Medicine sorting device, medicine return system, control method of medicine sorting device, and program

Abstract

To provide a medicine sorting device for recognizing medicines themselves and sorting them automatically.SOLUTION: A medicine storing device (1) includes: a first storage part (11) for storing a plurality of types of medicines; a second storage part (14) for storing medicines that are sorted by type; a discrimination part (64) for discriminating types of medicines taken out of the first storage part; and a conveyance / sorting unit (12) for storing medicines in the second storage part by type on the basis of a result of the discrimination by the discrimination part. The plurality of types of medicines are medicines which are not stored in a container, or medicines which are not packaged, and medicines which are returned after prescribed to patients.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a medicine sorting device that sorts medicines. [Background technology]

[0002] Conventionally, multiple types of returned medicines were sorted by type by a pharmacist or doctor. The returned medicines are prescribed to various patients or are prescribed and dispensed medicines. Therefore, compared to the dispensing work of assembling (packaging) (one or multiple types) of medicines (tablets) for each dosing period from a group of medicines (medicine cassettes) that are previously grouped by medicine type in a dispensing device or the like based on prescription information for each patient, the types of medicines that are returned together as medicines prescribed for multiple patients are very large. Therefore, it is highly useful to automatically sort and reuse returned medicines. Note that the number of types of medicines dispensed for one dosing period is generally about 2 to 3, and at most about 10.

[0003] Furthermore, some pharmacies or hospitals (or more accurately, their in-house pharmacy departments) simply dispose of returned medications to avoid the time and effort required for sorting, or the risk of misadministration due to incorrect sorting (putting medications back into the wrong medication cassette).

[0004] Patent Document 1 discloses a medicine sorting device that automatically recognizes and stores returned ampoules or vials. This medicine sorting device recognizes the orientation and posture of the ampule or vial, and the properties of the ampule or vial (e.g., shape, size, type, and expiration date). Then, the device associates the storage area set for each ampule or vial when storing according to the recognized size of the ampule or vial with the identification information of each ampule or vial, and arranges the ampule or vial individually, thereby storing each ampule or vial so that it can be removed. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] International Publication No. 2015 / 170761 (Published on November 12, 2015) Summary of the Invention [Problem to be solved by the invention]

[0006] However, the subject of return in Patent Document 1 is ampoules or vials, and not medicines such as tablets or capsules that are not contained in containers, or medicines themselves that are not packaged, etc. Therefore, Patent Document 1 does not anticipate identifying and automatically sorting such medicines (e.g., tablets or capsules) themselves.

[0007] An object of one aspect of the present invention is to provide a medicine sorting device that is capable of recognizing medicines themselves and sorting them automatically. [Means for solving the problem]

[0008] A drug sorting device according to one embodiment of the present invention is a drug sorting device comprising a discrimination unit that discriminates the type of each of multiple types of drugs fed into the drug sorting device, a sorting unit that sorts the drugs by type based on the discrimination results by the discrimination unit, and a sorting control unit that determines whether the drugs to be sorted by the sorting unit are to be removed from the drug sorting device based on return destination information regarding the return destination of the drugs, and the sorting unit sorts the drugs identified as those to be removed from the drug sorting device based on the return destination information to the drug removal side of the drug sorting device.

[0009] A control method for a drug sorting device according to one embodiment of the present invention is a control method for a drug sorting device, which includes a discrimination step of discriminating the type of each of multiple types of drugs fed into the drug sorting device, a sorting step of sorting the drugs by type based on the discrimination results of the discrimination step, and a sorting control step of identifying, for the drugs to be sorted in the sorting step, the drugs to be sorted as those to be removed from the drug sorting device based on return destination information regarding a return destination of the drugs, and in the sorting step, the drugs identified as those to be removed from the drug sorting device based on the return destination information are sorted to the drug removal side of the drug sorting device. Effect of the Invention

[0010] Advantageous Effects of Invention According to the medicine sorting device according to one aspect of the present invention, it is possible to advantageously recognize the medicines themselves and automatically sort them. [Brief description of the drawings]

[0011] [Figure 1] 1 is a block diagram showing the overall configuration of a medicine sorting device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a perspective view showing the overall configuration of the medicine sorting device. [Diagram 3] 2 is a perspective view showing a basic configuration of a medicine sorting area provided in the medicine sorting device. FIG. [Figure 4] FIG. 1(a) is a diagram showing an example of a sheet provided at the bottom of a first storage section of the medicine sorting device, and FIGS. 1(b) to 1(d) are diagrams for explaining the image analysis process of an imaged sheet. [Diagram 5] 5(a) and (b) are schematic diagrams showing an example of a control valve included in an adsorption mechanism included in the medicine sorting device. FIG. [Figure 6] 3(a) and 3(b) are perspective views showing an overall configuration of an imaging unit provided in the medicine sorting device. FIG. [Figure 7] FIG. 2 is a diagram illustrating a schematic internal configuration of the imaging unit. [Figure 8]13(a) and 13(b) are diagrams for explaining the rotation of the imaging unit. [Figure 9] 13(a) and (b) are diagrams for explaining a sorting process into sorting cups provided in the medicine sorting unit. FIG. [Figure 10] 13 is a perspective view showing the arrangement of a second RFID reader / writer unit provided in the medicine sorting device. FIG. [Figure 11] 13A and 13B are diagrams showing examples of image displays, in which (a) is an example of a display during medicine sorting processing, and (b) is an example of a display of image data corresponding to a specified sorting cup. [Figure 12] FIG. 13 is a diagram showing another example of an image display. [Figure 13] FIG. 11 is a diagram for explaining an example of character recognition processing. [Figure 14] 11A and 11B are diagrams for explaining an example of a process for identifying an imaging position; [Figure 15] 13(a) to 13(c) are diagrams illustrating an example of a process for identifying an adsorption position. [Figure 16] 13(a) to (d) are diagrams for explaining an example of a process for identifying a drug adsorption range. [Figure 17] 13A and 13B are diagrams for explaining an example of a process for designating medicines and sorting cups. [Figure 18] 4 is a schematic diagram showing an example of a suction mechanism provided in the transport / sorting unit. FIG. [Figure 19] 13(a) to 13(d) are diagrams for explaining an example of determining the number of medicines placed on the medicine placement stand, and are images captured by the first camera. [Figure 20] FIG. 13 is a diagram showing an example of a process flow from drug sorting to drug return. [Figure 21] FIG. 13 is a diagram showing an example of a method for displaying an inspection image. [Figure 22] 13A and 13B are diagrams showing an example of a method for displaying an inspection image. [Diagram 23] 13(a) and (b) are diagrams showing an example of a method of returning the product after visual inspection is completed. [Figure 24]FIG. 13 is a diagram showing an example of a method for returning the product after visual inspection is completed. [Diagram 25] FIG. 13 illustrates an example of a journal. [Figure 26] FIG. 13A is a diagram showing an example of a sorting image, and FIG. 13B is a diagram showing an example of a sorted medicine list image showing information related to sorted medicines. [Figure 27] 13A to 13C are diagrams showing examples of images that are displayed when a user input for the assortment image is accepted. [Figure 28] 13(a) to 13(c) are diagrams showing examples of inspection images. [Figure 29] 13(a) to (c) are diagrams showing other examples of inspection images. [Diagram 30] 13 is a diagram showing an example of a display image relating to a task of tallying up medicines sorted by the medicine sorting device. FIG. [Diagram 31] 13A to 13D are diagrams showing examples of outputs when the counting results are output by a journal. [Diagram 32] FIG. 1A is a diagram showing an example of a specific configuration of the sorting cup, and FIGS. 1B to 1D are diagrams showing modified examples of the sorting cup. [Diagram 33] FIG. 33 is a six-view diagram of the sorting cup shown in FIG. 32(a). [Diagram 34] 13(a) to 13(c) are diagrams showing further modified examples of the sorting cup. [Diagram 35] 13(a) to (h) are diagrams showing further modified examples of the sorting cup. [Diagram 36] 1A to 1D are figures for explaining an example of a method for generating symbol identification information, where FIG. 1A is a figure showing an example of an image of a drug for which symbol registration information is generated, and FIG. 1B to 1D are figures showing an example of an image of a drug when symbol identification information is obtained. [Figure 37] These figures are for explaining an example of a drug adsorption method, where (a) is a figure for explaining the state when a relatively small drug is adsorbed while the adsorption mechanism is moved, and (b) and (c) are figures for explaining the state when the drug is adsorbed when the adsorption method is changed depending on the size of the drug. [Figure 38]13(a) to 13(c) are diagrams for explaining the process of identifying an adsorption position. [Figure 39] 1A and 1B are diagrams showing another configuration example of a medicine sorting device, in which (a) is a perspective view of the medicine sorting device, and (b) is a perspective view showing the basic configuration of a medicine sorting area provided in the medicine sorting device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] An embodiment of the present invention will be described in detail below with reference to FIGS. 1 to 12.

[0013] [Overview of the medicine sorting device 1] First, an overview of the medicine sorting device 1 will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is a block diagram showing the overall configuration of the medicine sorting device 1. Fig. 2 is a perspective view showing the overall configuration of the medicine sorting device 1. As shown in Figs. 1 and 2, the medicine sorting device 1 includes a medicine sorting area 2, a touch panel 3, a print output unit 4, a first RFID (Radio Frequency Identifier) ​​reader / writer unit 5, and a packaging mechanism 6.

[0014] The medicine sorting device 1 takes an image of each of a plurality of types of medicine, determines the type of medicine based on the image obtained as a result of the imaging, and sorts the medicines by type. Specifically, this process is performed in the medicine sorting area 2. The medicine sorting area 2 (the internal configuration of the medicine sorting device 1) will be described later. After the medicines sorted by type are visually inspected by the user, they are packaged or returned to the medicine shelf.

[0015] In this embodiment, the multiple types of medicines are medicines that are not contained in a container or the like, or medicines that are not packaged, and an example of such medicines is a tablet or capsule. In addition, the multiple types of medicines are returned medicines. Examples of returned medicines include a case where a medicine adopted by a pharmacy or hospital is returned as a "returned medicine" at the pharmacy or hospital, and a case where a "brought-in medicine" that may include medicines issued by other pharmacies or hospitals in addition to the adopted medicine is returned at the pharmacy or hospital. In other words, the concept of a returned medicine includes at least one of the above-mentioned "returned medicine" and "brought-in medicine". After the medicine is returned, the medicine sorting device 1 can automatically perform processes from imaging to sorting.

[0016] The touch panel 3 accepts various user inputs at the operation unit 31, and displays various images on the display unit 32 (for example, an image showing the progress of drug sorting, an image for visual inspection).

[0017] The print output unit 4 prints out a journal representing drug data (e.g., data indicating the drug name, manufacturer, or ingredients) relating to the drug after visual inspection according to user input after visual inspection. The drug data may include image data indicating an image specific to the drug.

[0018] The first RFID reader / writer unit 5 reads data on the medicines stored in each sorting cup 141 (e.g., the number of medicines stored, the medicine data, and image data acquired by the imaging unit 13) stored in an RFID tag (not shown) provided at the bottom of each sorting cup 141 in the second storage section 14. The data may include medicine data determined by visual inspection (medicine data after visual inspection). The medicine data after visual inspection may also be written to the RFID tag. The medicine data after visual inspection is used when the medicines stored in the corresponding sorting cup 141 are (1) packaged by the packaging mechanism 6 or a packaging machine other than the medicine sorting device 1, or (2) returned to the medicine shelf.

[0019] The packaging mechanism 6 packages the sorted medicines. The packaging mechanism 6 is an optional mechanism. When the packaging mechanism 6 is provided in the medicine sorting device 1, the medicine sorting device 1 can perform all processes from sorting returned medicines to packaging after visual inspection all at once. In particular, when medicines are fed into the packaging mechanism 6 by the transporting / sorting unit 12, the above processes from sorting to packaging can be performed automatically, except for visual inspection.

[0020] As the packaging mechanism 6, a packaging unit of a conventional tablet packaging machine or powdered medicine packaging machine can be adopted. In this case, for example, the medicines in the sorting cup 141 sorted for each medicine type can be packaged into one package or multiple packages. During the packaging process, the name of the medicine in the sorting cup 141 stored in the RFID tag of the sorting cup 141 is printed on packaging paper by a printing mechanism provided in the packaging mechanism 6. Also, a barcode including the name information of the medicine is printed on each package. These prints are utilized when returning the medicine to the medicine shelf or when returning the medicine to the tablet packaging machine.

