Inspection apparatus of portion-packaged medicament, control program of inspection apparatus and inspection method

Abstract

To detect slip of a portion-packaging bag group with a simple configuration in an inspection apparatus of a portion-packaged medicament.SOLUTION: An inspection apparatus 1 of a portion-packaged medicament comprises: a conveyance device 2 which conveys a portion-packaging bag group P that contains a medicament; an imaging device 18 which images the conveyed portion-packaging bag group P; an inspection unit 11 which inspects whether or not the medicament contained in each portion-packaging bag group P is packaged according to prescription by using the captured image of the portion-packaging bag group P; a motion detection sensor 5 which detects the motion of a surface of the conveyed portion-packaging bag group P; a slip determination unit 12 which determines whether or not the portion-packaging bag group P slips with respect to the conveyance device 2 on the basis of the motion of the surface of the portion-packaging bag group P detected by the motion detection sensor 5 during the conveyance operation of the conveyance device 2; and an output unit 14 which outputs the determination result of the slip determination unit 12.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an inspection device for packaged medicines, a control program for the inspection device, and an inspection method. [Background technology]

[0002] International Publication No. WO2012 / 147907 discloses a medicine inspection device. The medicine inspection device inspects the quantity and type of medicine to be inspected, which is supplied in a single dose packaged in a packaging paper, one package at a time. A continuous series of sachets, each containing a single dose of medicine, is supplied to the medicine inspection device. The medicine inspection device includes a conveying means for taking in and conveying the continuous series of sachets. A photographing means photographs a single packet of medicine placed on the conveying path of the conveying means. The type and quantity of medicine are identified from the image obtained by the photographing means. A verifying means compares the type and quantity of medicine with prescription data and verifies whether the type and quantity of medicine contained in the sachets are consistent with the prescription information. The conveying means is controlled to sequentially transport the continuous series of sachets downstream by an amount equivalent to one sachet. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. WO2012 / 147907 Summary of the Invention [Problem to be solved by the invention]

[0004] In an inspection device for packaged medicines, a series of multiple sachets are transported, and images of each sachet along the transport path are taken one by one. If a group of sachets slips during transport, preventing one sachet from being transported, it is expected that the same sachet will be photographed twice. In this case, the images of each sachet photographed after the slippage will be shifted from the original inspection target.

[0005] To avoid such a situation, the inventors considered adding a slip detection function to the inspection device. However, the packaging paper used in sachets is often transparent. It was found that it is difficult to detect the amount of movement of transparent packaging paper using a simple configuration.

[0006] Therefore, an object of the present invention is to provide an inspection device for packaged medicines that can detect slippage in a group of sachets with a simple configuration, a control program for the inspection device, and an inspection method. [Means for solving the problem]

[0007] An inspection device for packaged medicines in an embodiment of the present invention comprises a conveying device that conveys a group of sachets, which are multiple sachets containing medicine; a photographing device that photographs the group of sachets conveyed by the conveying device; an inspection unit that uses images of the group of sachets photographed by the photographing device to inspect whether the medicine contained in each of the group of sachets has been packaged according to prescription; a motion detection sensor that detects movement of the surface of the group of sachets conveyed by the conveying device; a slip determination unit that determines whether the group of sachets has slipped relative to the conveying device based on movement of the surface of the group of sachets detected by the motion detection sensor during the conveying operation of the conveying device; and an output unit that outputs the determination result of the slip determination unit. [Effects of the Invention]

[0008] According to the present disclosure, in an inspection device for packaged medicines, slippage of a group of packaged bags can be detected with a simple configuration. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 2 is a diagram illustrating an example of the configuration of an inspection device according to the present embodiment. [Figure 2] FIG. 10 is a diagram showing an example of a sachet group. [Figure 3] 2 is a perspective view showing an example of the configuration in the vicinity of a transport device of the inspection device shown in FIG. 1. FIG. [Figure 4]FIG. 2 is a diagram illustrating an example of the configuration of a motion detection sensor. [Figure 5] FIG. 10 is a diagram showing a modified example of the motion detection sensor. [Figure 6] FIG. 10 is a diagram showing another modified example of the motion detection sensor. [Figure 7] FIG. 10 is a diagram illustrating an example of a signal output from a motion detection sensor. [Figure 8] 2 is a flowchart showing an example of the operation of the inspection device shown in FIG. 1. [Figure 9] 9 is a flowchart showing a detailed example of processing for conveying one package in S4 of FIG. 8. [Figure 10] FIG. 10 is a diagram illustrating an example of an error message. [Figure 11] FIG. 1 is a diagram illustrating an example of the configuration of a medicine packaging system. [Figure 12] FIG. 2 is a diagram illustrating an example of the configuration of an inspection device according to the present embodiment. [Figure 13] 13 is a diagram showing an example of a screen that displays an image captured by the inspection device shown in FIG. 12. FIG. [Figure 14] FIG. 13 is a diagram showing an example of a screen for searching for images captured by the inspection device shown in FIG. 12. [Figure 15] FIG. 10 is a diagram showing another modified example of the inspection device in this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] The inventors have studied a simple configuration for detecting the amount of movement of a group of sachets being conveyed in an inspection device for packaged medicines. In their study, the inventors have noticed that the unevenness of the surface of the group of sachets changes slightly as they are conveyed. After extensive study, the inventors have come up with a configuration that detects slippage of the group of sachets by detecting this surface movement.

[0011] (Configuration 1) An inspection device for packaged medicines in an embodiment of the present invention comprises a conveying device that conveys a group of sachets, which are multiple sachets containing medicine; a photographing device that photographs the group of sachets conveyed by the conveying device; an inspection unit that uses images of the group of sachets photographed by the photographing device to inspect whether the medicine contained in each of the group of sachets has been packaged according to prescription; a motion detection sensor that detects movement of the surface of the group of sachets conveyed by the conveying device; a slip determination unit that determines whether the group of sachets has slipped relative to the conveying device based on movement of the surface of the group of sachets detected by the motion detection sensor during the conveying operation of the conveying device; and an output unit that outputs the determination result of the slip determination unit.

[0012] The inspection device of configuration 1 above inspects whether the medication in each sachet is as prescribed using images obtained by photographing the sachet group conveyed by the conveying device. In this configuration, a motion detection sensor is provided that detects movement of the surface of the sachet group conveyed by the conveying device. When the sachet group moves in the conveying direction, its surface changes slightly. Therefore, the slip determination unit can determine whether the sachet group is moving in accordance with the conveying operation based on movement of the surface of the sachet group detected when the conveying device is performing its conveying operation. The determination result of the slip determination unit is output by the output unit. In this way, slippage of the sachet group can be detected with a simple configuration consisting of a motion detection sensor, slip determination unit, and output unit.

[0013] (Configuration 2) In the above configuration 1, the motion detection sensor may be configured to detect movement of the surface of the sealed portion of the sachet bag group. Fine irregularities are formed on the surface of the sealed portion. The motion detection sensor detects the movement of the sealed portion, thereby detecting the movement of the fine irregularities. This allows the motion detection sensor to detect the movement of the sachet bag group with greater accuracy. As a result, slippage can be determined with greater accuracy.

[0014] The motion detection sensor may be arranged, for example, to detect the position through which the surface of the seal portion of a group of sachets conveyed by the conveying device passes. The motion detection sensor may be arranged at a position that detects a portion of the surface in the width direction of the group of sachets. In this case, it is preferable that the motion sensor be arranged at a position that detects the surface of the portion of the width direction of the group of sachets where the seal portion is located.

[0015] A sachet is formed by folding a sachet paper and heat-sealing a portion of the overlapping portion to form a bag. The heat-sealed portion of the sachet becomes the sealed portion. The surface of the sealed portion of the sachet has a number of uneven seal marks. The unevenness on the surface of the sealed portion may be, for example, a shape that is repeated periodically in the conveyance direction in one sachet. The sealed portion may be formed to extend in the direction in which the sachet groups are lined up (first direction).

[0016] (Configuration 3) In the above configuration 1 or 2, the conveying device may be configured to convey the group of sachets lined up in a first direction in the first direction. The motion detection sensor may be configured to detect the movement of a seal portion extending in the first direction in the group of sachets. This allows the motion detection sensor to detect the movement of the surface of the seal portion extending across multiple sachets in the conveying direction. This enables more accurate slip detection. The conveying device may have an acting part that comes into contact with the group of sachets and applies a force to the group of sachets to move them in the conveying direction, and a power source that operates the acting part. The acting part of the conveying device may be, for example, an endless track mechanism such as a belt or chain wrapped around a drive wheel and a driven wheel, or may be a rotating body such as a roller. The power source of the conveying device may be, for example, a motor.

[0017] (Configuration 4) In any of the above configurations 1 to 3, the motion detection sensor may be an optical sensor that irradiates the group of sachets with light and detects light that is transmitted through or reflected by the group of sachets. This makes it possible to realize a motion detection sensor with a simple configuration.

