, 52) and the optical detection device (70), characterized in that: a) after a predetermined event, creating with at least one of said optical detection devices (70) an image of the movement space (20) detectable by said optical detection device; b) comparing a predetermined area of ​​the image of the movement space (20) with a corresponding area of ​​the reference image; c) determining whether an obstacle is present in the detected section of the movement space (20) based on a comparison of the image with a predetermined area of ​​the reference image; and d) Based on the determination of the presence of an obstacle performed in step c), providing a corresponding signal.

2. The method for operating a sorting device for medicines according to claim 1, characterized in that In step d), the position and size of the obstacle are determined.

3. The method for operating a medicine sorting device according to claim 2, characterized in that: According to the measured position and size of the obstacle, it is determined whether the maneuvering instrument can bypass the obstacle.

4. The method for operating a medicine sorting device according to claim 3, characterized in that: If the obstacle can be circumvented, the storage location area blocked by the obstacle is marked as inaccessible or not drivable.

5. The method for operating a medicine sorting device according to claim 2, characterized in that: Based on the determined position and size of the obstacle, it is determined whether the obstacle can be moved by the manipulator.

6. The method for operating a sorting device for medicines according to any one of claims 1 to 5, characterized in that: Before creating the overall image, the gripper (31) of the manipulator (30) is moved along the Z direction to a maximum Z position.

7. The method for operating a medicine sorting device according to claim 6, characterized in that: The overall image and the reference overall image are composed of multiple single images.

8. The method for operating a medicine sorting device according to claim 7, characterized in that: Based on the partial images, the overall image is compared with the reference overall image.

9. The method for operating a medicine sorting device according to claim 1, characterized in that: The signal provided temporarily blocks the travel of the maneuvering instrument (30).

10. The method for operating a sorting device for medicines according to any one of claims 1 to 5 and 9, characterized in that Indicates the presence of obstacles to the user.

11. A medicine sorting device (1), comprising: multiple storage locations for medicine bottles and / or drug packages (6); a manipulator (30) capable of traveling in the movement space (20) horizontally in the X direction and vertically in the Z direction before the storage position and comprising a clamp (31); at least one storage device (41, 42), by which medicine bottles and / or medicine packages (6) can be moved into the medicine sorting device (1), and the clamp (31) can remove medicine bottles and / or medicine packages (6) from the storage device; at least one identification device (51, 52) for identifying a medicine bottle and / or a medicine package (6); an unloading device (60) to which the medicine bottles and / or medicine packages (6) can be transferred by the manipulator in order to remove them from the medicine sorting device (1); at least one optical detection device (70) arranged in the medicament sorting device (1) such that it is able to create an overall image of the movement space (20); and A control device (80) coupled to the operating instrument (30), the identification device (51, 52) and the optical detection device (70), characterized in that the control device is designed to implement a method corresponding to any one of claims 1 to 10.

12. The medicine sorting device (1) according to claim 11, characterized in that: The optical detection device is a component of a fixture (31) of the manipulator (30).

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