[0021] [Basic configuration of drug sorting area 2] Next, the basic configuration of the medicine sorting area 2 (the internal configuration of the medicine sorting device 1) will be described with reference to Figures 1 and 3. Figure 3 is a perspective view showing the basic configuration of the medicine sorting area 2.

[0022] 1 and 3, the medicine sorting area 2 mainly comprises, as hardware, a first storage section 11, a transport / sorting unit 12 (sorting section), an imaging unit 13, a second storage section 14, a waiting tray 15, a collection tray 16, a medicine insertion port 17, and a second RFID reader / writer unit 18. Each member except for the transport / sorting unit 12 is mounted on a base 19. The main functions of the transport / sorting unit 12, the imaging unit 13, and the second RFID reader / writer unit 18 will be described in detail in the description of each process below.

[0023] The first storage section 11 stores a mixture of multiple types of medicines returned by users. In this embodiment, the first storage section 11 is divided into multiple storage sections. In this case, for example, when all of the medicines stored in one storage section are transported by the transport / sorting unit 12, the medicines stored in the storage section adjacent to the storage section are transported. The first storage section 11 may be provided rotatable about the Z axis (center of the cylindrical shape). In this case, the control section of the computer 60 (hereinafter simply referred to as the control section) may rotate the first storage section 11 so that the transport / sorting unit 12 can easily obtain the medicines, for example, when one storage section becomes empty.

[0024] The shape of the first storage section 11 is cylindrical. This shape can increase the storage capacity. If this point is not taken into consideration, the shape is not limited to a cylindrical shape, and any shape that can store multiple types of medicines may be used. Also, a dot-shaped pattern or unevenness may be provided on the bottom of the first storage section 11. In this case, the control section can identify that the first storage section 11 is empty by analyzing the image captured by the second camera 121.

[0025] When the dot shape is expressed by a pattern, it is realized, for example, by a sheet on which black dots sufficiently smaller than the drug to be detected are printed at equal intervals (see (a) of FIG. 4). The sheet is white, and the intervals between the black dots are approximately the same as the size of the black dots. When it is expressed by concaves and convexes, it is realized by a sheet on which concaves or convexes sufficiently smaller than the drug to be detected are provided at equal intervals. The black dots or concaves and convexes may be provided directly on the bottom of the first storage section 11 instead of on a sheet. A similar pattern or concaves and convexes may also be provided on the bottom of the sorting cup 141.

[0026] The second storage section 14 includes a plurality of sorting cups 141 that store medicines sorted by type. The control section determines the type of medicine based on the image of the medicine captured by the imaging unit 13, and determines the sorting cup 141 in which to store the medicine based on the determination result. The medicine is transported by the transporting / sorting unit 12 to the determined sorting cup 141 and stored therein.

[0027] The standby tray 15 is a storage unit for temporarily storing medicines whose types are determined by the control unit when all of the sorting cups 141 are filled with medicines. After the medicines are removed from the sorting cups 141, they may be transported from the standby tray 15 to the sorting cups 141.

[0028] The collection tray 16 is a container that stores objects whose types cannot be identified by the control unit (e.g., foreign objects other than medicines). For example, foreign objects other than medicines include pieces of PTP (Press Through Pack) sheets. The pieces of PTP sheets may be mixed into the first container 11 when the medicines are returned.

[0029] When the medicine sorting device 1 is provided with a packaging mechanism 6, the medicine input port 17 is provided for transporting medicines stored in the second storage section 14 to the packaging mechanism 6 by the transport / sorting unit 12. Naturally, when the medicine sorting device 1 is not provided with a packaging mechanism 6, the medicine input port 17 is not necessary.

[0030] 1, the medicine sorting device 1 includes a computer 60 that controls the above-mentioned components (hardware) of the medicine sorting device 1. The computer 60 mainly includes, as a control unit (software), a transport control unit 61, a sorting control unit 62, an imaging control unit 63, a discrimination unit 64, an image classification unit 65, an operation input unit 66, a display control unit 67, an RFID control unit 68, and a print output control unit 69. The transport control unit 61, the sorting control unit 62, the imaging control unit 63, the discrimination unit 64, and the image classification unit 65 will be described in detail in the description of each process below.

[0031] The operation input unit 66 and the display control unit 67 respectively control the operation unit 31 and the display unit 32 of the touch panel 3. The RFID control unit 68 controls the first RFID reader / writer unit 5 and the second RFID reader / writer unit 18. The print output control unit 69 controls the print output unit 4 in accordance with user input received by the operation input unit 66. Note that in the case where the medicine sorting device 1 includes a packaging mechanism 6, the computer 60 includes, as the control unit, a packaging control unit that controls the packaging mechanism 6.

[0032] The computer 60 also includes a storage unit 80. The storage unit 80 stores, for example, a medicine database (medicine master) that manages medicine data on a plurality of types of medicines, and image data captured by the first camera 131. The storage unit 80 also stores data linking the discrimination result of the discrimination unit 64 with the sorting positions of the medicines determined by the assortment control unit 62. This data can also be called sorting status data linking the medicines with the sorting positions from the start of sorting to the completion of sorting.

[0033] The medicine database, image data, and sorting status data do not have to be managed by the storage unit 80, and may be managed by, for example, an external device. In this case, the control unit may obtain the medicine database, image data, and sorting status data from the external device via a communication line such as the Internet, as necessary. The medicine database may be updated by adding new medicine data.

[0034] [Overview of processing in medicine sorting device 1] In the medicine sorting device 1, the conveying / sorting unit 12 conveys each medicine returned to the first storage section 11 to the imaging unit 13. The imaging unit 13 sequentially captures images of each conveyed medicine, and the control section determines the type of each medicine based on the captured images and determines the sorting position of each identified medicine in the second storage section 14. The conveying / sorting unit 12 conveys each medicine to the determined sorting position. Then, information about the medicine stored in the second storage section 14 is written to the RFID tag of the sorting cup 141, stored in the storage section 80, or displayed on the touch panel 3. After or during the sorting of the medicines, the user operates the touch panel 3 to perform visual inspection, packaging, and other processes. Each process will be described in detail below.

[0035] [Drug Delivery Processing to Imaging Unit 13] First, the medicine transport process from the first storage section 11 to the imaging unit 13 will be described with reference to Fig. 1 and Fig. 3 to Fig. 5. Fig. 4(a) is a diagram showing an example of a sheet provided at the bottom of the first storage section 11, and Fig. 4(b) to (d) are diagrams for explaining the image analysis process of the imaged sheet. Fig. 5(a) and (b) are schematic diagrams showing an example of a control valve provided in the suction mechanism. The medicine transport process is mainly performed by the transport / sorting unit 12 and the transport control section 61.

[0036] Specifically, the transport / sorting unit 12 transports the medicines stored in the first storage section 11 to a receiving area Ar1 (see FIG. 6(b)) where the imaging unit 13 receives the medicines. The transport control section 61 controls the transport process by the transport / sorting unit 12.

[0037] The transport / sorting unit 12 includes a second camera 121 , a suction / shutter mechanism 122 , and a transport mechanism 123 .

[0038] The second camera 121 sequentially captures images of the first storage unit 11 in order to identify the medicine to be transported. The imaging control unit 63 controls the imaging process of the second camera 121. The second camera 121 is provided at an end of the transport / sorting unit 12 (specifically, of a housing including at least the suction / shutter mechanism 122) facing the base 19. The second camera 121 may be provided at a tip of the suction mechanism described below. The imaging control unit 63 analyzes the captured image and determines whether or not the image contains medicine. If it is determined that the image contains medicine, the transport control unit 61, for example, brings the tip close to the first storage unit 11 and identifies the medicine included in the image captured at that time as the medicine to be transported.

[0039] More specifically, the second camera 121 captures an image of one of the multiple storage units contained in the first storage unit 11 in its entirety. The imaging control unit 63 converts the image including the storage unit into a brightness image that has been binarized based on the difference between light and dark, and identifies the outline of a mass of multiple drugs and its area based on the boundary between light and dark in the brightness image (drug area identification method 1). The imaging control unit 63 adsorbs one drug contained in the storage unit by bringing the tip close to a position in the storage unit that corresponds to the area including the brightest part among the identified areas.

[0040] A visible light source (not shown) is provided near the second camera 121, and when the second camera 121 captures an image, visible light is irradiated from above the container (in the +Z-axis direction). Therefore, it can be determined that the brightest part in the brightness image is the part of the container that is closest to the tip. Therefore, by moving the tip toward the area including the brightest part, it is possible to acquire the medicine from the medicine that is closest to the tip. Note that the brightness image may be an image obtained by converting any of the image attributes of the hue, saturation, and brightness of the captured image of the medicine.

[0041] 4(b) to 4(d), the imaging control unit 63 may identify the position of the medicine contained in the first container 11 by performing image analysis (medicine region identification method 2). Note that black dots that are sufficiently smaller than the medicine to be detected are printed at equal intervals on the bottom of the first container 11.

[0042] Specifically, as shown in Fig. 4(b), the imaging control unit 63 converts an image including a plurality of medicines contained in one of the first containers 11 into a brightness image, and executes flattening processing to generate a flattened image shown in Fig. 4(c). The imaging control unit 63 calculates the difference between the gradation value of the brightness image and the gradation value of the flattened image, and determines that an area where the difference is smaller than a predetermined value is an area of ​​medicine contained in the image. Fig. 4(d) shows a difference image after the above difference is calculated.

[0043] 4(c) and (d), the difference in the gradation value is larger in the area where there is no drug in the difference image than in the area where there is a drug, so the imaging control unit 63 can identify the area where the difference is small as the drug area.

[0044] In general, in a mechanism for adsorbing and transporting a drug, in identifying the position of the drug to be transported, a backlight (transmitting light) that emits visible light from below the container that contains the drug is provided, and the difference in brightness between the drug and the background is often obtained. However, due to restrictions on the size or cost of the device that includes the mechanism, or the operating method of the device, it may not be possible to provide a backlight. In addition, if the color of the drug and the background are similar, the accuracy of the above-mentioned position identification decreases.

[0045] According to the above-mentioned drug region specifying method 2, the position can be specified with high accuracy without providing a backlight (transmitting illumination). If the above-mentioned black dot is provided on the bottom of the first container 11, the above-mentioned drug region specifying method 1 can also achieve the same effect.

[0046] The suction / shutter mechanism 122 includes a suction mechanism that suctions the medicine identified as the transport target, and a shutter mechanism that prevents the medicine suctioned by the suction mechanism from dropping. The suction mechanism is provided so as to be movable in the Z-axis direction. The shutter mechanism is provided in front of the end so as to be movable approximately parallel to the XY plane.

[0047] When acquiring a medicine, the suction mechanism extends from the end, and after suctioning the specified medicine at its tip, returns to the position of the end. In this state, the transport control unit 61 moves the shutter mechanism to a position facing the end, and maintains the position of the shutter mechanism during the medicine transport (closed state). When the transport control unit 61 moves the suction / shutter mechanism 122 to a position facing the medicine mounting stage 133a (see FIG. 6(b)) of the medicine holding mechanism 133 arranged in the receiving area Ar1, the transport control unit 61 moves the shutter mechanism to a position not facing the end (open state). Then, after the suction mechanism extends from the end, the suction state is released, and the medicine is mounted on the medicine mounting stage 133a.

[0048] In other words, during the drug transport process to the imaging unit 13, the adsorption mechanism moves to the first storage section 11 at a position opposite the first storage section 11 (in other words, moves from above the first storage section 11 to inside the first storage section 11) and adsorbs the drug stored in the first storage section 11.

[0049] The suction mechanism has a configuration, for example, as shown in Fig. 5. As shown in Fig. 5, the tip of the suction pad 122a that comes into contact with the drug to be transported is provided. The suction pad 122a is connected to a vacuum pump 122d that generates a vacuum (sucks in air) via an air pipe 122b through which air flows.