[0018] The optical sensor used in the motion detection sensor may have, for example, a light-emitting element that emits light toward the group of sachets and a light-receiving element that receives light that has passed through or been reflected by the group of sachets. The optical sensor can detect movement of the surface of the group of sachets based on at least one of the amount of light, angle, time, or image of the light received by the light-receiving element. As one example, the optical sensor may be configured to output an indication of whether the position of the surface of the group of sachets has changed based on the difference between the light irradiated onto the group of sachets and the light detected from the group of sachets.

[0019] The motion detection sensor may be a non-contact sensor that detects the movement of the surface of the sachets being transported by the transport device without contact. In this case, the motion detection sensor does not affect the transport of the sachets. The motion detection sensor may detect the movement of the surface of the sachets being transported by the transport device on the side of the imaging device, or may detect the movement of the surface of the sachets opposite the imaging device. The surface of the sachets is the outermost surface of the sachets.

[0020] The motion detection sensor may be configured to detect a change in the normal direction of the surface of the sachets being conveyed by the conveying device. For example, when the motion detection sensor detects a change in the normal direction of the surface of the sachets, the slip determination unit can determine that the sachets are being conveyed without slipping.

[0021] (Configuration 5) In any of the above configurations 1 to 4, the slip determination unit may determine whether the group of sachets has slipped relative to the conveying device each time the conveying device conveys the group of sachets by one packet. This makes it possible to detect slippage for each of the sachets in the group of sachets. In this case, if the slip detection unit determines that a certain packet has slipped during conveyance, the output unit may output information indicating that a slip has occurred before the next packet is conveyed. This may enable the inspection device to take appropriate action to address the slippage before the next packet is conveyed.

[0022] (Configuration 6) In any of the above configurations 1 to 5, the slip determination unit may determine whether the sachet group is slipping relative to the conveying device based on the amount of movement of the surface of the sachet group detected by a movement detection sensor relative to the amount of conveyance by the conveying device. This makes it possible to determine whether the sachet group is slipping based on the degree to which the sachet group moves in response to the conveying operation of the conveying device.

[0023] For example, the slip determination unit may determine slip based on the amount of movement of the surface of the sachets detected by the movement detection sensor during the period in which the conveying device conveys the sachets by a unit conveyance amount. In this case, the unit conveyance amount may be, for example, one packet (one bag) of the sachets to be inspected. This makes it possible to determine whether slip has occurred during the conveyance of one packet. The conveying operation may be, for example, the driving of a conveyance power source (e.g., a motor). The amount of movement of the surface of the sachets may be, for example, the time of movement, the distance moved, or any other physical quantity indicating the amount of movement.

[0024] The slip determination unit may determine the amount of slip of the sachet group. For example, the slip determination unit may determine the amount of slip based on the amount of movement of the surface of the sachet group detected by a movement detection sensor during the conveying operation of the conveying device. For example, the amount of slip may be determined to be the time during the conveying operation of the conveying device during which no movement of the surface of the sachet group is detected, i.e., the time during which the sachet group slipped.

[0025] For example, the conveying device may be capable of setting a conveyance amount for one packet. The slip determination unit may determine the slip by comparing a value indicating the movement of the surface of the sachet group detected by the motion detection sensor while the conveying device conveys one packet of the sachet group with a threshold value. The threshold value may be determined according to the conveyance amount for one packet. This allows an appropriate threshold value to be determined according to the length of one sachet in the conveyance direction. As a result, slip can be detected more accurately for one packet of the sachet group being conveyed.

[0026] (Configuration 7) In any of the above configurations 1 to 6, the detection position of the motion detection sensor may be located at least either upstream or downstream of the imaging position of the imaging device in the conveying direction of the conveying device. That is, the detection position of the motion detection sensor may be located at least either upstream or downstream of the imaging range of the imaging device in the conveying path of the conveying device. This allows for more accurate determination of slippage of the sachet group imaged by the imaging device. For example, the detection position of the motion detection sensor may be located either upstream or downstream of the imaging range, on the side where a member that transmits power from a power source of the conveying device to an operating part is located.

[0027] (Configuration 8) In any of the above configurations 1 to 7, the packaged medicine inspection device may further include a slip control unit that controls the transport device, the photographing device, and the inspection unit based on the determination result of the slip determination unit. This allows the inspection device to perform an operation corresponding to the slip when a slip is detected.

[0028] The slip control unit may stop the conveyance of the conveying device, the photographing of the photographing device, and the inspection of the inspection unit when the slip determination unit determines that the sachet group has slipped. This prevents the image of the inspection target from shifting due to the slip and provides time to respond to the slip. When the slip control unit performs the stop control, the slip control unit can accept an operation from the operator to respond to the slip. For example, the slip control unit may cause the output unit to output information prompting the operator to operate the inspection device to respond to the slip. In this case, the slip control unit may resume the conveyance, photographing, and inspection after the operator's operation.

[0029] When the slip determination unit determines that the sachet group has slipped, the slip control unit may stop conveyance by the conveying device, photography by the photography device, and inspection by the inspection unit, and may resume the above operations after conveying the sachet group by one package. This allows the sachet group to be advanced and then operation of the inspection device to be resumed if the sachet group cannot be advanced due to a slip. The operation of conveying the sachet group by one package by the conveying device may be performed in response to an operation by an operator.

[0030] The output unit may output information prompting an operator to cause the conveying device to convey one packet of the sachet group when the slip determination unit determines that the sachet group has slipped.

[0031] When the slip determination unit determines that the sachet group has slipped, the slip control unit may control the conveying device based on a conveying distance corresponding to the amount of slip determined by the slip determination unit. For example, the slip control unit may cause the sachet group to be conveyed by a conveying distance corresponding to the amount of slip. As one example, a conveying operation by the conveying device may be added for a period of time corresponding to the time when the slip was detected.

[0032] The photographing device may sequentially photograph each sachet of the group of sachets being conveyed. For example, the photographing device may have a photographing range that includes one sachet on the conveying path of the conveying device. The conveying device and the photographing device may be controlled so that one cycle of operation including the conveying device conveying one sachet of the group of sachets and placing the sachet in the photographing range and photographing the sachet placed in the photographing range is repeated multiple times. In this case, the one cycle of operation may further include an inspection operation by the inspection unit using the photographed image of the one sachet. If the slip control unit determines that a group of sachets has slipped during this one cycle of operation, it may temporarily suspend (suspend) the conveying by the conveying device, the photographing by the photographing device, and the inspection by the inspection unit during that cycle, and output slip information to the output unit. This creates an opportunity to address the slip within one cycle. As a result, one sachet worth of sachets can be reliably conveyed during each cycle of operation.

[0033] Alternatively, the photographing device may photograph a video of the sachet group being conveyed. In this case, the slippage control unit may stop photographing by the photographing device and inspection by the inspection unit when it is determined that the sachet group has slipped. Alternatively, the slippage control unit may cause the output unit to output slippage information without stopping the photographing and inspection operations.

[0034] (Configuration 9) In any of the above configurations 1 to 8, the inspection device may be configured to pull out the group of sachets discharged from the packaging machine from a holding device that takes in the group of sachets and holds them in a stack, and transport them by the transport device. The group of sachets pulled out from the holding device is transported by the transport device of the inspection device. This allows the group of sachets discharged from the packaging machine to be efficiently inspected.

[0035] The packaging machine packages medicines to form a group of sachets. The packaging machine seals medicines in each of the group of sachets based on, for example, prescription data. The packaging machine forms the sachets by sealing a portion of the folded portion of the packaging paper. The packaging machine discharges the group of sachets, which is a series of multiple sachets containing medicines. The packaging machine may be, for example, a tablet packaging machine.

[0036] The holding device may be, for example, a winding device that holds the group of sachets in a wound state. Note that the holding device is not limited to a configuration that winds up the group of sachets. For example, the holding device may be configured to hold the group of sachets in a folded state, or may be configured to hold the group using a dancer roller mechanism.

[0037] A medicine packaging system including a packaging machine, a holding device, and an inspection device is also included in an embodiment of the present invention. The inspection device may also include a holding device. Alternatively, the packet wrappers discharged from the packaging machine may be directly transported to the inspection device without passing through a holding device or the like. A medicine packaging device including a packaging machine and an inspection device is also included in an embodiment of the present invention. For example, the packaging machine and the inspection device may be configured in a single housing. This housing may house a packaging unit that packages medicines to form a group of packet bags, and the inspection device that receives the group of packet bags formed by the packaging unit and inspects the packaged medicines.

[0038] The inspection unit may have, for example, a drug determination unit that determines at least one of the number or type of drugs to be contained in each sachet using images of the group of sachets photographed by a photographing device, and a prescription determination unit that determines whether the drugs are packaged in each sachet as prescribed by comparing the number or type of drugs determined by the drug determination unit with prescription data.

[0039] The control program for the packaged medicine inspection device in an embodiment of the present invention causes a computer to perform the following processes: a process of causing a conveying device to convey a plurality of groups of sachets containing medicine; a process of causing a photographing device to photograph the groups of sachets conveyed by the conveying device; a process of using the images of the groups of sachets photographed by the photographing device to inspect whether the medicine contained in each of the groups of sachets has been packaged according to prescription; a process of acquiring detection results from a motion detection sensor that detects movement of the surface of the groups of sachets conveyed by the conveying device; a process of determining whether the groups of sachets have slipped relative to the conveying device based on the movement of the surface of the groups of sachets detected by the motion detection sensor during the conveying operation of the conveying device; and a process of outputting the result of the determination.