[0050] In (a) of Fig. 5, a proportional control solenoid valve 122c that controls the flow rate of air flowing through air pipe 122b is provided in the middle of air pipe 122b. Meanwhile, in (b) of Fig. 5, a solenoid valve 122p and flow rate control valves 122q and 122r are provided instead of the proportional control solenoid valve 122c. Specifically, in the example of (b) of Fig. 5, a flow rate control valve 122q is provided in the middle of air pipe 122b. Furthermore, in the branch air pipe 122b' branched off from air pipe 122b, a solenoid valve 122p that controls the flow rate control valves 122q and 122r and a flow rate control valve 122r that controls the flow rate of air flowing through branch air pipe 122b' are provided in order from the closest to air pipe 122b. The flow rate of air flowing through the air tube 122b can be controlled by the proportional control solenoid valve 122c in Fig. 5(a), and by the solenoid valve 122p and the flow control valves 122q and 122r in Fig. 5(b), and the suction force (adsorption pressure) for adsorbing the drug in the suction pad 122a can be adjusted. Note that Fig. 5(b) shows the case where the solenoid valve 122p is in the off state.

[0051] Here, when the suction pad 122a is used to adsorb a drug, it is necessary to increase the air flow rate to generate a relatively strong suction force. When the suction pad 122a simultaneously adsorbs a plurality of drugs, it is necessary to detect that the suction force does not exceed a predetermined value even if the air flow rate is increased, and to try to adsorb the drugs again. Also, while the drug is being adsorbed and transported, it is necessary to increase the air flow rate to maintain a relatively strong suction force so that the drug can be held even if the drug is not completely attached to the suction pad 122a. Thus, while the air flow rate needs to be controlled to change the suction force during adsorption, it is not necessary to control it in a very complicated manner.

[0052] In the case of FIG. 5(b), the flow rate of air flowing through the air pipe 122b is switched to one of two flow rates, "strong" and "weak," by controlling the flow rate control valves 122q and 122r using the solenoid valve 122p. Specifically, the flow rate of the air is reduced by turning on the solenoid valve 122p, and increased by turning off the solenoid valve 122p. In this case, the air flow rate control can be simplified compared to the case of the proportional control solenoid valve 122c in FIG. 5(a). The control of these suction mechanisms is performed by the transport control unit 61 and the sorting control unit 62.

[0053] Furthermore, the transport control unit 61 (sorting control unit 62 when sorting medicines) may change the time from when the medicine is brought into close contact with the suction pad 122a until the tip is pulled upward (lifted up) depending on the type of medicine.

[0054] In this case, the transport control unit 61, for example, analyzes the image of the drug captured by the second camera 121 to determine whether the size or shape of the drug is such that it is difficult to adhere to the suction pad 122a, compared with the size of the suction pad 122a. When the transport control unit 61 determines that the size or shape of the drug is difficult to adhere to the suction pad 122a, it extends the time until the tip is pulled up by a predetermined time, compared with when the transport control unit 61 determines that the drug is easy to adhere to the suction pad 122a. When a drug that is difficult to adhere to is pulled up immediately after adsorption, even if the suction force reaches a specified value sufficient for pulling up, there is a possibility that the drug will not be sufficiently adsorbed to the suction pad 122a and will fall. By extending the time until the tip is pulled up by a predetermined time, the drug can be sufficiently adhered to the suction pad 122a, and the drug can be prevented from falling when pulled up.

[0055] In addition, when the drug is adsorbed in the first storage section 11, the transport control section 61 appropriately colors the drug in the image and determines the size of the drug by comparing the area of ​​the colored part in the image with the set area size value.

[0056] The transport mechanism 123 moves the suction / shutter mechanism 122 in the X-axis and Y-axis directions under the control of the transport control unit 61. This transport mechanism 123 enables the movement of the suction / shutter mechanism 122 when searching for a drug to be transported on the first container 11, or transport of a drug from the first container 11 to the drug placement stage 133a. Also, in the drug sorting process described below, it enables transport of a drug from the drug placement stage 133a to the second container 14.

[0057] The conveying / sorting unit 12 may include a distance sensor at the tip of the suction mechanism for detecting (measuring) the distance from the tip to the medicine (distance in the Z-axis direction) and a pressure sensor for detecting the suction force of the suction mechanism.

[0058] By measuring the distance in the Z-axis direction using a distance measuring sensor, the transport control unit 61 can identify the exact position of the drug regardless of the position of the second camera 121 relative to the first container unit 11 and the pile-up state of the drug in the first container unit 11.

[0059] The distance measuring sensor may measure the distance to the measurement target based on the average area of ​​the captured image. In this case, the transport control unit 61 lowers the tip part within the range of the distance (average height) to the measurement target based on the average area acquired by the distance measuring sensor. When a pressure sensor is provided, the tip part can be lowered by the process described later so as not to go too far with respect to the medicine contained in the first container 11.

[0060] The distance measuring sensor may measure the distance to the vicinity of the top of the mountain of medicines that are piled up in the first container 11. In this case, the transport control unit 61 can lower the tip portion in one go to just before the top based on the distance.

[0061] Furthermore, the suction force detected by the pressure sensor changes depending on whether or not an object is present in front of the tip. When a pressure sensor is provided, the transport control unit 61 determines whether or not the tip is approaching the medicine based on the change in suction force, and controls the movement of the suction mechanism in the Z-axis direction based on the determination result. For example, when the tip approaches the medicine and the suction force changes, the movement speed of the suction mechanism in the Z-axis direction is reduced, thereby preventing the tip from colliding with the medicine when the medicine is adsorbed, and thus preventing the medicine piled up in the first container 11 from colliding with the medicine.

[0062] Also, for example, the threshold value set in the pressure sensor may be set in two stages. In the case where there is one threshold value, the transport control unit 61 (sorting control unit 62 when sorting medicines) determines that the tip is in a position where it can be adsorbed when the suction force is equal to or greater than the threshold value. However, since the moving speed of the tip is fast, even if the moving speed is reduced and stopped after the determination, the tip may collide with the medicines and cause the medicines piled up in the first container 11 to collapse.

[0063] Therefore, as thresholds to be set in the pressure sensor, a first threshold for determining whether or not an object to be adsorbed, such as a drug, is present near the tip, and a second threshold for determining that the drug has been adsorbed to the tip is set. The first threshold is lower than the second threshold and is lower than the threshold in the one case. These two thresholds are set in advance through experiments, etc. When the tip descends and the drug enters within a predetermined range of the tip (a range in which the drug can be adsorbed), a slight change occurs in the suction force (the suction force becomes slightly larger). The first threshold is set so that the suction force after this change can be detected. On the other hand, when the drug is adsorbed, a suction force larger than the suction force after the change occurs. The second threshold is set so that this large suction force during adsorption can be detected.

[0064] The transport control unit 61 lowers the tip and starts suction by the vacuum pump 122d. When the transport control unit 61 determines that the suction force detected by the pressure sensor is equal to or greater than the first threshold, it determines that the tip has approached the drug to a position where the drug can be adsorbed, and stops the tip. Thereafter, the transport control unit 61 waits for a predetermined time until the drug closest to the tip is naturally adsorbed. When the drug is adsorbed to the tip, the suction force becomes even stronger, and the changed suction force becomes equal to or greater than the second threshold. When the transport control unit 61 determines that the changed suction force is equal to or greater than the second threshold, it determines that the tip has adsorbed the drug, raises the tip, and transports the drug to the next destination.

[0065] On the other hand, when the transport control unit 61 cannot determine that the suction force is equal to or greater than the second threshold within a predetermined time after the tip portion is stopped, the transport control unit 61 may, for example, once raise the tip portion and then lower the tip portion again to retry the drug adsorption process. In addition, in this case, the transport control unit 61 may lower the tip portion a predetermined distance (a distance that does not crush the pile of drug, for example, about several mm) from the stopped position and determine whether the suction force is equal to or greater than the second threshold. In other words, the tip portion may be lowered slightly so that the drug is adsorbed to the tip portion.

[0066] By setting two threshold levels (particularly the first threshold level) in this manner, it is possible to reliably prevent the tip portion from collapsing the medicine piled up in first container 11 when the medicine is adsorbed.

[0067] When initially lowering the tip, the transport control unit 61 may lower the tip at a predetermined speed for a predetermined distance (for example, to a position where the tip does not enter the first storage unit 11) and then decelerate the tip. After decelerating, the transport control unit 61 may lower the tip until the suction force becomes equal to or greater than the first or second threshold. The initial lowering refers to the case where the tip is lowered from the end of the housing including at least the suction / shutter mechanism 122, which faces the base 19. When the suction force suddenly becomes equal to or greater than the second threshold, the transport control unit 61 proceeds directly to the transport process.

[0068] [Drug Imaging Processing] Next, the medicine imaging process by the imaging unit 13 will be described with reference to Figs. 1, 3, and 6 to 8. Fig. 6 (a) and (b) are perspective views showing the overall configuration of the imaging unit 13. Fig. 7 is a diagram showing a schematic internal configuration of the imaging unit 13. Fig. 8 (a) and (b) are diagrams for explaining the rotation of the imaging unit 13. The medicine imaging process is mainly performed by the imaging unit 13 and the imaging control unit 63.

[0069] Specifically, the imaging unit 13 is placed on the medicine placement table 133a, and captures an image of the medicine placed in the placement area Ar2 in which the medicine to be imaged is placed, as shown in Fig. 6(b) and Fig. 7. The imaging control unit 63 controls the imaging process by the imaging unit 13, the pivoting movement of the first camera 131 and the illuminator 134, and the movement of the medicine holding mechanism 133. As shown in Figs. 1 and 6, the imaging unit 13 includes the first camera 131 (imaging section), the rotation mechanism 132 (rotating section), the medicine holding mechanism 133 (medicine placement table, movement mechanism), and the illuminator 134 (ultraviolet light irradiation section, visible light irradiation section).

[0070] The first camera 131 captures an image of a medicine placed in a placement area Ar2 facing the first camera 131 in order to identify the type of medicine in the discrimination unit 64 described later. The medicine holding mechanism 133 is a mechanism for holding a medicine, and includes a medicine placement table (petri dish) 133a, a rotation mechanism 133b (movement mechanism), and an axis portion 133c connecting the medicine placement table 133a and the rotation mechanism 133b, as shown in (a) and (b) of FIG. 6. The medicine placement table 133a is for placing a medicine to be imaged. The rotation mechanism 133b is for moving the medicine placement table 133a, and more specifically, rotates the medicine placement table 133a with respect to the XY plane and rotates the axis portion 133c in the circumferential direction of the axis portion 133c.

[0071] When the medicine transported from the first container 11 is placed on the medicine placement table 133a, the imaging control unit 63 drives the turning mechanism 133b to move the medicine placement table 133a from the receiving area Ar1 to the placement area Ar2. Thereafter, the imaging control unit 63 controls at least the first camera 131 and the illuminator 134 to capture an image of the medicine placed in the placement area Ar2. The captured image is stored as image data in the storage unit 80. For example, after the imaging is completed, the imaging control unit 63 drives the turning mechanism 133b to move the medicine placement table 133a on which the imaged medicine is placed from the placement area Ar2 to the receiving area Ar1.

[0072] In other words, the turning mechanism 133b, under the control of the imaging control unit 63, moves the medicine placing table 133a from the receiving area Ar1 (placing area) where the medicines are placed to the arrangement area Ar2. Also, the turning mechanism 133b moves the medicine placing table 133a from the arrangement area Ar2 back to the receiving area Ar1 (sorting waiting area) to wait for sorting into the second container 14. In this embodiment, the receiving area Ar1 serves both as the placing area where the medicines are placed and the sorting waiting area waiting for sorting, but the placing area and the sorting waiting area may be located at different positions on the base 19.

[0073] In this embodiment, two medicine placement tables 133a are provided at the tip (end) of the shaft 133c. The turning mechanism 133b turns the shaft 133c, and when one medicine placement table 133a is placed in the placement area Ar2, the other medicine placement table 133a is placed in the receiving area Ar1. When imaging medicines in the placement area Ar2, the transport / sorting unit 12 transports medicines from the first container 11 to the medicine placement table 133a present in the receiving area Ar1, thereby enabling continuous imaging of medicines. Note that it is assumed that the medicine placement table 133a is in a state where no medicine is placed thereon, such as after the medicine is sorted into the second container 14.