[0040] A method for inspecting packaged medicine in an embodiment of the present invention includes the steps of: a conveying device conveying a plurality of groups of sachets containing medicine; a photographing device photographing the groups of sachets conveyed by the conveying device; a computer inspecting, using the images of the groups of sachets photographed by the photographing device, whether the medicine contained in each of the groups of sachets has been packaged according to prescription; a motion detection sensor detecting movement of the surface of the groups of sachets conveyed by the conveying device; a computer determining whether the groups of sachets have slipped relative to the conveying device based on the movement of the surface of the groups of sachets detected by the motion detection sensor during the conveying operation of the conveying device; and a computer outputting the result of the determination.

[0041] In another embodiment of the present invention, an inspection device for packaged medicines includes: a conveying device that conveys a group of sachets, each of which is a plurality of sachets containing medicines; an imaging device that images the group of sachets transported by the transport device; an inspection unit that inspects whether the medicines contained in each of the sachets are packaged according to a prescription using the images of the sachets photographed by the photographing device; and an additional photographing device provided separately from the photographing device for photographing at least one sachet of the group of sachets. The image of the sachet photographed by the additional photographing device may be recorded in association with the photographing date and time. This inspection device may be combined with any of the above configurations 1 to 9.

[0042] The additional imaging device can re-photograph the inspected sachet and record the date and time of the photo. For example, if a sachet that was judged NG (not as prescribed) by the inspection department is repackaged with prescribed medication, the repackaged sachet (corrected sachet) can be photographed with the additional imaging device. This allows an evidence image showing that the medication was packaged as prescribed to be recorded along with date and time information.

[0043] The additionally photographed image of the sachet may be recorded in association with the inspection result of the inspection unit. For example, the additionally photographed image of the sachet may be recorded as a re-photographed image of a sachet that the inspection unit has determined does not contain the medication as prescribed. Furthermore, along with the display of the image of the sachet photographed by the additional photographing device, the date and time of the image may be displayed in association with the image.

[0044] The inspection device may search for and output the image of the sachet captured by the additional photographing device from among the images of the group of sachets captured by the photographing device and the images of the sachets captured by the additional photographing device in response to an instruction from an operator. This allows the operator to quickly access the image of the sachets captured by the additional photographing device.

[0045] The additional photographing device may be provided in a housing separate from the housing containing the conveying device and the photographing device. This allows re-photographing to be performed at a remote location away from the conveying device and the photographing device. The additional photographing device may be able to access a storage device that records the inspection results of the inspection unit. This allows the inspection results of the sachet by the inspection unit to be recorded in association with the image of the sachet re-photographed by the additional photographing device.

[0046] The image of the sachet captured by the additional image capture device may be a moving image. By capturing a moving image of the sachet with the additional image capture device, it becomes easier to identify areas of the sachet that have been corrected or areas that are difficult to identify in a still image. This improves the effectiveness of the captured image as evidence that the sachet has been corrected.

[0047] In another embodiment of the present invention, an inspection device for packaged medicines includes: a conveying device that conveys a group of sachets, each of which is a plurality of sachets containing medicines; an imaging device that images the group of sachets transported by the transport device; The device is equipped with an inspection unit that uses images of the sachet bags taken by the imaging device to inspect whether the drugs contained in each of the sachet bags are packaged according to prescription. The inspection device may further have a re-photographing unit that receives from an operator a designation of a corrected sachet from among the group of sachets that has been inspected by the inspection unit, transports the inspected group of sachets again using the transport device, and re-photographs the designated sachet using the photographing device. This allows the photograph of only the corrected sachet to be taken again by the photographing device. Note that this inspection device may be combined with any of the above configurations 1 to 9.

[0048] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0049] (Example of inspection device configuration) FIG. 1 is a diagram illustrating an example of the configuration of an inspection device 1. The inspection device 1 is a device that inspects each packet of medicine supplied in a state where each dose is individually packaged in a group of sachets. In the example shown in FIG. 1, the inspection device 1 includes a conveying device 2 that conveys a group of sachets P, a photographing device 18 that photographs the group of sachets P, lighting devices 20a and 20b that irradiate the group of sachets P with light, a leveling mechanism 26 that levels the medicine in the group of sachets P, a supply detection unit 24a that detects the supply of the group of sachets P, a discharge detection unit 24b that detects the discharge of the group of sachets P, a motion detection sensor 5 that detects movement of the surface of the group of sachets P, and a control device 10. The control device 10 includes an inspection unit 11, a slip determination unit 12, a slip control unit 13, and an output unit 14. The control device 10 is connected to a display 22a and an input device 22b. The input device 22b may be a touch panel built into the display 22a, or an external input device such as a keyboard or mouse, or may be an input device such as a button, switch, or lever provided on the inspection device 1.

[0050] FIG. 2 is a diagram showing an example of a sachet group P. The sachet group P is a continuous body of sachets formed such that a plurality of sachets p, each containing a single dose of medication, are connected in a first direction. In the example of FIG. 2, an information medium I is attached to the front of the sachet group P. In this way, a sachet p present at the front, rear, or other predetermined position can be treated as an empty sachet pe that does not contain any medication, and the information medium I can be attached to it. The information medium I may be a code such as a barcode, or may be printed with letters, symbols, or other information, or may be a data recording medium such as an IC chip. The information medium I contains, for example, information regarding the prescription of the medication packaged in the sachet group P. For example, the information medium I may display information such as the patient's name, drug name, dosage instructions, and prescription date, or information for accessing this information.

[0051] The sachet group P is formed by folding a strip of sachet paper approximately at the center in the width direction to form a sealed portion S. The surface of the sealed portion S has an uneven shape. The unevenness of the sealed portion S is an uneven shape with many dot-like sealing marks such as knurling marks made by a crimping device (not shown). The sealed portion S extends in the direction in which the sachet group P is arranged (i.e., the first direction L), and has a portion formed continuously across multiple sachet bags p, and a portion formed extending in the width direction W of the sachet group P between two adjacent sachet bags.

[0052] Referring to FIG. 1, the conveying device 2 includes a motor 2a, a drive wheel 2c driven by the motor 2a, a driven wheel 2d, and a belt 2b stretched over the drive wheel 2c and the driven wheel 2d. The belt 2b is an example of an acting portion that contacts the group of sachets P and applies a force to the group of sachets P in the conveying direction. In the example of FIG. 1, the conveying device 2 is a belt conveyor having an endless track. The configuration of the conveying device 2 is not limited to this and may be, for example, a roller conveyor or other conveyor. The conveying device 2 has nip rollers 3a-3h that press the group of sachets P against the acting portion (belt 2b). The group of sachets P is conveyed between the belt 2b and the nip rollers 3a-3h while receiving a force from the belt 2b and the nip rollers 3a-3h. The plurality of nip rollers 3a-3h are arranged side by side in the conveying direction. The most upstream nip roller 3a has a larger diameter than the other nip rollers 3b to 3h. The nip rollers 3a to 3h ensure that the group of sachets P has a gripping force against the action part (belt 2b) of the conveying device 2. This makes it less likely that the group of sachets P will slip relative to the conveying device 2.

[0053] 3 is a perspective view showing an example of the configuration of the vicinity of the conveying device 2 of the inspection device 1 shown in FIG. 3. In the example shown in FIG. 3, nip rollers 3a to 3h are arranged in a biased state so as to be pressed against the belt 2b. Each of the nip rollers 3a to 3h is attached to the inspection device 1 via an arm 31. The nip roller is rotatably attached to one end of the arm 31, and the other end of the arm 31 is rotatably attached to the inspection device 1.

[0054] In the example shown in FIG. 3, belt 2b and nip rollers 3a-3h are provided in an area corresponding to a portion of the seal portion S in the width direction of the group of sachets P extending in the conveying direction. As a result, the seal portion S of the group of sachets P being conveyed is positioned between belt 2b and nip rollers 3a-3h. The medicine in the group of sachets P is not sandwiched between belt 2b and nip rollers 3a-3h. A guide 27 and a stage 25 are provided next to belt 2b, aligned in the conveying direction. The group of sachets P is conveyed while placed on the surfaces of guide 27 and stage 25. In the example of FIG. 3, belt 2b, guide 27, and stage 25 form a conveying path for the group of sachets P.

[0055] The stage 25 is provided within the imaging range of the imaging device 18. A backlight 20b, which serves as a backlighting device, is provided below the stage 25, i.e., on the opposite side to the surface on which the sachet group P is placed. The stage 25 is made of a material that transmits light from the backlight 20b. The conveying device 2 conveys the sachet group P so that one entire sachet can be placed on the stage 25.

[0056] As shown in FIG. 1, the lighting device 20a illuminates the group of sachets P that is within the imaging range of the imaging device 18. The lighting device 20a is on the same side as the imaging device 18 with respect to the transport path of the group of sachets P. In other words, the lighting device 20a is disposed above the stage 25, similar to the imaging device 18. The lighting device 20a includes a plurality of light-emitting units 20a1. The plurality of light-emitting units 20a1 may be arranged, for example, in a ring shape. The light-emitting units 20a1 may use, for example, light-emitting diodes as their light sources.