[0074] In this embodiment, the medicine placing stand 133a has transparency, so that the first camera 131 can capture images of the medicine placed on the medicine placing stand 133a from multiple directions through the medicine placing stand 133a.

[0075] Also, as shown in Fig. 7, the medicine mounting stand 133a may have a V-shaped cross section with a recessed bottom. As shown in Fig. 6(b) and Fig. 7, when the medicine mounting stand 133a is placed in the receiving area Ar1 and the placement area Ar2, the groove direction of the V-shaped cross section (extension direction of the shaft part 133c) is approximately parallel to the rotation axis Ay (see Fig. 8(a)) of the imaging mechanism (described later) by the rotation mechanism 132. Also, the V-shaped cross section of the bottom does not have to be an acute V-shaped shape, and may be a shape that allows the information (engraved information or printed information) indicated by the imprint or print of the medicine to be recognized even when viewed (imaged) from the back side of the medicine mounting stand 133a, and allows the medicine to be fixed.

[0076] In the case where the medicine is a capsule or a deformed tablet (e.g., rugby ball-shaped), if the bottom of the medicine placement table 133a is flat, the orientation of the medicine may not be uniform on the XY plane, making it difficult to obtain a clear image of the medicine (engraved information or printed information). If the cross section is V-shaped, the capsule or deformed tablet is fitted into the lowest end, and the medicine can be fixed. This makes it easier to obtain a clear image of the medicine. In the case of a tablet, for example, the axis 133c may be rotated in the circumferential direction of the axis 133c to make the flat part of the medicine placement table 133a face the first camera 131, thereby ensuring that the medicine does not move.

[0077] In addition, the turning mechanism 133b can also vibrate (slightly move, shake) the medicine placing table 133a. In this case, by vibrating and rolling the capsule placed on the medicine placing table 133a, the part of the capsule with the mark or print can be directed in a predetermined direction (for example, the part can be made to face the first camera 131 placed in the initial position described below). Therefore, the imaging control unit 63 can obtain an image of the medicine including the mark or print in the first imaging of the medicine (before the first camera 131 rotates). In addition, the above vibration can cause the tablet to be turned sideways (placed so that the bottom of the tablet faces the flat surface), even if the tablet is, for example, cylindrical (with a circular bottom) and placed upright on the flat surface.

[0078] A black film may be provided on the periphery of the bottom of the medicine mounting stage 133a, which can prevent light irradiated onto the medicine during imaging from being reflected by the medicine mounting stage 133a.

[0079] The illuminator 134 emits light to be irradiated onto the medicine when imaging the medicine under the control of the imaging control unit 63. As shown in FIG. 6(a) and FIG. 7, the illuminator 134 includes a visible light irradiator (first irradiator 134a and second irradiator 134b) that irradiates the medicine with visible light, and an ultraviolet light irradiator 134c that irradiates the medicine with ultraviolet light. The first irradiator 134a and the second irradiator 134b irradiate the medicine with white light as visible light. The first irradiator 134a is a bar-shaped visible light source (bar illumination), and the second irradiator 134b is a ring-shaped visible light source (ring illumination). The first camera 131 receives the visible light emitted from the first irradiator 134a or the second irradiator 134b and reflected by the medicine, thereby acquiring an image based on visible light (visible light image). The imaging control unit 63 outputs image data indicating the visible light image captured by the first camera 131 to the discrimination unit 64.

[0080] Here, the position where the first camera 131 is arranged facing the arrangement area Ar2 is defined as the initial position. The initial position is above the arrangement area Ar2, and can also be said to be a position in a direction substantially perpendicular to the arrangement area Ar2. In (a) of Figures 6, 7, and 8, the first camera 131 is in the initial position.

[0081] 7, the first irradiation unit 134a is provided at an initial position obliquely above the medicine placement table 133a arranged in the placement area Ar2. By arranging the first irradiation unit 134a in this manner, it is possible to obtain a clear image of the print on the medicine.

[0082] On the other hand, the second irradiating section 134b is provided at a position closer than the first irradiating section 134a. In the initial state, the second irradiating section 134b irradiates the medicine placing table 133a arranged in the arrangement area Ar2 with visible light from a direction closer to the horizontal direction than the first irradiating section 134a. By arranging the second irradiating section 134b in this way, it is possible to obtain a clear image of the marking (concave and recess) on the medicine.

[0083] The ultraviolet light irradiating unit 134c irradiates the drug with ultraviolet light (e.g., light having a peak wavelength of 365 nm or more and 410 nm or less) to excite the components contained in the drug. This causes fluorescence (e.g., light having a peak wavelength of 410 nm or more and 800 nm or less) to be extracted from the drug. Therefore, the ultraviolet light irradiating unit 134c can also be said to be an excitation light source that emits excitation light that excites the drug.

[0084] First camera 131 receives the fluorescence emitted from the medicine and obtains an image based on ultraviolet light (ultraviolet light image). Imaging control unit 63 outputs image data indicating the ultraviolet light image obtained by first camera 131 to discrimination unit 64. Therefore, discrimination unit 64 described below can discriminate the type of medicine using the ultraviolet light image in addition to the visible light image.

[0085] In the present embodiment, the ultraviolet light irradiating unit 134c is provided at a position adjacent to the first irradiating unit 134a. The position of the ultraviolet light irradiating unit 134c is not particularly limited as long as it is a position where the ultraviolet light irradiating unit 134c can irradiate the drug with ultraviolet light and efficiently extract the fluorescent light.

[0086] As shown in FIG. 7, a polarizing filter (PL filter) 131a and an ultraviolet light removing filter 131b are provided in front of the lens of the first camera 131. The polarizing filter 131a removes unnecessary light for imaging (e.g., reflected light from the medicine placement table 133a) from the light toward the first camera 131. The ultraviolet light removing filter 131b removes ultraviolet light toward the first camera 131, for example, ultraviolet light emitted from the ultraviolet light irradiating unit 134c and reflected without being excited by the medicine. In addition, a polarizing filter 134d is provided in front of the first irradiating unit 134a, which transmits only visible light toward the medicine and removes other unnecessary light. Furthermore, an ultraviolet light transmitting filter 134e is provided in front of the ultraviolet light irradiating unit 134c, which transmits only ultraviolet light toward the medicine and removes other unnecessary light (e.g., visible light).

[0087] As shown in Fig. 6, the rotation mechanism 132 rotates the first camera 131 so as to revolve around the arrangement area Ar2 (the medicine placement table 133a arranged at that position) where the medicine to be imaged is arranged. The first camera 131 images the medicine arranged in the arrangement area Ar2 from multiple positions to which the rotation mechanism 132 has rotated it. Specifically, the imaging mechanism including the first camera 131 and the illuminator 134 is rotated so as to revolve around the arrangement area Ar2. Therefore, the first camera 131 can image the medicine from multiple directions while maintaining the positional relationship of the first camera 131 and the illuminator 134 with respect to the arrangement area Ar2.

[0088] As shown in Fig. 6(a), the rotation mechanism 132 includes an imaging mechanism driving unit 132a and a power transmission mechanism 132b. The imaging mechanism driving unit 132a generates power for rotating the imaging mechanism around the arrangement area Ar2. The power transmission mechanism 132b transmits the power generated by the imaging mechanism driving unit 132a to the imaging mechanism. The imaging mechanism driving unit 132a is driven under the control of the imaging control unit 63 to change the position of the imaging mechanism around the arrangement area Ar2.

[0089] The rotation mechanism 132 rotates the imaging mechanism between an initial position and a position opposite to the initial position. The position opposite to the initial position is a position in a direction substantially perpendicular to the arrangement area Ar2 and below the arrangement area Ar2. This position can also be said to be a position where the first camera 131 faces the bottom of the medicine placement table 133a present in the arrangement area Ar2.

[0090] As shown in Fig. 8, an axis passing through the center of the arrangement area Ar2 and parallel to the Z axis is defined as axis Ax0, and an axis passing through the center of the arrangement area Ar2 and the center of the imaging mechanism is defined as axis Ax1. The angle between axis Ax0 and axis Ax1 is defined as θ. In this embodiment, the rotation mechanism 132 places the imaging mechanism at any one of the positions θ=0° (initial position), 45°, 135°, and 180°. Note that (a) of Fig. 8 shows a case where the imaging mechanism is at a position of θ=0°, and (b) of Fig. 8 shows a case where the imaging mechanism has rotated from the initial position to a position of θ=45°.

[0091] In this way, by rotating the imaging mechanism around the arrangement area Ar2, the medicine can be imaged from multiple directions while the medicine is fixed in the arrangement area Ar2. Even if the medicine (tablet) stands upright after shaking the medicine placement table 133a, information indicated by the markings or the like affixed to the medicine can be obtained by imaging from an oblique direction (θ=45° or 135°).

[0092] The medicine may be imaged from a plurality of directions by fixing the imaging mechanism and rotating the medicine. As described above, the rotation mechanism 133b may vibrate the medicine placement table 133a and roll the medicine on the medicine placement table 133a, so that the portion with the mark or print can be acquired by the fixed imaging mechanism. The configuration for imaging the medicine from a plurality of directions may include the following configurations (A) to (C). (A) A set of a first camera 131 provided at a position facing the placement area Ar2 above the placement area Ar2, and a first irradiation unit 134a and an ultraviolet light irradiation unit 134c provided obliquely above the medicine placement table 133a arranged in the placement area Ar2 is arranged (fixed). In other words, the set is fixed at the position shown in FIG. 7. (B) A set of the first camera 131 provided at a position facing the arrangement area Ar2 and the first irradiation unit 134a and the ultraviolet light irradiation unit 134c provided diagonally below the medicine placement table 133a arranged in the arrangement area Ar2 is arranged (fixed) below the arrangement area Ar2. In other words, the set is fixed at a position facing the above (A) across the arrangement area Ar2. (C) The second irradiation unit 134b is provided near the medicine placement table 133a arranged in the arrangement area Ar2, as shown in FIG.

[0093] (Imaging position control) Next, an example of position control of the imaging mechanism will be described. The imaging control unit 63 first sets the imaging mechanism to an initial position, and causes the first camera 131 to capture an image of the medicine placed in the placement area Ar2 at the initial position. At this time, the first camera 131 acquires a visible light image (two visible light images) based on visible light from the first irradiation unit 134a and the second irradiation unit 134b, and also acquires an ultraviolet light image based on ultraviolet light from the ultraviolet light irradiation unit 134c.

[0094] Next, the imaging control unit 63 sets the imaging mechanism at a position opposite to the initial position, and causes the first camera 131 to capture an image of the medicine placed in the placement area Ar2 at that position, thereby acquiring two visible light images and an ultraviolet light image. The discrimination unit 64 analyzes these six images to discriminate the type of medicine. If the type of medicine cannot be identified as one, the imaging control unit 63 causes the first irradiating unit 134a and the second irradiating unit 134b to emit visible light at positions θ=45° and 135°, and causes the first camera 131 to capture an image of the medicine. The discrimination unit 64 analyzes the visible light image at this time to discriminate the type of medicine.

[0095] The position control of the imaging mechanism is not limited to the above, and various methods can be used. For example, imaging may be performed from the initial position after imaging from a position opposite to the initial position. Also, a drug discrimination process based on a visible light image when imaging from a position of θ=45° may be performed, and only if the type of drug cannot be identified as one, a visible light image when imaging from a position of θ=135° may be acquired. Also, only ultraviolet light images may be acquired at the initial position and a position opposite to the initial position, and after a drug discrimination process based on the ultraviolet light image, a visible light image at the position may be acquired. Also, visible light images and ultraviolet light images may be acquired at all positions.

[0096] [Image processing / discrimination processing] Next, image processing of the image captured by the imaging unit 13 and drug discrimination processing based on the result of the image processing will be described with reference to Fig. 1. The image processing is mainly performed by the imaging control unit 63, and the discrimination processing is mainly performed by the discrimination unit 64.

[0097] The discrimination unit 64 discriminates the type of drug based on the image of the drug captured by the first camera 131. Specifically, the discrimination unit 64 discriminates the type of drug based on the imaging result (visible light image) of the drug captured in a state where visible light is irradiated from the first irradiating unit 134a or the second irradiating unit 134b. The discrimination unit 64 also discriminates the type of drug based on the imaging result (ultraviolet light image) of the drug captured in a state where ultraviolet light is irradiated.