[0057] In the example of Fig. 3, a leveling mechanism 26 that levels out the medicines contained in the sachets is provided in the transport path upstream of the imaging range of the imaging device 18. The leveling mechanism 26 includes a pin member that is movable in a direction intersecting the transport surface of the guide 27 that receives the sachets P, and an actuator (e.g., a motor) that moves the pin member. The actuator may vibrate the pin member in a direction intersecting the transport surface.

[0058] In the example of Figure 3, a first restricting member 23a that restricts movement in a direction perpendicular to the surface of the sachet group P is provided in the conveying path upstream of stage 25. A second restricting member 23b that restricts movement in a direction perpendicular to the surface of the sachet group P is provided in the conveying path downstream of stage 25. First restricting member 23a and second restricting member 23b include contact members that can swing around an axis extending in the width direction of the conveyed sachet group P within a range that makes contact with the sachet group P. First restricting member 23a and second restricting member 23b are positioned to press the portion of the sachet group P in which the medicine is enclosed, i.e., the portion other than the seal portion S.

[0059] Referring to FIG. 1, the control device 10 controls the conveying device 2, the lighting devices 20a and 20b, the photographing device 18, and the leveling mechanism 26. The control device 10 acquires detection results from the supply detection unit 24a, the discharge detection unit 24b, and the motion detection sensor 5. Based on these detection results, the control device 10 controls the conveying device 2, the lighting devices 20a and 20b, the photographing device 18, and the leveling mechanism 26. The inspection unit 11 of the control device 10 inspects the drugs in each sachet of the group of sachets P in coordination with the operations of the conveying device 2, the lighting devices 20a and 20b, and the photographing device 18. In the inspection process, the inspection unit 11 uses prescription data including prescription information for the drugs contained in the group of sachets P. The inspection unit 11 is configured to be able to access a recording device on which the prescription data is recorded. For example, the inspection unit 11 may access the prescription data using information on an information medium I attached to the group of sachets P. The information on the information medium I may be acquired by the inspection unit 11 from an image of the information medium I captured by the photographing device 18, or may be acquired by a reader (such as a barcode reader or an IC tag reader) provided in the inspection device 1 for reading information on the information medium I.

[0060] The motion detection sensor 5 detects the motion of the surface of the sachet group P conveyed by the conveying device 2. The slip determination unit 12 determines whether the sachet group P has slipped based on the operation of the conveying device 2 and the detection results of the motion detection sensor 5. When the slip determination unit 12 determines that a slip has occurred, the slip control unit 13 causes the inspection unit 11 to execute predetermined slip control on the conveying device 2 and the photographing device 18. When the slip determination unit 12 determines that a slip has occurred, the output unit 14 outputs information related to the slip to the display 22a.

[0061] In the example shown in FIG. 1 , the conveying device 2 is provided with nip rollers 3a-3h that press the sachet group P against the belt 2b, which serves as the operating section, to prevent slippage. The inventors discovered that by weakening the force pressing the sachet group P against the belt 2b, the sachet group P is less likely to get stuck. Weakening the force pressing the sachet group P against the belt 2b makes the sachet group P more likely to slip. If a sachet group slips, the inspection device will inspect the same sachet group multiple times. As a result, the sachet group being inspected may become misaligned after the slip occurs. In this case, the inspection of that sachet group must be redone. Therefore, the inventors considered adding a function to detect slippage of the sachet group. However, adding a slip detection function would complicate the inspection device and increase manufacturing costs. Therefore, the inventors considered a simple configuration that would enable the inspection device to detect slippage of the sachet group. The inventors noticed that the unevenness of the surface of a sachet bag that is being conveyed without slipping changes slightly. After careful consideration, they came up with a configuration that detects the movement of the surface of a sachet bag that is being conveyed by a conveying device and determines whether or not it has slipped based on the detection results. This made it possible to detect slippage of a sachet bag in an inspection device with a simple configuration.

[0062] The control device 10 is composed of one or more computers. For example, the control of the transport device 2 and the photographing device 18, as well as the processing of the inspection unit 11, slip determination unit 12, slip time control unit 13, and output unit 14, can be realized by a processor of the computer executing a program in memory. Such programs and non-transitory recording media on which they are recorded are also included in embodiments of the present invention. At least some of these processes may also be executed by a dedicated circuit. The computer may be built into a housing that houses the transport device 2, or may be a computer outside the housing that can communicate with each unit of the inspection device 1. For example, at least some of the functions of the control device 10 can be realized by a general-purpose computer such as a PC.

[0063] (Example of a motion detection sensor) In the examples shown in FIGS. 1 and 3 , the motion detection sensor 5, which detects movement of the surface of the sachet group P, is positioned so as to detect the sachet group P downstream of the imaging range of the imaging device 18. This allows for slippage to be detected even when the sachet group P is stacked downstream of the conveying path but is still moving upstream in accordance with the movement of the conveying device 2. Furthermore, by providing the motion detection sensor 5 downstream, the degree of freedom in arranging components for applying vibrations to the sachet group P or restricting displacement in the surface direction can be increased upstream of the imaging range. The motion detection sensor 5 may also be positioned so as to detect the sachet group P upstream of the imaging range. In this case, slippage can be detected, for example, when the sachet group P is stacked upstream but is moving downstream in accordance with the movement of the conveying device 2. Furthermore, the motion detection sensor 5 may be positioned so as to detect the sachet group P both upstream and downstream of the imaging range. In the example of FIG. 3 , the motion detection sensor 5 is positioned upstream or downstream of the imaging range, on the side where the drive wheel 2c is located. The drive wheel 2c is an example of a member that transmits power from the motor 2a to an operating part.

[0064] In the example shown in FIG. 3, the motion detection sensor 5 is positioned to detect movement of the seal portion S of the sachet group P. For example, the motion detection sensor 5 is positioned so as to detect movement of the surface of the sachet group P at the position of line SL shown in FIG. 2. In this case, the motion detection sensor 5 detects movement of the surface of the seal portion S that extends continuously in the conveying direction of the sachet group P, i.e., the first direction L. This makes it possible to detect movement of the sachet group P in the conveying direction with greater accuracy. However, the position of the motion detection sensor 5 is not limited to this example. For example, the motion detection sensor 5 may detect movement of a surface other than the seal portion S of the sachet group P.

[0065] In the example shown in Figure 3, the motion detection sensor 5 is disposed so as to detect the group of sachets P at a position overlapping the belt 2b (action portion) when viewed from a direction perpendicular to the conveying surface of the conveying path that receives the group of sachets P. This makes it easier to detect the movement of the group of sachets P in the conveying direction. In the example of Figure 3, the detection position of the motion detection sensor 5 is the group of sachets P2 between the most downstream nip roller 3h and the second most downstream nip roller 3f. In this way, the detection position of the motion detection sensor 5 may be between the nip rollers 3h, or may be downstream or upstream of multiple nip rollers 3a to 3h.

[0066] FIG. 4 is a diagram showing an example configuration of the motion detection sensor 5. In the example of FIG. 4, the motion detection sensor 5 includes a sensor housing 50, a detection circuit 51 provided in the sensor housing 50, a light-emitting element 52, a light-receiving element 53, a fiber 54, and a head 55 at the tip of the fiber. The fiber 54 is connected to the light-emitting element 52 and the light-receiving element 53. The fiber 54 is an optical fiber. Light from the light-emitting element 52 passes through the fiber 54 and is emitted from the head 55 toward the detection target position. The head 55 is positioned so that the fiber light is emitted toward the position through which the detection target, the group of sachets P, passes. The head 55 also receives light reflected from the group of sachets P. The light received by the head 55 is guided through the fiber 54 to the light-receiving element 53. The detection circuit 51 outputs a signal indicating the detection result in accordance with the light received by the light-receiving element 53. For example, the detection circuit 51 may output a signal indicating whether the group of sachets P is moving. The detection circuit 51 is connected to the control device 10. The signal from the detection circuit 51 is processed by the control device 10. The example in Fig. 4 is an example of a reflective photoelectric sensor that irradiates a detection object with light and detects reflected light from the detection object. The fiber may be, for example, a parallel type, a coaxial type, or a split type.

[0067] FIG. 5 is a diagram showing a modified example of motion detection sensor 5. FIG. 5 shows an example of a transmission-type photoelectric sensor. In the example shown in FIG. 5, light emitted from head 55a at the tip of fiber 54a connected to light-emitting element 52 is received by head 55b at the tip of fiber 54b connected to light-receiving element 53. Light-emitting head 55a and light-receiving head 55b are positioned so that group of sachets P passes between these heads. In other words, the optical axis between light-emitting head 55a and light-receiving head 55b is interrupted by group of sachets P being conveyed.

[0068] 4 and 5 show examples of a fiber sensor configured by connecting fibers to a light-emitting element 52 and a light-receiving element 53, and arranging the fiber tips in a position to detect the group of sachets P being conveyed. Using a fiber sensor as the motion detection sensor 5 makes it possible to detect slippage with a simpler configuration. In addition, the degree of freedom in the mounting position of the motion detection sensor 5 is increased.

[0069] Fig. 6 is a diagram showing another modified example of the motion detection sensor 5. As shown in Fig. 6, a configuration may be adopted in which light is directly projected onto and light is directly received from the group of sachets P without fibers being connected to the light projecting element 52 and the light receiving element 53. In this case, the sensor housing 50 is placed in a position where the group of sachets P can be detected by the light projecting element 52 and the light receiving element 53.

[0070] 4 to 6, the light-emitting element 52, the light-receiving element 53, and the detection circuit 51 are housed in one housing, but at least one of these may be housed in a different housing. Furthermore, the light-emitting element 52 may emit light such as visible light or infrared light. The light-emitting element 52 may also be configured to emit laser light.

[0071] The detection circuit 51 can output a signal corresponding to the amount of light received by the light-receiving element 53. The detection circuit 51 may, for example, include a circuit that converts the light detected by the light-receiving element 53 into an electrical signal. The detection circuit 51 may also have an amplifier function. When the group of sachets P, to which the light-emitting element 52 emits light, moves, the amount of light reflected or transmitted by the group of sachets P changes. In other words, the light detected by the light-receiving element 53 changes. In particular, when the surface of the group of sachets P is uneven, the period of change in the amount of reflected or transmitted light tends to become shorter. The detection circuit 51 can output a signal reflecting the change in the light detected by the light-receiving element 53. The detection circuit 51 may output a waveform signal indicating the change in the amount of received light, or a signal obtained by processing this waveform signal. This allows the control device 10 to determine whether there is movement on the surface of the group of sachets P based on the output signal from the detection circuit 51.

[0072] As an example, the detection circuit 51 may output a signal of different levels when there is a change in the amount of received light and when there is no change. For example, if the seal portion S of the sachet group P has small irregularities, the period of change in the amount of received light may be short, and the range of increase / decrease switching of the signal indicating the change in the amount of received light may be small. In such a case, delay filtering can be applied to the signal indicating the change in the amount of received light. This allows the detection circuit 51 to output a signal of a substantially constant level during a period when there is a change in the amount of received light.

[0073] It should be noted that the mode of sensing based on the detection of the light receiving element 53 is not limited to that based on the amount of received light described above. The movement detection sensor 5 may, for example, detect the angle of the received light. When the distance between the surface of the sachet group P and the light receiving element 53 changes, the angle of the laser received by the light receiving element 53 also changes. The change in the angle of received light can detect a change in the distance between the surface of the sachet group P and the light receiving element 53, and as a result, movement of the surface can be detected. In this case, for example, the light emitting element 52 may be configured to emit a laser, and the light receiving element 53 may be configured to detect the angle of the laser received by a CMOS sensor.

[0074] Alternatively, the motion detection sensor 5 may detect a change in the distance to the surface of the group of sachets P based on a change in the time it takes for the laser light emitted by the light-emitting element 52 to be reflected by the surface of the group of sachets P and reach the light-receiving element 53. As another example, the motion detection sensor 5 may be configured to detect movement of the surface of the group of sachets P based on a change in the image of the light detected by the light-receiving element 53.

[0075] The motion detection sensor 5 is not limited to an optical sensor including the above-mentioned photoelectric sensor, but may be, for example, a non-contact sensor such as an ultrasonic sensor, or a contact sensor.

[0076] FIG. 7 is a diagram showing an example of a signal output from the motion detection sensor 5. In FIG. 7, the vertical axis represents the signal level, and the horizontal axis represents time t. Line S shows the output waveform of the motion detection sensor 5. In the example of FIG. 7, the motion detection sensor 5 outputs a signal at Soff level when no motion is detected on the surface of the group of sachets P, and outputs a signal at Son level when motion is detected. Line M shows the waveform of a signal indicating the operation of the motor 2a of the conveying device 2. When the motor 2a is driving, i.e., when a conveying operation is being performed, the motor operation waveform signal is at Mon level, and when the motor 2a is not driving, the motor operation waveform signal is at Moff level.

[0077] (Example of slip detection section) The control device 10 receives a signal indicating the operation of the motor and a signal from the motion detection sensor 5. Based on these signals, the slip determination unit 12 can determine whether the sachet group P is slipping relative to the conveyor device 2. The slip determination unit 12 determines whether or not there is a slip based on, for example, the amount of movement of the sachet group P detected by the motion detection sensor 5 while the motor 2a is driving. As an example, in the case of the signal waveform shown in FIG. 7, if the time T2 at which movement of the sachet group P is detected during the period T1 of the signal Mon of the motor 2a is equal to or greater than a threshold value, the slip determination unit 12 determines that there is no slip, and if it is below the threshold value, it determines that there is a slip.

[0078] The drive period T1 of the motor 2a shown in Figure 7 can be, for example, the time required to advance the group of sachets P by one packet (i.e., the transport amount of one packet). The drive period T1 may be set according to the length of one packet in the group of sachets P in the transport direction. This setting may be performed by the control device 10, for example, based on input by the operator via the input device 22b. In this way, the transport amount of one packet is appropriately set according to the length of one sachet to be inspected.

[0079] The slip determination unit 12 samples the signal from the motion detection sensor 5 at a predetermined cycle during the drive period T1 of the motor 2a. The sampling cycle is preferably set sufficiently short relative to the drive period T1. For example, sampling can be performed at the timing indicated by the arrow smp in FIG. 7. The slip determination unit 12 may determine whether or not a slip has occurred by, for example, comparing the number of values ​​with a level Son among the multiple values ​​sampled during the drive period T1 with a threshold value. Alternatively, the slip determination unit 12 may determine whether or not a slip has occurred based on whether or not the proportion of the multiple sampled values ​​with a level Son or higher is equal to or greater than a threshold value. Here, the threshold value may be variable depending on the conveyance amount of one packet. The slip determination unit 12 can perform slip determination using a threshold value corresponding to a set conveyance amount of one packet.

[0080] The processing of the slip determination unit 12 is not limited to the above example. For example, the slip determination unit 12 may use a timer to measure the length of the period T2 during which the signal from the motion detection sensor 5 is Von during the driving period T1 of the motor 2a. In this case, slip may be determined based on whether the ratio T2 / T1 of the two periods satisfies a predetermined condition. As an example, the slip determination unit 12 may determine that no slip has occurred if T2 / T1 > slip determination reference value K1.

[0081] Furthermore, the slip determination unit 12 may determine the amount of slip based on the detection result of the motion detection sensor 5. For example, the slip amount relative to the transport amount of the transport device 2 may be calculated as (T1-T2) / T1, which is the ratio of the time during which the surface is not moving during the transport operation time.

[0082] (Example of inspection device operation) Fig. 8 is a flowchart showing an example of the operation of the inspection device 1 shown in Fig. 1. In the example of Fig. 8, when the supply detection unit 24a detects that a group of sachets P has been supplied upstream of the conveying path (YES in S1), a reader provided upstream of the conveying path near the detection target area of ​​the supply detection unit 24a reads information from an information medium I (e.g., a barcode or two-dimensional code) attached to the tip of the group of sachets P (S2). Based on the read information, the control device 10 obtains prescription data for the drugs packaged in the group of sachets P (S3). The information on the information medium I may be, for example, information for accessing prescription data recorded in an external recording device.

[0083] The control device 10 controls the conveying device 2 to move the group of sachets P downstream by one package, and place one package of sachets p within the photographing range (S4). Here, the control device 10 may control the conveying device 2 based on the image from the photographing device 18, and position one package of sachets p so that it is entirely within the photographing range. Alternatively, the control device 10 may execute the positioning process only the first time, and thereafter control the conveying device 2 to sequentially transfer an amount equivalent to one package of sachets p downstream each time the photographing and inspection operations are completed.

[0084] When one sachet p reaches the photographing range, for example, on the stage 25, the control device 10 causes the photographing device 18 to photograph the sachet p (S5). As a result, the photographing device 18 photographs the sachet p and the medicine contained therein, and stores these images in the inspection device 1.

[0085] The control device 10 can control the lighting devices 20a and 20b when photographing by the photographing device 18 to irradiate light onto the sachet p. For example, the control device 10 can obtain an image of the medicine inside the sachet p (frontal illumination image) by turning on the lighting device 20a and causing the photographing device 18 to photograph. The control device 10 can also obtain an image (backlight image) showing the silhouette of the medicine inside the sachet p on the stage 25 by turning off the lighting device 20a and turning on the backlight 20b to cause the photographing device 18 to photograph.

[0086] The inspection unit 11 performs at least one of identifying the type of medicine and counting the medicines based on the image captured by the photographing device 18 (S6). The image captured by the photographing device 18 at the time when the sachet p is transported to the stage 25 is used by the inspection unit 11 to identify the type of medicine and count the medicines.