[0098] The discrimination unit 64 extracts the characteristics of the medicine contained in the visible light image and / or the ultraviolet light image by performing image analysis on each of the images. In other words, the discrimination unit 64 has a function of a feature extraction unit that extracts the characteristics of the medicine. Examples of the characteristics of the medicine include size, shape, marking, print, dividing line, and representative color (color of the area with marking or print). When OCR (Optical Character Recognition) or the like is performed, other information such as the name of the medicine or identification information indicating the manufacturer represented by the marking or print, and expiration date are extracted as the characteristics of the medicine. In addition, in the case of the ultraviolet light image, examples of the characteristics of the medicine include the representative color of the medicine in the image. The discrimination unit 64 links the extracted characteristics of each medicine to the image data of the medicine and stores them in the storage unit 80. The extraction of the characteristics of the medicine may be performed by a known technique.

[0099] The discrimination unit 64 discriminates the type of drug by comparing the characteristics of each drug with the drug database. In other words, the discrimination unit 64 has a function of a drug data extraction unit that narrows down candidates of drug data related to the captured drug from the drug database using pattern matching or the like based on the extracted drug characteristics. In this case, for example, the drug data candidates are narrowed down using at least one of the above-mentioned size, shape, marking, print, dividing line, and representative color. Thereafter, the discrimination unit 64 performs OCR or the like to read the identification information or the like shown on the marking or print, and further narrows down the types of drugs from the above candidates using pattern matching or the like.

[0100] The discrimination unit 64 also compares the features of each drug and discriminates the type of drug depending on whether they are considered to be the same or not. In other words, the discrimination unit 64 has a function of a collation unit that compares the extracted drug feature (target feature) with previously extracted drug features (matching features) using pattern matching or the like, and discriminates the type of drug based on the matching result. Note that at least one of the above-mentioned features may be collated as the target feature and the matching feature.

[0101] Specifically, when an image of a medicine sorted into the sorting cup 141 by the medicine sorting process described below is set as a reference image, the medicine features (target features) contained in an image acquired thereafter are compared with the medicine features (matching features) contained in the reference image. When the medicine is sorted into the sorting cup 141 based on the matching result, the image of the medicine also becomes the reference image. In this way, the discrimination unit 64 sets the image of the sorted medicine as the reference image, and compares the features in the medicine images captured thereafter with the medicine features in the reference image. This allows the above matching to be performed using the reference image instead of the medicine database, so that medicine sorting into the sorting cup 141 is possible even if the medicine has not been preregistered in the medicine database.

[0102] Note that the first medicine (sorting object) or a medicine (sorting object) that does not match the features of the reference image, for example, when the features of the sorting object are determined to be features possessed by the medicine (in the case of a suspected medicine described below), is sorted into the sorting cup 141. The sorting object may also be sorted into the sorting cup 141 based on the results of comparing its features with the features of medicines included in a medicine database related to a predetermined number of medicines.

[0103] In addition, in the above narrowing down, the discrimination unit 64 also uses the analysis results of the ultraviolet light image. Here, if the analysis results of the ultraviolet light image are not used and a clear image of the marking or print on the medicine cannot be obtained, the type will be discriminated based on the color, size, shape, etc. of the medicine. In this case, medicines of the same color (e.g., white) and approximately the same size or shape will be discriminated as being of the same type. If a discrimination is made in this way, the workload of checking whether they are the same type or not will increase in the later visual inspection.

[0104] The discrimination unit 64 discriminates the type of drug by utilizing the fact that the fluorescence emitted from the drug when irradiated with ultraviolet light differs depending on the drug's components. Therefore, even if drugs have the same color, size, and shape, if the components of the drugs are different, they can be accurately distinguished as different drugs. Since the components of drugs are unique to each drug, by using the analysis results of the ultraviolet light image, it is possible to narrow down and discriminate candidates more accurately than narrowing down using only visible light images.

[0105] Therefore, as a first step in narrowing down the candidates, the discrimination unit 64 preferably narrows down the candidates by comparing the analysis result of the ultraviolet image (representative color of the drug) with the representative color obtained when each drug included in the drug database is irradiated with ultraviolet light. The discrimination unit 64 first identifies the drug included in the ultraviolet image by extracting the contour of the drug in the ultraviolet image (the contour of the area whose brightness differs from the surroundings due to fluorescence) based on the fact that the drug emits fluorescence when irradiated with ultraviolet light. Thereafter, the discrimination unit 64 narrows down the candidates by comparing the representative color of the drug identified in the ultraviolet image with the representative color in the drug database.

[0106] In this case, the number of candidates after narrowing down can be reduced compared to when the ultraviolet light image is not used, so that matching can be performed using other features for the small number of candidates. Therefore, the accuracy of matching can be improved. In addition, when the number of candidates is reduced, it is possible to identify the type of medicine without specifying identification information, etc., by OCR, etc. In this case, the load of image processing can be reduced. In addition, in the case of a transparent medicine in particular, it is difficult to distinguish the medicine contained in the visible light image from the medicine placement table 133a (background) in the visible light image. Therefore, the outline (area) of the medicine cannot be extracted, and it is difficult to extract the features of the transparent medicine. On the other hand, when the ultraviolet light image is used as described above, the outline of the medicine can be extracted by the emission of fluorescence even if the medicine is transparent. Therefore, even if the medicine is a transparent medicine, its features can be extracted.

[0107] The types of returned medicines are diverse and vast, unlike the medicines used in dispensing. Therefore, being able to accurately identify the type of medicine is a very important factor, considering the workload of the subsequent visual inspection. And by improving the performance of the drug type identification process, it becomes possible to quickly sort a huge amount of medicine.

[0108] In addition, even when comparing features with each other, the discrimination unit 64 may determine whether the features are considered to be identical in the same processing order as when using a drug database, and narrow down the drug data corresponding to the target features.

[0109] The discrimination unit 64 may also compare features with each other and compare using a drug database in parallel, or may do so as follows. For example, the discrimination unit 64 compares the extracted drug features with the drug database, and determines whether or not a candidate for drug data related to the imaged drug exists in the drug database based on the features. If the discrimination unit 64 determines that the candidate does not exist in the drug database, it may compare the target feature with the comparison feature to determine the type of drug.

[0110] The discrimination unit 64 may also extract multiple color data of the drug from each of the visible light image and the ultraviolet light image of the drug captured from multiple directions as the characteristics of the drug, and narrow down the candidates. In this case, the discrimination unit 64 compares the multiple color data with, for example, representative colors included in the drug database (in other words, performs color matching). In the case of a visible light image, the color data is compared with the representative color obtained when irradiated with visible light in the drug database, and in the case of an ultraviolet light image, the color data is compared with the representative color obtained when irradiated with ultraviolet light in the drug database. Also, the color data may be compared with the color data extracted as a feature for matching.

[0111] Furthermore, if a medicine has a logo indicating the manufacturer of the medicine, the logo also serves as identification information and is a feature of the medicine. Therefore, in this case, the discrimination unit 64 also uses the logo to discriminate the type of medicine. Since the logo is engraved or printed on the medicine, the discrimination unit 64 acquires the logo by analyzing a visible light image. Regarding the logo, the discrimination unit 64 may narrow down the candidates by using artificial intelligence (machine learning, particularly deep learning) to compare the target feature with a medicine database or a comparison feature.

[0112] In this case, the discrimination unit 64 may narrow down the candidates by using the ultraviolet light image, and then use pattern matching to compare target features other than the logo with a drug database or comparison features to narrow down the candidates, and may also narrow down the candidates by performing the above-mentioned comparison using artificial intelligence for the logo. Specifically, in the case of deep learning, images of drugs with engravings or prints showing the logos of the main manufacturers (multiple types of logos with different sizes, shapes, colors, etc.) are used to train a neural network for deep learning to solve a multi-class classification problem. For example, if there are 20 manufacturers, the multi-class classification problem becomes a 20-class classification problem.

[0113] Generally, the size (font for letters), shape, color, etc. of a logo are frequently changed with emphasis on legibility. Therefore, even the same drug may have logos of different sizes, etc., depending on the time of sale of the drug. Furthermore, the size, etc. of logos attached to capsules and tablets may differ even if the manufacturer is the same. Therefore, even if a target feature and a drug database or a matching feature are matched using pattern matching or the like for a logo, if the size, etc. of the logo is different from the logo registered in the drug database or the logo of the matching feature, it may not be possible to distinguish that the logos are the same even if they are the same type and made by the same manufacturer.

[0114] As described above, by using artificial intelligence in the discrimination unit 64 for logo matching, unlike the case of pattern matching, the method of extracting logo features itself can be trained. This allows for a matching process that is robust against variations in size, shape, color, lighting conditions, etc., and makes it possible to determine that logos that could not be determined as identical using pattern matching are identical. This makes it possible to increase the accuracy of logo matching and improve the performance of narrowing down candidates. In addition, by accumulating extracted logo features (image data) and using them for the above learning, the accuracy of matching by artificial intelligence can be further improved.

[0115] Furthermore, even if the target feature is not in the medicine database and is not considered to be the same as the matching feature, if the target feature is estimated to be a medicine (tablet or capsule) based on at least a part of the target feature, the discrimination unit 64 determines the type of medicine as a suspected medicine. In this case, the suspected medicine can also be sorted into the second container 14 or the waiting tray 15.

[0116] The discrimination unit 64 outputs the discrimination result of the type of medicine to the sorting control unit 62. For example, when the type of medicine can be identified as one, or when the number of candidates is narrowed down to a predetermined number or less, the discrimination unit 64 outputs the medicine data related to the medicine as the discrimination result. In this case, the discrimination unit 64 stores the medicine data related to the medicine in the storage unit 80 in association with the image data of the medicine.

[0117] The discrimination unit 64 controls the number of candidates so as not to exceed a predetermined number, and acquires the discrimination result. For example, the above-mentioned predetermined number (e.g., 5) is set as a threshold, and the discrimination unit 64 judges whether the number of narrowed-down candidates exceeds the threshold. If the discrimination unit 64 judges that the number of candidates exceeds the threshold, it ranks the multiple candidates in order of similarity to the characteristics of the drug to be discriminated. Then, it extracts the number of candidates set as the threshold (e.g., the top 5) from the top, and outputs the drug data related to the candidate drugs as the discrimination result. The order of similarity is determined, for example, by the number of matching characteristics. Also, each characteristic may be weighted, and the order of similarity may be determined from the degree of matching of each characteristic taking the weighting into consideration.

[0118] When the discrimination unit 64 discriminates the type of the medicine as a suspected medicine, it outputs the characteristics of the medicine (the characteristics of the object presumed to be the suspected medicine) as the discrimination result. On the other hand, when the discrimination unit 64 discriminates that the object contained in the first container 11 is a foreign object other than a medicine, it outputs the discrimination result indicating that the type of the medicine could not be discriminated.

[0119] After the discrimination unit 64 discriminates and confirms the type of medicine, the imaging control unit 63 acquires a visible light image of the medicine placement table 133a containing the medicine by the first camera 131, and stores the image data in the storage unit 80. The visible light image is, for example, an image including the surface of the medicine with the mark or print and an image including the opposite surface. This visible light image is included in the data regarding the medicine written in the sorting cup 141, and becomes the display target by the display control unit 67 (see FIG. 11(b)).

[0120] [Image classification processing] Next, the image classification process based on the result of the above-mentioned discrimination process will be described with reference to Fig. 1. The above-mentioned image classification process is mainly performed by the image classification unit 65.

[0121] The image classification unit 65 classifies the images captured by the first camera 131 according to the type of drug discriminated by the discrimination unit 64. When the image classification unit 65 receives the discrimination result by the discrimination unit 64, it performs the above classification by determining whether or not a discrimination result identical to the discrimination result is stored in the storage unit 80. For example, if the same discrimination result is not stored, a new storage area for the discrimination result is created, and image data for which the type of drug has been discriminated is stored in the storage area. On the other hand, if the same discrimination result is stored, image data for which the type of drug has been discriminated is stored in the storage area for the discrimination result.