[0087] The inspection unit 11 can identify the type of medication from the image acquired by the photographing device 18 using various methods. For example, the size and shape of the medication can be determined by identifying the outer edge shape of the medication contained in the image acquired by the photographing device 18. Furthermore, the color of the medication can be identified based on color information of the area corresponding to the medication in the photographed image. The inspection unit 11 can identify the type of medication to be inspected based on a database prepared in advance that records medication characteristics such as type, shape, size, and color. Alternatively, the inspection unit 11 can identify the type of medication from the image using trained model data obtained by machine learning such as deep learning. Furthermore, the inspection unit 11 can also identify the type of medication based on information engraved or printed on the surface of the medication.

[0088] The inspection unit 11 can identify the quantity of medications from the image acquired by the photographing device 18 using various methods. For example, the quantity of medications can be determined by identifying the outer edges of medications contained in the image acquired by the photographing device 8 and counting the number of areas surrounded by the outer edges. It is also possible to count the quantity of each type of medication by checking how many medications of similar size and shape are contained in the photographed image. Alternatively, the quantity of medications can be identified from the image using trained model data obtained by machine learning such as deep learning.

[0089] The inspection unit 11 compares the information regarding the type or quantity of the medicine specified in S6 with the prescription data acquired in S3, and determines whether the type or quantity of the medicine contained in the sachet p is as prescribed (S7). In this way, it is inspected whether the medicine in the sachet p is packaged as prescribed.

[0090] The output unit 14 outputs information indicating the inspection results of the inspection unit 11 to an output device such as the display 22a (S8). For example, an image of the sachet p to be inspected and the inspection results may be displayed simultaneously. Furthermore, information based on the prescription data may be displayed, such as patient identification information such as the patient's name and ID number, the number of packets, the number of days the prescribed drug is to be taken, and the number of doses. In addition to displaying the inspection results, the control device 10 may also accept input for correcting the inspection results via the input device 22b.

[0091] The above operations of S4 to S8 are repeatedly executed until the discharge detection unit 24b provided at the downstream end of the conveying path detects that the end of the group of sachets P has been discharged (YES in S9). As a result, one packet is fed, photographed, and inspected for each sachet p in the group of sachets P. If YES in S9, the control device 10 ends the processing of the conveying device 2, photographing device 18, lighting devices 20a, 20b, and inspection unit 11.

[0092] (Example of one packet feeding operation including slip detection) Fig. 9 is a flowchart showing a detailed processing example of the one-packet feeding conveyance in S4 in Fig. 8. In the example shown in Fig. 9, the control device 10 causes the conveying device 2 to move the group of sachets P downstream by one package (S21). In S21, the conveying device 2 continuously drives the motor 2a for a time equivalent to the conveyance amount of one package.

[0093] The slip determination unit 12 determines whether or not movement of the sachet group P corresponding to the conveyance amount has been detected during the conveying operation in S21 (S22). Specifically, the slip determination unit 12 acquires a signal from the motion detection sensor 5 while the motor 2a is driving. Based on the acquired signal, the slip determination unit 12 identifies the degree of movement of the surface of the sachet group P during the conveying operation of the conveying device 2 for one package. Based on the degree of movement, it is determined whether movement of the sachet group P corresponding to the conveyance amount has been detected.

[0094] If the answer is YES in S22, the slip determination unit 12 determines that there is no slip of the sachet group P. The single packet feeding operation ends. If the answer is NO in S22, the slip determination unit 12 determines that there is a slip of the sachet group P. In this case, the output unit 14 outputs an error message indicating that the sachet group P has slipped to the display 22a (S23). The error message may include information prompting the operator to input an operation to address the slip.

[0095] Fig. 10 is a diagram showing an example of an error message. In the example of Fig. 10, the error message is displayed superimposed on a screen displaying the inspection results. In this example, a message is displayed instructing the operator to operate a feed key to feed out one packet of sachets. The feed key may be, for example, input device 22b (see Fig. 1), such as a lever or button, that controls the conveying operation of sachets P by conveying device 2. The operator can operate input device 22b while visually checking the group of sachets P on the conveying path, thereby causing conveying device 2 to feed out one packet of group of sachets P.

[0096] In S24 of Fig. 9, in response to the error message, the operator inputs an operation to feed one packet of the group of sachets P. When this operation is performed, the one-packet feeding process of S4 of Fig. 8 ends.

[0097] In S24, the slip control unit 13 waits without proceeding with the processing until a predetermined operation is input. During the wait, the operation of the inspection device 1 is temporarily stopped (put on hold). Therefore, in the operation example shown in FIG. 9, when a slip in the group of sachets P is detected, none of the operations of conveying by the conveying device 2, photographing by the photographing device 189, and inspection by the inspection unit 11 (S5 to S7 in FIG. 8) are performed until an operation corresponding to the slip is input by the operator. As a result, the inspection device 1 can temporarily suspend conveying, photographing, and inspection when a slip occurs, and then resume these operations after performing an operation to deal with the slip. Therefore, time is secured for the operation to deal with the slip.

[0098] Furthermore, by executing the process shown in Fig. 9, for example, in the example of Fig. 8, the transportation of one packet of sachet group P in S4 can be more reliably carried out before the photographing (S5) and inspection (S6, S7) processes are carried out. Furthermore, by executing the process of Fig. 9 in S4, in the example of Fig. 8, each time one packet of sachet group P is transported, slip determination unit 12 determines whether or not the sachet group P has slipped.

[0099] 9 (outputting an error) and S24 (temporarily pausing the photographing and inspection process until an operation input is received). For example, the slip control unit 13 may cause the conveying device 2 to feed and convey the group of sachets P by one package without receiving any operation input from the operator, or may cause the conveying device 2 to feed and convey the group of sachets P by one package if no operation input is received for a certain period of time. Alternatively, when a slip is detected by the slip determination unit 12, the output unit 14 may be caused to output information informing the user of the slip while continuing the photographing and inspection process.

[0100] (System configuration example) FIG. 11 is a diagram showing an example configuration of a medicine packaging system including a packaging machine, a holding device, and an inspection device. The packaging machine 100 packages medicines and discharges a group of sachet bags P. The holding device 150 takes in the group of sachet bags P discharged from the packaging machine 100 and holds them in a stack. The inspection device 1 takes in the group of sachet bags P pulled out from the holding device 150 and inspects the medicines in the group of sachet bags P. The packaging machine 100, the holding device 150, and the inspection device 1 may be arranged side by side. The holding device 150 may have wheels. In this case, the holding device 150 can be pushed and moved by a person. Therefore, the packaging machine 100 and the inspection device 1 may be arranged in separate locations.

[0101] The packaging machine 100 extracts single doses of medicine from a plurality of types of medicine (solid medicine, i.e., tablets, in this example) stored in advance based on prescription data and packages them into individual sachets. The packaging machine 100 includes a plurality of feeders 46 that store and supply medicine, hoppers 40, 42, and 62, a medicine preparation unit 60 that stores one packet of medicine, and a packaging unit 80. The packaging machine 100 also includes a manual distribution tray 38 that receives manually distributed medicine, and a hopper 44 that guides the medicine from the manual distribution tray 38 to the medicine preparation unit 60.

[0102] The feeder 46 has a cassette that stores medicines and a chute that discharges a controlled number of medicines from the cassette. Multiple types of medicines are stored in the multiple feeders 46, respectively. Based on prescription data, one packet of medicines is supplied from the feeder 46 to the hopper 40. The hopper 40 stores one packet of medicines. The medicines are supplied to the medicine preparation unit 60 via the hopper 42, one packet at a time. The manual distribution tray 38 has multiple square-shaped recesses into which medicines are spread one packet at a time. The medicines are supplied from the manual distribution tray 38 to the medicine preparation unit 60 via the hopper 44, one packet at a time. The medicines held in the medicine preparation unit 60 are supplied to the packaging unit 80 via the hopper 62, one packet at a time.

[0103] The packaging section 80 forms each sachet by folding a strip of packaging paper and sealing part of the overlapping portion, and packages each dose of medicine supplied from the medicine preparation section 60 into a sachet.

[0104] Packaging unit 80 includes a roll setting unit 81 that sets rolled packaging paper, a sealing unit 82 that seals the folded packaging paper, and a printing unit 83 that prints on the packaging paper. Packaging unit 80 places one packet of medicine supplied from hopper 62 in the valley-shaped portion of the packaging paper that has been pulled out from roll setting unit 81 and folded in half. Sealing unit 82 seals the portion of the packaging paper with the medicine placed therein, thereby forming a sachet bag containing the medicine. Sealing unit 82 heats and welds a portion of the folded packaging paper. Sealing unit 82 can be, for example, a heat roller type that passes the packaging paper between a pair of heat rollers to weld it, or a pack type that presses a heat mold against the packaging paper to weld it. A band-like group P of many consecutive sachets containing medicine is sent out of packaging machine 100.

[0105] The holding device 150 winds up and holds the group of sachets P discharged from the packaging machine 100. The holding device 150 can also pay out the group of sachets P that it holds. The holding device 150 is a winding and paying-out device. The holding device 150 has a support part 152 and a holder 154 rotatably attached to the support part 152. The holder 154 has a tubular part 154b attached to a rotating shaft 152a supported by the support part 152, and a pair of plate-shaped flanges 154c extending radially from both axial ends of the tubular part 154b. The group of sachets P is held between the pair of flanges 154c in a state where it is wound around the tubular part 154b. The holder 154 may be detachable from the rotating shaft 154a.

[0106] Holding device 150 may include an actuator (not shown) that rotates holder 154. The actuator rotates holder 154, thereby controlling the winding and unwinding of sachet groups P. Holding device 150 includes a first sensor 160 and a second sensor 158 that are aligned radially around holder 154. The sachet groups P pass between first sensor 160 and second sensor 158. First sensor 160 measures the distance to the sachet groups P wound around holder 154. As the number of sachet groups P wound around holder 154 increases, the radial stacking amount of sachet groups P increases, and the distance between first sensor 160 and the sachet groups P decreases. Second sensor 158 measures the distance to the hanging sachet groups P below the path of the sachet groups P introduced from packaging machine 100 into holder 154. For example, if the packaging speed of the packaging machine 100 is too fast compared to the winding speed of the holder 154, the group of sachets P introduced from the packaging machine 100 into the holder 154 will bend downward. The presence or absence of sagging (drooping) of the group of sachets P can be determined based on the distance measured by the second sensor 158. The rotation of the holder 154 by the actuator is controlled based on the distance measured by these sensors. For example, if the distance measured by the first sensor 160 is equal to or less than a predetermined value, it can be determined that the wound amount of the group of sachets P has reached the maximum capacity of the holder 154, and the winding operation of the holder 154 can be terminated. Alternatively, if it is determined that the group of sachets P is sagging based on the distance measured by the second sensor 158, the winding speed of the holder 154 can be increased or an error can be output. This allows the winding and unwinding operations of the group of sachets P to be performed with appropriate tension acting on the group of sachets P.

[0107] The inspection device 1 can be configured in the same manner as the inspection device 1 shown in Fig. 1 above. The conveying device 2 of the inspection device 1 conveys the group of sachets P pulled out from the holding device 150. The holding device 150 can operate in conjunction with the inspection device 1.

[0108] The control device 10 can control the conveyance of the conveying device 2 to be coordinated with the rotation of the holder 154 of the holding device 150. For example, when the conveying device 2 is performing the conveying operation of the group of sachets P, the holder 154 of the holding device 150 may be controlled to rotate in the direction in which the group of sachets P is fed out. The control device 10 may be configured to control an actuator that rotates the holder 154.

[0109] Furthermore, the slip time control unit 13 of the inspection device 1 may control the holding device 150 in accordance with the determination result of the slip determination unit 12. This enables the holding device 150 to perform an appropriate operation to dispense the group of sachets P in response to the slip. For example, if the slip determination unit 12 determines that the group of sachets P has slipped, the slip time control unit 13 may cause the holding device 150 to stop the operation to dispense the group of sachets P. After the dispense operation has stopped, the slip time control unit 13 may cause the holding device 150 to resume the dispense operation if an operation corresponding to the slip is performed in the inspection device 1. Alternatively, the slip time control unit 13 may control the dispense speed of the holding device 150 based on the determination result of the slip determination unit 12.

[0110] The holding device 150 may operate in cooperation with the packaging machine 100. For example, when the packaging section 80 of the packaging machine 100 discharges a group of packet bags P, the holding device 150 can perform a winding operation under the control of the packaging machine 100.

[0111] 11, the inspection device 1, the holding device 150, and the packaging machine 100 are each configured as independent housings. At least two of these may be combined into a single device. For example, the holding device 150 may be attached to the inspection device 1 or the packaging machine 100.

[0112] (Modification of inspection device) FIG. 12 is a diagram showing a modified example of an inspection device. The inspection device 1 shown in FIGS. 12(a) and (b) includes a conveying device 2, a photographing device 18, an additional photographing device 19, and a control device 10. The conveying device 2, the photographing device 18, and the control device 10 may be configured in the same manner as the conveying device 2, the photographing device 18, and the control device 10 of the inspection device 1 shown in FIG. 1 above. The control device 10 has an inspection unit. The inspection unit may be configured in the same manner as the inspection unit 11 of FIG. 1. The additional photographing device 19 photographs at least one sachet from the group of sachets placed on the additional photographing table 191. The additional photographing table 191 is configured to support the group of sachets P at a position away from the conveying path of the conveying device 2 and within the range of the additional photographing device 19. The additional photographing table 191 is capable of placing at least one sachet. This allows the operator to quickly place any sachet from the group of sachets P on the additional photographing stand 191 so that it can be photographed by the additional photographing device 19, without having to pass the group of sachets P through the conveying path of the conveying device 2. In the example of Fig. 12, the additional photographing stand 191 and the additional photographing device 19 are provided outside the housing that houses the conveying device 2 and the photographing device 18. In this way, the additional photographing device 19 may be an external camera.

[0113] Fig. 12(a) shows an example of a group of sachets P being transported on the transport path of the transport device 2, and Fig. 12(b) shows an example of a group of sachets P being placed on the additional photography stand 191. The operator can place the group of sachets P on the additional photography stand 191 so that any sachets among the group of sachets P that the operator wishes to rephotograph (for example, sachets marked with an inspection result of NG or sachets that have been corrected) are within the photography range of the additional photography device 19.

[0114] The additional photographing device 19 is provided, for example, to photograph at least one of the inspected group of sachets P inspected by the inspection device 1. The inspected group of sachets P may include sachets that have been determined by the inspection unit to be NG (the medication contained therein is not as prescribed). The inspection device 1 outputs information indicating the NG sachets. Based on this information, the pharmacist replaces the sachets determined to be NG with medication as prescribed. That is, the pharmacist corrects the sachets by at least one of filling the sachets with the correct medication as prescribed or removing the incorrect medication not prescribed from the sachets. This corrects the medication in the sachets. The pharmacist (operator) places the inspected group of sachets P on the additional photographing table 191 so that the corrected sachets are within the photographing range of the additional photographing device 19. The additional photographing device 19 photographs the corrected sachets in accordance with instructions input by the operator. This allows the image of the corrected sachet to be recorded as evidence of the correction results.

[0115] For example, when the operator places the corrected sachet on the additional photographing stand 191 and inputs a command to re-photograph into the inspection device 1 while the inspection device 1 displays the NG judgment result and prescription information for the sachet judged as NG, the additional photographing device 19 photographs the corrected sachet. The image of the corrected sachet is recorded, for example, in association with the NG inspection result data. This makes it possible to record the image of the corrected sachet as evidence that the sachet judged as NG has been corrected. In other words, the image of the sachet photographed by the additional photographing device 19 may be recorded in association with the prescription information and inspection result of the drug in the sachet.

[0116] The image of the sachet captured by the additional photographing device 19 may be recorded in association with the photographed date and time. The photographed date and time data may be included in the image of the sachet, or the image may be recorded linked to the photographed date and time data. The image of the sachet can be recorded, for example, in a storage device accessible by the computer of the inspection device 1.

[0117] FIG. 13 is a diagram showing an example of a screen displaying an image of a sachet photographed by the additional photographing device 19. In the example of FIG. 13, information H1 and H2 about the prescription of the sachet inspected by the inspection unit of the inspection device 1, an inspection result H3, and a photographed image J1 of the sachet are displayed. In addition, a button B1 for controlling the displayed sachet, a submenu button B2, and a button B3 for inputting the visual inspection result are selectably displayed on the screen G1. As an example, the screen G1 of FIG. 13 displays information about a sachet that was judged as NG by the inspection unit. Initially, the image photographed by the photographing device 18, i.e., the image that was the basis for the inspection by the inspection unit, is displayed as the photographed image J1 of the sachet. Thereafter, the sachet that was judged as NG is corrected so that the prescribed medication is contained in it, and the corrected sachet is re-photographed by the additional photographing device 19. In this case, the corrected image of the sachet re-photographed by the additional photographing device 19 is displayed as the photographed image J1. The date and time of the re-photograph is displayed together with the image of the sachet that has been re-photographed. The date and time of the re-photograph is displayed in a position that does not interfere with the display of the image of the sachet. In the example of FIG. 13, when the photographed image J1 is enlarged, the date and time of the photograph is displayed on the enlarged screen G2 together with the enlarged photographed image J1. In this way, by displaying the image re-photographed by the additional photographing device 19 together with the prescription information, the audit results, and the date and time of the photograph, it is shown that the sachet that was judged as NG by the inspection department has been corrected.

[0118] As shown in the example of Figure 13, by displaying the photographing date and time when the sachet is enlarged, the photographing date and time can be displayed in a manner that does not interfere with the display of the sachet image. The sachet image is enlarged when, for example, an instruction is input by the operator.

[0119] FIG. 14 shows an example of a screen for searching for sachets that meet specified conditions among a group of sachets inspected by the inspection unit. Screen G3 in FIG. 14 accepts search conditions such as prescription information, such as period H4, patient H5, and drug H6, as well as the specification of the matching result H7, i.e., the inspection result. Items for which conditions can be specified as inspection results include "re-photographed sachets." This indicates sachets that have been re-photographed by the additional photography device 19. This makes it possible to search for re-photographed sachets among the group of sachets P inspected by the inspection unit. Screen G3 displays a selectable search button B4 for instructing the execution of a search process, buttons B5 and B6 for controlling the display of search results, and another button B7. Search results are displayed, for example, in a list in the display field of screen G3.