[0122] The image classification unit 65 assigns a name (temporary name) to the memory area each time it is created. For example, the name is the drug name identified based on the discrimination result of the discrimination unit 64 (if there are multiple candidates, the drug name with the highest similarity ranking). In the case of a suspected drug, a message indicating that it is a suspected drug is added. The name of each memory area is changed to the drug name uniquely identified during visual inspection.

[0123] In addition, when the discrimination result by the discrimination unit 64 indicates that there are multiple drug data candidates for the drug to be discriminated, the image classification unit 65 may determine that the above two discrimination results are the same when the multiple drug data match all of the multiple drug data for each stored drug. Also, when a drug is discriminated as a suspected drug, the image classification unit 65 may determine that the above two discrimination results are the same when the features of the suspected drug match all of the multiple features corresponding to one stored drug.

[0124] In this way, by providing the image sorting unit 65, it is possible to sort the image data of medicines so that they match the sorting results of the medicine sorting process described below. Therefore, the user can check whether the medicines sorted into any sorting cup 141 are the same type by looking at each image data included in the sorted image data group.

[0125] [Medicine sorting process] Next, the medicine sorting process based on the result of the above-mentioned discrimination process will be described with reference to Figs. 1, 9 and 10. Fig. 9(a) and (b) are diagrams for explaining the sorting process into the sorting cup 141. Fig. 10 is a perspective view showing the arrangement of the second RFID reader / writer unit 18. The medicine sorting process is mainly performed by the transport / sorting unit 12 and the sorting control unit 62.

[0126] The transporting and sorting unit 12 sorts the medicines by type based on the discrimination result by the discrimination section 64, and stores them in the second storage section 14 or the waiting tray 15. The sorting control section 62 controls the transporting and sorting unit 12 to transport the medicines placed in the receiving area Ar1 after the imaging and discrimination process to a predetermined sorting cup 141 in the second storage section 14 or the waiting tray 15 based on the discrimination result.

[0127] When the sorting control unit 62 receives the discrimination result of the medicine, it determines a sorting position to store the medicine, and associates the discrimination result with the determined sorting position and stores them in the memory unit 80. Specifically, the sorting control unit 62 determines whether or not a discrimination result identical to the above discrimination result is stored in the memory unit 80. Note that the method of determining whether or not these two discrimination results are the same has been explained above in [Image classification process], so a description thereof will be omitted.

[0128] When the same discrimination result as the above discrimination result is stored, the sorting cup 141 linked to the stored discrimination result is determined as the sorting position. When the sorting position linked to the stored discrimination result is the waiting tray 15, the waiting tray 15 is determined as the sorting position. On the other hand, when the same discrimination result as the above discrimination result is not stored, the sorting cup 141 that does not contain medicine (the sorting cup 141 that has not been determined as the sorting position) is determined as the sorting position. When medicines are stored in all of the sorting cups 141, the waiting tray 15 is determined as the sorting position.

[0129] When the sorting control unit 62 determines the sorting position, it controls the transport mechanism 123 in the same manner as the transport control unit 61 to move the transport / sorting unit 12 above the receiving area Ar1. Similarly to the transport control unit 61, the sorting control unit 62 controls the second camera 121 and the suction / shutter mechanism 122 to adsorb the medicines placed in the receiving area Ar1. Thereafter, the transport mechanism 123 transports the medicines to the determined sorting cup 141 or waiting tray 15. As described above, the shutter mechanism is in a closed state during the medicine transport, so that it is possible to prevent the medicines from falling into an area other than the determined sorting position (e.g., a sorting cup 141 other than the determined sorting cup 141). After the transport, the suction is released to store the medicines in the sorting cup 141 or waiting tray 15. In addition, the sorting control unit 62 counts the number of medicines stored in the sorting cup 141, and stores the number in the memory unit 80 in association with the sorting position.

[0130] After the sorting control section 62 transports the medicines (medicines after identification) on the medicine placement table 133a arranged in the receiving area Ar1 to the sorting position, the transport control section 61 controls the transport / sorting unit 12 to transport and place the medicines stored in the first storage section 11 on the now emptied medicine placement table 133a. This allows the medicine sorting device 1 to continuously identify the types of medicines.

[0131] It can also be said that when the discrimination unit 64 compares the target feature with the matching feature, the sorting control unit 62 determines the sorting position based on the comparison result of the discrimination unit 64. Specifically, when the discrimination unit 64 determines that the target feature and the matching feature match, the sorting control unit 62 transports the medicine having the target feature to the same position as the position where the medicine having the matching feature was sorted. On the other hand, when the discrimination unit 64 determines that the target feature and the matching feature do not match, the sorting control unit 62 transports the medicine having the target feature to a new position different from the position where the medicine having the matching feature was already sorted before sorting the medicine.

[0132] In addition, if the sorting control unit 62 receives a discrimination result indicating that the type of medicine could not be identified, the object placed in the receiving area Ar1 after discrimination is a foreign object, and therefore the sorting control unit 62 transports the foreign object to the collection tray 16.

[0133] In this way, the sorting control unit 62 stores all of the items contained in the first container 11 in either the second container 14, the waiting tray 15, or the collection tray 16, regardless of the result of identifying the type of medicine. Therefore, even if the type of medicine cannot be identified as one, or if a foreign object has been mixed into the first container 11, the sorting process can be continued without being stopped for that reason.

[0134] In order to take out the medicines for which the discrimination process has been completed from the medicine placing table 133a arranged in the receiving area Ar1, the sorting control unit 62 causes the second camera 121 to capture an image of the medicine placing table 133a, thereby narrowing down the positions of the medicines. In addition, when transporting the medicines stored in the sorting cup 141 to the packaging mechanism 6, the sorting control unit 62 causes the second camera 121 to capture an image of the sorting cup 141, thereby narrowing down the medicines to be transported.

[0135] In addition, when the number of drugs stored in the sorting cup 141 reaches the upper limit, the sorting control unit 62 stores the drugs to be sorted in an empty sorting cup 141 other than the sorting cup 141, even if the type of drug to be sorted is the same as the type of drug sorted in the sorting cup 141.

[0136] 9 so that more medicines can be placed in the sorting cup 141. As shown in (a) of Fig. 9, the sorting control unit 62 determines the position for storing the medicine in the sorting cup 141 to be a position shifted by a predetermined distance D in the horizontal direction from the reference position (here, the center line CL) of the sorting cup 141, and places the medicine at that position. On the other hand, when the next medicine is to be stored in the sorting cup 141, as shown in (b) of Fig. 9, the sorting control unit 62 determines the position for storing the medicine to be a position shifted by a predetermined distance D from the reference position in the opposite direction to the case of (a) of Fig. 9, and places the medicine at that position.

[0137] The predetermined distance D (amount of movement from the reference position) is calculated based on the maximum length of the medicine that can be acquired by imaging and the width of the sorting cup 141 in the shifting direction so that the medicine is stored in the sorting cup 141. For example, when the maximum length of the medicine is large, the amount of movement is calculated to be smaller than that of a small medicine.

[0138] In this way, by controlling the storage position of the medicines in the sorting cup 141, for example when the medicines are piled up along the center line CL, it is possible to prevent the piled up medicines from falling over and spilling out of the sorting cup 141. It is also possible to prevent the tip of the suction mechanism of the suction / shutter mechanism 122 from colliding with the piled up medicines.

[0139] Moreover, the medicine data on the medicines stored in the sorting cup 141 by the sorting control unit 62 is stored in an RFID tag provided on the sorting cup 141 by the second RFID reader / writer unit 18.

[0140] The second RFID reader / writer unit 18 writes medicine data to an RFID tag or reads medicine data stored in an RFID tag, similar to the first RFID reader / writer unit 5. The sorting control unit 62 causes the RFID control unit 68 to write data related to a medicine every time the medicine is stored in the sorting cup 141.

[0141] The second RFID reader / writer unit 18 is provided below the second storage section 14. Specifically, as shown in FIG. 10, the second RFID reader / writer unit 18 is provided so as to face the bottom of each sorting cup 141 when reading or writing data related to medicines stored in the RFID tag of each sorting cup 141. In this embodiment, the second RFID reader / writer unit 18 has a plurality of RFID reader / writers 18a arranged in parallel in the X-axis direction, and is configured to be movable in the Y-axis direction by a guide member 18b extending in the Y-axis direction. This enables communication with the RFID tag of each sorting cup 141, and for example, data related to medicines written during medicine sorting processing can be used in subsequent processing.

[0142] [Display Processing] Next, the display process will be described with reference to Fig. 1, Fig. 11, and Fig. 12. Fig. 11 shows an example of an image display, where (a) is a display example during medicine sorting process (image example showing progress of medicine sorting), and (b) is a display example of image data corresponding to a specified sorting cup 141 (image example for visual inspection). Fig. 12 shows another example of an image display.

[0143] 11(a), the display control unit 67 generates a display image of the medicine sorting process in progress based on the sorting positions determined by the sorting control unit 62 and the data related to the medicines associated with the sorting positions, and displays the image on the display unit 32. The rectangular portions corresponding to the respective sorting cups 141 and the respective icons for display switching and the like can receive user input via the operation unit 31.

[0144] In the example display image of (a) in Fig. 11, the name of the medicine, the number of medicines, and whether or not the medicine has been visually inspected are displayed in a rectangular portion corresponding to each sorting cup 141 in which the medicine is stored. Every time sorting of one medicine is completed, the display control unit 67 causes the RFID control unit 68 to read data related to the medicine from the RFID tag of at least the sorting cup 141 in which the medicine has most recently been stored. This makes it possible to display the sorting status in real time.

[0145] In this example of the display image, the first row corresponds to the sorting cups 141 provided on the front side (+Y axis direction side) of the medicine sorting device 1, and the seventh row corresponds to the sorting cups 141 provided on the back side (-Y axis direction side). In this example of the display image, since 50 tablets of medicine (the upper limit of the number of tablets that can be stored in one sorting cup 141 in this example) are stored in the sorting cup 141 of B-1, it can be seen that the 51st tablet and onward are stored in the sorting cup 141 of C-1. Furthermore, as shown in this example of the display image, the sorting control unit 62 may store medicines from the sorting cups 141 in the first row on the front side and the seventh row on the back side. In this case, the front side area of ​​the second storage unit 14 may be set as an area where medicines installed in the tablet packing machine are sorted, and the back side area may be set as an area where medicines not installed in the tablet packing machine that are to be returned to the medicine shelf or the like are sorted. By setting in this way, medicines installed in the tablet packing machine can be sorted to positions where they can be easily taken out.

[0146] When a user input is received in a rectangular portion corresponding to the sorting cup 141 in which the medicine is stored, the display control unit 67 displays all image data of the medicine stored in the sorting cup 141, as shown in Fig. 11(b). Specifically, the display control unit 67 displays visible light images (visible light images of the medicine placing table 133a acquired after the type of medicine is determined) of all the medicines stored in the sorting cup 141 selected by the user from among the sorting cups 141 sorted by type based on the discrimination result.

[0147] This allows the user to visually inspect the images of all of the medications in the sorting cup 141 individually, on the assumption that the same or similar medications have been sorted into the same sorting cup 141, and thus detect any different medications or foreign objects, etc.

[0148] Furthermore, when a user input for "all OK" or "all NG" is received from the viewpoint of work efficiency, the display control unit 67 switches the rectangular portion corresponding to the relevant sorting cup 141 in (a) of Fig. 11 to a display indicating that the sorting cup has been visually inspected. Furthermore, the RFID control unit 68 stores (registers) in the RFID tag of the sorting cup 141 that the sorting cup has been visually inspected. At this time, the storage unit 80 may also store that the sorting cup has been visually inspected.

[0149] In addition, for a drug to which multiple candidate drug data are linked or a drug determined to be a suspected drug, the drug data related to the drug is uniquely identified by visual inspection. Therefore, the uniquely identified drug data is registered in the RFID tag or the storage unit 80.

[0150] 12, in a display image during or after a medicine sorting process, rectangular portions corresponding to each sorting cup 141 may be color-coded according to the medicine return destination (e.g., tablet packing machine or medicine shelf). In the example of FIG. 12, the colors are coded so that medicines to be returned to packing machine P, medicines to be returned to packing machine Q, and medicines to be returned to the medicine shelf can be distinguished. The memory unit 80 stores return destinations and display colors set in association with the return destinations.

[0151] For example, when color-coding before visual inspection, the control unit compares the drug data based on the discrimination result of the discrimination unit 64 with the drug data installed in each tablet packing machine, and determines the tablet packing machine to which the drug in each sorting cup 141 should be returned based on the comparison result. If it is determined that the drug is not installed in the tablet packing machine, it determines the return destination to be the drug shelf. The display control unit 67 displays the rectangular portion in color based on the determination result. If the drug data is changed by visual inspection, the control unit changes the display color to match the change result. In the case of a suspected drug, the control unit, for example, reserves color coding, and determines the final display color after the drug data is confirmed by visual inspection.

[0152] On the other hand, if the visual inspection is performed after the inspection, the control unit may compare the medicine data written on the RFID tag of each sorting cup 141 with the medicine data implemented in each tablet packing machine.

[0153] By displaying the medicines in different colors in this way, the user can see at a glance which sorting cup 141 to take out depending on the purpose of use of the medicines, etc. This color-coded display is particularly useful for users who own multiple tablet packing machines, because it reduces the time and effort required to confirm the return destination when returning the medicines (sorting cups 141).

[0154] [Other Processing] An example of the other processing will be described.

[0155] (Creating and updating drug databases) The medicine database manages medicine data relating to a plurality of types of medicine. As described above, the medicine database is used to identify the types of medicine handled in the medicine sorting device 1.

[0156] It is preferable that the medicine database contains all the medicine data of the wide variety of medicines that exist, but it is practically difficult to include all of them at the time of shipping the medicine sorting device 1. In addition, there is a possibility that new medicines will be developed after the shipping of the medicine sorting device 1. For this reason, the medicine database is made capable of adding (updating) medicine data on new medicines.

[0157] For example, when a drug determined to be a suspected drug is uniquely identified by visual inspection as described above, the control unit registers the drug data of the drug in the drug database during the above registration. This allows new drugs to be registered in the drug database, and the drug database can be updated as needed. In addition, it is no longer necessary to include all drugs in the drug database during the creation stage.

[0158] It should be noted that the drug data for each drug identified based on the discrimination result of the discrimination unit 64 is predicted by the drug sorting device 1 to assist in visual inspection. Therefore, the drug name displayed by the display control unit 67 is the predicted drug name. The drug data for the drug is uniquely identified by the user performing visual inspection based on the image data and predicted drug name of each displayed drug.

[0159] Furthermore, as described above, when the type of medicine is determined using the reference image (in other words, using the result of matching between the target feature and the matching feature), the medicine does not need to be preregistered in the medicine database. In this case, the medicine data of the medicine uniquely identified by visual inspection as described above is registered in the medicine database as official medicine data together with the reference image.

[0160] (Position detection of suction / shutter mechanism) The control unit may detect the position of the housing including the second camera 121 and the suction / shutter mechanism 122. In this case, for example, distance measuring sensors are provided on the surface facing the +X-axis direction and on the surface facing the +Y-axis direction of the housing, respectively, and the position is detected by measuring the distance to the housing of the medicine sorting device 1. This allows the control unit to specify the position of the suction / shutter mechanism 122, and therefore, for example, it can determine whether the suction / shutter mechanism 122 has moved to the correct sorting position.

[0161] (Obstacle detection mechanism) The medicine sorting device 1 may also be provided with an obstacle detection mechanism that detects that some obstacle is placed in the medicine sorting area 2. For example, when the sorting cup 141 is not placed correctly and is placed at an angle to the base 19, the obstacle detection mechanism detects a part of the sorting cup 141 that protrudes from the top surface of the sorting cup 141 when it is placed correctly on the base 19 as the obstacle. Also, when medicines are piled up and protrude from the top surface of the sorting cup 141, the obstacle detection mechanism detects the medicine protruding from the top surface as the obstacle. For example, when an obstacle is placed in the space between the bottom (the bottom surface facing the base 19) of the housing including the second camera 121 and the suction / shutter mechanism 122 and the top surface of the sorting cup 141 when it is placed correctly on the base 19, the obstacle detection mechanism detects the obstacle.

[0162] The obstacle detection mechanism includes a laser light source that emits a laser light into the space, and a sensor that receives the laser light emitted from the laser light source. When an obstacle is placed, the sensor detects the placement by being unable to receive the laser light. For example, the obstacle detection mechanism is provided at one end of the base 19, and a reflecting mirror is provided at the other end. In this case, the sensor receives the laser light emitted from the laser light source and reflected by the reflecting mirror. The obstacle detection mechanism may be configured to move along one end of the base 19.

[0163] (Excluding drugs that do not require sorting) The medicine sorting device 1 does not need to sort the medicines stored in the first storage unit 11 if the medicines do not need to be sorted. Specifically, if the medicines whose types have been determined correspond to medicines that do not need to be sorted, the discrimination unit 64 excludes the medicines from the sorting targets.

[0164] A medicine that does not require sorting is a medicine that, for example, a user has determined not to require sorting in light of the operation of the medicine sorting work, and is set in advance in the medicine sorting device 1. For example, a user sets the conditions for medicines that do not require sorting via a sorting condition setting screen. The conditions include, for example, the following four conditions, and if a medicine meets any of the conditions, the discrimination unit 64 excludes the medicine to be discriminated from being sorted as a medicine that does not require sorting. (1) A medicine whose price is equal to or lower than a predetermined fee. (2) A medicine whose last packaging date is a predetermined number of days before the sorting processing date. (3) A medicine that has a flag (e.g., a flag indicating a psychotropic drug, a flag indicating an anticancer drug) attached. (4) A medicine whose name includes a specific character string. The drug price information in (1) above and the flag in (3) above can be obtained from a comprehensive pharmaceutical database managed by an external device. The last packaging date in (2) above and the medicine name in (4) above can be obtained by downloading master data from the tablet packaging machine.

[0165] When the discrimination unit 64 discriminates that the medicine does not need to be sorted, the transport control unit 61 controls the suction / shutter mechanism 122 to remove the medicine from the medicine placement table 133a on which the medicine is placed, transport the medicine to the collection tray 16, and collect the medicine in one place. In this way, by excluding the medicine that the user does not want to be sorted from the medicine to be sorted, unnecessary processing such as sorting processing or visual inspection for the medicine can be eliminated.

[0166] (Image data log) When the medicines are taken out of the sorting cup 141 and packed, an image of the medicines taken out of the sorting cup 141 may be saved so that it is possible to reliably identify which medicines have been taken out and packed (for the purpose of traceability of the process flow). When the medicines in the sorting cup 141 are transported to the packaging mechanism 6 via the medicine inlet 17 using the suction / shutter mechanism 122, for example, the medicines are imaged by the second camera 121, and the image data is stored in the storage unit 80. In this case, the image data is recorded as a log every time the medicines are taken out. Therefore, by checking the image data, it is possible to check the validity of the packaging process after the packaging process.

[0167] (Specify the return origin) The source of return may be specified before the start of sorting of medicines, and the source of return of the sorted medicines may be recorded as a history.

[0168] For example, the control unit of the medicine sorting device 1 obtains information on the return source by downloading master data from a tablet packaging machine in the hospital. The information on the return source may be obtained by user input, or by reading a barcode (identification information) attached to the returned medicine. In this way, the control unit identifies the return source of the medicine stored in the first storage unit 11 before starting to sort the medicine. In addition, the control unit links the information on the return source to data related to the sorted medicine. This makes it possible to manage the history of the return source of the sorted medicine by the medicine sorting device 1 or an external device connected to the medicine sorting device 1.

[0169] Furthermore, in the tabulation process (tabulation work) of returned medicines, the medicine sorting device 1 or the external device may count the number of returned medicines for each ward, department, or facility, and output the result.

[0170] (Designation of the Prescription Doctor) Before the start of drug sorting, the prescription issuing doctor may be selected, and the doctor who prescribed the sorted drug may be recorded as a history.

[0171] For example, the control unit of the medicine sorting device 1 may obtain information on the doctor who issued the prescription through user input, or may obtain the information by reading identification information (e.g., a barcode attached to an ID card) issued to the doctor. The information may also be obtained by downloading master data from a tablet packaging machine in the hospital. In this way, the control unit identifies the doctor who prescribed the medicine contained in the first container 11 before starting to sort the medicines. In addition, the control unit links data on the sorted medicines to information on the doctor who prescribed the medicines. In this way, the medicine sorting device 1 or an external device connected to the medicine sorting device 1 can manage the history of the doctors who prescribed the sorted medicines.

[0172] Furthermore, the medicine sorting device 1 or the external device may count the number of returned medicines for each doctor in the tallying process (tallying operation) of returned medicines, and output the result.

[0173] [Main components of the medicine sorting device 1] As described above, the medicine sorting device 1 has various components. The following (1) to (4) are examples of particularly major components among the various components. The following (1) to (4) are merely examples, and do not exclude other components of the medicine sorting device 1 from the major components.

[0174] (1) The drug sorting device 1 includes a first storage section (first storage section 11) that stores a mixture of multiple types of drugs, a second storage section (second storage section 14) that stores the drugs sorted by type, an imaging section (first camera 131) that images the drugs, a discrimination section (discrimination section 64) that discriminates the type of the drugs based on the image captured by the imaging section, and a sorting section (transporting / sorting unit 12) that sorts the drugs by type based on the discrimination result by the discrimination section and stores them in the second storage section.

[0175] (2) The drug sorting device 1 includes an imaging unit that images the drugs, a discrimination unit that identifies the type of the drug based on the image captured by the imaging unit, a sorting unit that sorts the drugs by type based on the discrimination results by the discrimination unit, and an image classification unit (image classification unit 65) that classifies the images captured by the imaging unit by the type of drug identified by the discrimination unit.

[0176] (3) The drug sorting device 1 includes an imaging unit that images the drug, an ultraviolet light irradiation unit (ultraviolet light irradiation unit 134c) that irradiates the drug with ultraviolet light, and a drug data extraction unit (discrimination unit 64) that narrows down candidates for drug data related to the imaged drug from a drug database that manages drug data related to multiple types of drugs.

[0177] (4) The drug sorting device 1 includes an imaging unit that captures images of drugs, a discrimination unit that extracts features of the drug from each of the images captured by the imaging unit and discriminates the type of the drug by comparing the features and determining whether they are considered to be the same, and a sorting unit that, when the discrimination unit determines that the features are considered to be the same, sorts and places the drug whose type has been discriminated by the discrimination unit in the same position as the drug whose type has previously been discriminated by the discrimination unit.

[0178] [Software implementation example] The control blocks of the drug sorting device 1 (particularly the transport control unit 61, sorting control unit 62, imaging control unit 63, discrimination unit 64, image classification unit 65, operation input unit 66, display control unit 67, RFID control unit 68, and print output control unit 69) may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be realized by software using a CPU (Central Processing Unit).

[0179] In the latter case, the medicine sorting device 1 includes a CPU that executes the commands of a program, which is software that realizes each function, a ROM (Read Only Memory) or a storage device (these are referred to as "recording media") in which the program and various data are recorded so as to be readable by a computer (or CPU), and a RAM (Random Access Memory) in which the program is expanded. The object of the present invention is achieved by the computer (or CPU) reading and executing the program from the recording medium. As the recording medium, a "non-transient tangible medium", for example, a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, etc., can be used. The program may be supplied to the computer via any transmission medium (such as a communication network or a broadcast wave) capable of transmitting the program. One aspect of the present invention may also be realized in the form of a data signal embedded in a carrier wave in which the program is embodied by electronic transmission.

[0180] The following describes further configuration and processing of the medicine sorting device 1. However, please note that the following description may include some parts that overlap with the above contents or some parts that are specifically described.

[0181] <Various processing or operation examples> (character recognition) First, a description will be given of an example of the character recognition process performed by the discrimination unit 64. (a) to (d) of Figure 13 are diagrams for explaining an example of the character recognition process.

[0182] In this example, the discrimination unit 64 performs a recognition process on a plurality of characters (e.g., numbers) attached to the medicine included in the image captured by the first camera 131. This recognition process is a process of extracting the characteristics of the medicine by performing OCR or the like as described above.