[0120] For example, if a sachet is found to be NG after inspection, corrected, and re-photographed (evidence photography), it will then be sent to the final inspector. If it is still judged NG at the final inspection stage, it may become necessary to search for the re-photographed image of the sachet. By being able to specify the re-photographed sachet item as a search condition, the operator can quickly access the re-photographed image of the sachet.

[0121] In the example of Fig. 12, the additional photographing device 19 is provided in a housing that houses the transport device 2 and the photographing device 18. As a variant, the additional photographing device 19 may be set up in a location away from this housing. For example, an inspection image photographed by the photographing device 19 may be displayed in a location away from the housing that houses the transport device 2 and the photographing device 18, and an inspection (remote inspection) such as a final inspection may be carried out. When such a remote inspection is carried out, an additional photographing device 19 and an additional photographing stand 191 can be set up at the location where the remote inspection is carried out. This makes it possible to photograph evidence during the remote inspection. For example, the additional photographing device 19 and the additional photographing stand 191 may be provided in a remote inspection terminal. The remote inspection terminal may be capable of displaying inspection results based on images of the sachet group P photographed by the photographing device 18, for example.

[0122] FIG. 15 is a diagram showing an example of the operation of an inspection device that uses a photographing device 19 to re-photograph some of the sachets from a group of sachets P that has been inspected. The inspection device 1 shown in FIGS. 15(a) to (d) comprises a conveying device 2, a photographing device 18, and a control device 10. The conveying device 2, the photographing device 18, and the control device 10 may be configured in the same way as the inspection device 1 shown in FIG. 1 above. The control device 10 further has a re-photographing unit 15. The re-photographing unit 15 receives from the operator a designation of a sachet to be re-photographed from the group of sachets P that has been inspected by the inspection unit. The re-photographing unit 15 controls the conveying device 2 and the photographing device 19 to convey the group of sachets P and photograph the designated sachets from the group of sachets P.

[0123] In FIG. 15(a), inspection device 1 transports group of sachets P using transport device 2 and photographs each sachet using photographing device 18. The inspection unit performs inspection processing based on the images of each sachet photographed by photographing device 18. As a result of the inspection processing, for example, suppose one sachet p1 is judged to be NG (not as prescribed). In this case, the pharmacist corrects sachet p1. Here, it becomes necessary to photograph an image that serves as evidence that sachet p1 has been corrected. Therefore, the pharmacist, as an operator, specifies and inputs the corrected sachet p1 to inspection device 1, and as shown in FIG. 15(b), inserts group of sachets P into inspection device 1 again and causes it to be transported by transporting device 2.

[0124] The re-photographing unit of the inspection device 1 controls the conveying device 2 to convey the group of sachets P so that the specified sachet p1 is positioned within the photographing range of the photographing device 18. The photographing device 18 photographs the sachet p1 (Fig. 15(c)). This causes the sachet p1 to be photographed again, and an evidence image is obtained that shows that the sachet p1 has been corrected. Once the photograph of the sachet p1 has been taken, the group of sachets P is discharged by the conveying device 2 (Fig. 15(d)).

[0125] In the above-mentioned re-photographing operation by the inspection device 1, the conveying device 2 conveys the group of sachets P one by one. If any sachets other than the specified sachet p1 are within the photographing range, the photographing device 18 skips photographing and photographs the specified sachet p1 when it comes within the photographing range. The inspection unit performs the inspection process based on the photographed image. When conveying one by one, the inspection device 1 may, for example, detect boundaries (e.g., perforations) between sachets in the group of sachets P and convey the group of sachets P so that each package is placed within the photographing range. Note that in the example of Figure 15, the inspection device 1 may also be equipped with a motion detection sensor 5, slip determination unit 12, and slip control unit 13, as in Figure 1. This makes it possible to detect slippage even when conveying the group of sachets P for re-photographing.

[0126] The re-photographing unit can re-photograph only the corrected group of sachets. Therefore, for example, to obtain an evidence image, it is not necessary to re-photograph the entire group of sachets P, including the corrected sachets p1, using the photographing device 18. It is also not necessary to provide an additional photographing device for re-photographing. Furthermore, the re-photographed image of sachets p1 can be used to record the results of the re-inspection by the inspection unit together with the evidence image.

[0127] In the above embodiment, the configuration of the inspection device 1 is not limited to the example shown in FIGS. 1 and 3. For example, in the inspection device 1, at least one of the nip roller, lighting device, supply detection unit, discharge detection unit, leveling mechanism, and first and second regulating members may be omitted. As an example, the conveying device may be configured to convey the sachet group P placed on a conveying path such as a belt conveyor or roller conveyor, and a camera device may be provided to capture video of the sachet group P from above. The control device can control the conveying device based on the position and movement of the sachet group P detected from the video captured by the camera device to position and convey the sachet group P. If a slip is detected, information about the slip may be output, or the conveying speed may be controlled.

[0128] The above-described embodiment is merely an example of the present invention, and the present invention is not limited to this example. Furthermore, the configurations and processing functions described in the above-described embodiment can be selected and combined as desired. [Explanation of symbols]

[0129] 1: inspection device, 2: conveying device, 10: control device, 11: inspection section, 12: slip determination section, 13: slip time control section, 14: output section, 18: photographing device, P: sachet group

Claims

1. A conveying device for conveying a group of sub - packaging bags, which are a plurality of sub - packaging bags containing a drug; An imaging device for imaging the group of sub - packaging bags conveyed by the conveying device; An inspection unit for inspecting whether the drug contained in each of the group of sub - packaging bags is sub - packaged as per the prescription, using the image of the group of sub - packaging bags captured by the imaging device; A slip determination unit for determining whether the group of sub - packaging bags conveyed by the conveying device is slipping relative to the conveying device; An inspection device for sub - packaged drugs, comprising an output unit for outputting the determination result of the slip determination unit.

2. The inspection device for sub - packaged drugs according to Claim 1, further comprising a motion detection sensor for detecting the movement of the surface of the group of sub - packaging bags conveyed by the conveying device, wherein the slip determination unit determines whether the group of sub - packaging bags is slipping relative to the conveying device based on the movement of the surface of the group of sub - packaging bags detected by the motion detection sensor during the conveying operation of the conveying device.

3. The inspection device for sub - packaged drugs according to Claim 2, wherein the motion detection sensor detects the movement of the surface of the seal portion of the group of sub - packaging bags.

4. The inspection device for sub - packaged drugs according to Claim 2, wherein the conveying device is configured to convey the group of sub - packaging bags connected in a first direction in the first direction, and the motion detection sensor detects the movement of the seal portion extending in the first direction in the group of sub - packaging bags.

5. The inspection device for sub - packaged drugs according to Claim 2, wherein the motion detection sensor is an optical sensor that irradiates the group of sub - packaging bags with light and detects the light transmitted through or reflected by the group of sub - packaging bags.

6. The inspection device for sub - packaged drugs according to any one of Claims 1 to 5, wherein the slip determination unit determines whether the group of sub - packaging bags is slipping relative to the conveying device each time the conveying device conveys one package of the group of sub - packaging bags.

7. The inspection device for sub - packaged drugs according to Claim 2, wherein the slip determination unit determines whether the group of sub - packaging bags is slipping relative to the conveying device based on the amount of movement of the surface of the group of sub - packaging bags detected by the motion detection sensor with respect to the conveying amount by the conveying device.

8. The inspection device for sub - packaged drugs according to Claim 2, An inspection device for dispensed drugs, wherein a detection position of the motion detection sensor is provided on at least one of an upstream side or a downstream side of a photographing position of the photographing device in a conveyance direction of the conveyance device.

9. An inspection device for dispensed drugs according to any one of Claims 1 to 5, 7, and 8, further comprising a slip-time control unit that controls the conveyance device, the photographing device, and the inspection unit based on a determination result of the slip determination unit.

10. An inspection device for dispensed drugs according to any one of Claims 1 to 5, 7, and 8, which pulls out a group of dispensed bags discharged from a bagging machine, stacks and holds the group of dispensed bags, and conveys the group of dispensed bags by the conveyance device.

11. A process of causing a conveyance device to convey a plurality of groups of dispensed bags containing drugs, a process of causing a photographing device to photograph the group of dispensed bags conveyed by the conveyance device, a process of inspecting whether the drugs contained in each of the group of dispensed bags are bagged as prescribed using an image of the group of dispensed bags photographed by the photographing device, a process of determining whether the group of dispensed bags conveyed by the conveyance device is slipping with respect to the conveyance device, and a process of causing a computer to output a result of the determination. A control program for an inspection device for dispensed drugs.

12. A step in which a conveyance device conveys a plurality of groups of dispensed bags containing drugs, a step in which a photographing device photographs the group of dispensed bags conveyed by the conveyance device, a step in which a computer inspects whether the drugs contained in each of the group of dispensed bags are bagged as prescribed using an image of the group of dispensed bags photographed by the photographing device, a step in which a computer determines whether the group of dispensed bags conveyed by the conveyance device is slipping with respect to the conveyance device, and a step in which a computer outputs a result of the determination. An inspection method for dispensed drugs.

Images