[0183] The medicine to be recognized is placed on the medicine placement table 133a by the conveying / sorting unit 12. At this time, the medicine is not placed so that the position where the mark or print is printed on the medicine faces a predetermined direction. Therefore, the discrimination unit 64 performs the recognition process while rotating the captured image of the medicine. In this case, there is a possibility that a dividing line or a pattern such as a logo on the medicine may be forcibly recognized as a character.

[0184] Therefore, in this example, the discrimination unit 64 determines that, among the multiple characters recognized by the above recognition process, the characters whose size is within a predetermined range and that the characters form a string are the multiple characters actually attached to the medicine.

[0185] 13(a), when there are multiple parts (rectangular parts in the figure) recognized as characters, the discrimination unit 64 judges whether or not the lengths h1, h2, and h3 of the long sides of each of the parts are within a preset length range (predetermined range). If the lengths h1, h2, and h3 of the long sides are within the predetermined range, the discrimination unit 64 judges that each part has a size within the predetermined range.

[0186] The above-mentioned predetermined range may be set, for example, by acquiring in advance a plurality of lengths (heights) of the long sides of the parts recognized as characters, and using the average value of these heights as a reference. The predetermined range can be appropriately adjusted, but is set, for example, to a range of 0.8 times or more and 1.2 times or less of the average value. The predetermined range may be set to a size that allows the discrimination unit 64 to recognize the characters attached to the medicine.

[0187] In this example, the length of the long side is used to determine whether the size of each part is within a specified range, but this is not limited to this, and the determination may also be made using the length of the short side or the size (area) of each part.

[0188] When the discrimination unit 64 determines that each portion has a size within a predetermined range, it determines whether the arrangement of each portion is linear. For example, the discrimination unit 64 connects an end of any one side of the portion of interest to an end of any one side of a portion within a predetermined range from the portion. This process is performed for all portions. When the multiple line segments connected in this way are straight lines or can be considered as straight lines, the discrimination unit 64 determines that the arrangement of each portion forming the line segments is linear.

[0189] For example, consider a case where an image of a medicine as shown in (b) of Fig. 13 is acquired. In this example, an example in which the discrimination unit 64 accurately reads the sequence of numbers will be described.

[0190] As shown in (c) of FIG. 13, the discrimination unit 64 recognizes, for example, the actual character "A" as the character "4" (code Ch1 in the figure) and the actual character "R" as the character "0" (code Ch2 in the figure) through the above recognition process. Also, as shown in (d) of FIG. 13, the discrimination unit 64 recognizes, for example, a part of the actual character "E" as the character "1" (code Ch3 in the figure) and a part of the actual dividing line as the character "1" (code Ch4 in the figure) through the above recognition process. Also, as shown in (d) of FIG. 13, the discrimination unit 64 reads the actual character "102" as the character "102" through the above recognition process.

[0191] If such a recognition process is performed, a number string different from the actual characters "102" will be read.

[0192] The discrimination unit 64 judges whether the size of the characters (above portion) is within a predetermined range and whether the sequence of the characters is linear. The portion marked with the code Ch3 does not have a size within the predetermined range and is therefore excluded from the characters to be recognized. The portions marked with the codes Ch1, Ch2, and Ch4 are excluded as they do not have a linear sequence. On the other hand, for the actual character "102", the sizes of the "1", "0", and "2" portions in the image are determined to be within a predetermined range and to have a linear sequence.

[0193] As a result, the discrimination unit 64 extracts only "102" that is attached to the actual medicine as the number string from the image. In this way, the discrimination unit 64 of this example can accurately read the number string. Note that although the reading of a number string has been described as an example in (b) to (d) of FIG. 13, character strings other than numbers can also be judged in the same manner. In other words, the discrimination unit 64 of this example can improve the reading accuracy of multiple characters attached to the medicine.

[0194] (Identifying the imaging position) Next, a description will be given of an example of the process of specifying the imaging position by the imaging control unit 63. (a) to (e) of Fig. 14 are diagrams for explaining an example of the process of specifying the imaging position.

[0195] 14(a), the medicine mounting table 133a, which is arranged in the arrangement area Ar2 and on which the medicine to be imaged is placed, is provided with an axis portion 133c supporting the medicine mounting table 133a. When the medicine mounting table 133a is arranged in the arrangement area Ar2, the axis portion 133c is approximately parallel to the axial direction in which the first camera 131 rotates.

[0196] The shaft portion 133c in this example is provided with a confirmation area Cr with a pattern for determining whether or not the shooting position is appropriate using an image captured by the imaging control unit 63. To enable this determination, in this example, the confirmation area Cr is provided with different patterns in the circumferential direction of the shaft portion 133c. In this example, the patterns are provided in a plurality of colors in the circumferential direction of the shaft portion 133c.

[0197] For example, red, green, blue, orange, and purple are evenly applied in this order to at least a portion of the circumferential direction of shaft portion 133c as confirmation region Cr. In this case, as shown in (b) to (e) of Fig. 14, the ratio of each color present in confirmation region Cr included in the image captured by first camera 131 varies depending on the imaging position of first camera 131. Therefore, by capturing images such as those shown in (b) to (e) of Fig. 14 in advance at each imaging position, it can be determined whether first camera 131 is capturing an image of the medicine from a predetermined position.

[0198] Specifically, when the imaging control unit 63 acquires an image captured to determine the type of drug, it determines whether the first camera 131 is positioned in an appropriate position by comparing the pattern contained in the image with a pattern (predetermined pattern) contained in a previously captured image.

[0199] In this example, the imaging control unit 63 preliminarily obtains the proportion of each color present in the confirmation region Cr included in the image at each imaging position, and stores the proportion in the storage unit 80. The imaging control unit 63 obtains the proportion of each color present in the confirmation region Cr included in the image captured for identifying the type of medicine, and compares the proportion of each color (referred to as a target proportion) with the proportion of each color obtained in advance (referred to as a reference proportion). As a result, when the target proportion substantially matches the reference proportion (the difference between the target proportion and the reference proportion is within a predetermined range), the imaging control unit 63 determines that the imaging position is appropriate.

[0200] For example, when imaging a medicine from an imaging position of 0° (directly above the arrangement area Ar2), the imaging control unit 63 places the first camera 131 at the imaging position of 0°, and then images the medicine placed on the medicine placement table 133a from the imaging position. The imaging control unit 63 obtains a target ratio from the captured image, reads out a reference ratio for the imaging position of 0°, and then compares the target ratio with the reference ratio. This allows the imaging control unit 63 to determine whether the captured image is an image captured from the specified imaging position of 0°. In other words, it can determine whether the first camera 131 has captured an image of the medicine from the specified imaging position of 0°.

[0201] When it is determined that the imaging position is deviated from the defined imaging position, the imaging control unit 63 adjusts the imaging position and then determines again whether or not the imaging position after adjustment is an appropriate position.

[0202] In this example, multiple colors are applied in the circumferential direction of the shaft portion 133c within the imaging range of the first camera 131, but the present invention is not limited to this, and any pattern may be applied in the medicine sorting device 1 so that the imaging control unit 63 can identify the imaging position. For example, the pattern may be applied to a part (e.g., a part of the medicine placement table 133a) other than the shaft portion 133c of the medicine sorting device 1 shown in the image captured from each imaging position. Also, instead of color, the pattern may be an uneven shape or the like. However, it is necessary that the pattern is reflected differently at each imaging position. In addition, when multiple colors are applied in the circumferential direction of the shaft portion 133c, the colors are not limited to the above five colors, and the multiple colors do not need to be evenly arranged, as long as a unique ratio is obtained for each imaging position.

[0203] In this way, the imaging control unit 63 compares the pattern of a predetermined portion other than the drug contained in the image captured by the first camera 131 with a predetermined pattern contained in an image previously captured by the first camera 131. This allows the imaging control unit 63 to determine whether the imaging position of the first camera 131 is a predetermined position. Then, by a simple method of adding a pattern to the imaging range of the first camera 131, the imaging control unit 63 can recognize whether the first camera 131 is capturing an image from an appropriate position.

[0204] (Identifying the adsorption position) Next, a description will be given of an example of the process of specifying the suction position by the transport control unit 61. (a) to (c) of Figure 15 are diagrams for explaining an example of the process of specifying the suction position.

[0205] As described above, the transport control unit 61 controls the transport / sorting unit 12 that transports the medicine from the first storage unit 11 to the first camera 131 side (specifically, the receiving area Ar1). The transport control unit 61 in this example further specifies a position within the protruding area including a protruding portion of the medicine estimated area that is estimated to contain the medicine in the image captured by the second camera 121 as an adsorption position where the adsorption mechanism adsorbs the medicine.

[0206] Specifically, as shown in (a) of Fig. 15, the transport control unit 61 narrows down the drug adsorption area (picking area) in the image captured by the second camera 121, and then extracts multiple drug estimated areas Mr based on the brightness distribution in the captured image. For example, a known Watershed algorithm is used to extract the drug estimated areas Mr based on this brightness distribution.

[0207] As shown in FIG. 15(b), the transport control unit 61 specifies the largest maximum drug estimated area Mrmax among the extracted multiple drug estimated areas Mr. The transport control unit 61 determines whether the maximum drug estimated area Mrmax is a predetermined shape or a shape similar to a predetermined shape. The predetermined shape is a shape specific to the drug, such as the shape of a tablet or capsule. In other words, it is a shape with a relatively high degree of circularity or rectangularity in the image.

[0208] When the transport control unit 61 determines that the estimated maximum drug region Mrmax has a shape different from the predetermined shape, it determines that multiple drugs are adjacent or overlapping in the estimated maximum drug region Mrmax. For example, when the transport control unit 61 determines that the degree of agreement between the estimated maximum drug region Mrmax and the predetermined shape is equal to or less than a predetermined value, it determines that the estimated maximum drug region Mrmax has a shape different from the predetermined shape (i.e., an unnatural shape for a drug).

[0209] When the transport control unit 61 determines that the estimated maximum drug area Mrmax has a shape different from the predetermined shape, it sets a circumscribed rectangular area Rr that circumscribes the identified estimated maximum drug area Mrmax, as shown in (b) of Fig. 15. The transport control unit 61 identifies the most protruding protruding part Pp in a predetermined area that is inscribed on the outer periphery of the set circumscribed rectangular area Rr, and then identifies a protruding area Pr that includes the protruding part Pp.

[0210] After that, the transport control unit 61 specifies an arbitrary position within the specified protruding region Pr (for example, the center of the protruding region Pr) as the suction position.

[0211] When multiple drugs are adjacent to or overlapping in the first container 11, even if the vicinity of the center of the drug estimated region Mr is specified as the adsorption position, there is a possibility that the drug cannot be adsorbed. According to this example, even when multiple drugs are adjacent to or overlapping, a position where the drug is likely to exist can be specified as the adsorption position. Therefore, it is possible to more reliably adsorb the drug.

[0212] In this example, the adsorption position is specified using the maximum drug estimated region Mrmax, but the present invention is not limited to this, and the adsorption position may be specified using a drug estimated region Mr other than the maximum drug estimated region Mrmax. In addition, in this example, it is determined whether the shape of the maximum drug estimated region Mrmax is a predetermined shape, but the present invention is not limited to this, and the adsorption position may be specified using one of the extracted multiple drug estimated regions Mr without performing this determination.

[0213] (Identifying the drug adsorption range) Next, a description will be given of an example of the process of specifying the drug adsorption range by the transport control unit 61 or the sorting control unit 62. (a) to (d) of Figure 16 are diagrams for explaining an example of the process of specifying the drug adsorption range.

[0214] The sorting control unit 62 (detection area changing unit) of this example changes the detection area for detecting medicines contained in the sorting cup 141 depending on whether or not at least a portion of the bottom of the sorting cup 141 is included in the image of the sorting cup 141 captured by the second camera 121. Similarly, the transport control unit 61 (detection area changing unit) of this example changes the detection area for detecting medicines contained in the first container 11 depending on whether or not at least a portion of the bottom of the first container 11 is included in the image of the sorting cup 141 captured by the second camera 121. This process may be performed by at least one of the sorting control unit 62 and the transport control unit 61.

[0215] In order to realize this process of specifying the detection area, in this example, as shown in Fig. 16(a), a mark Mk is provided on the bottom of the sorting cup 141. Also, as shown in Fig. 16(b), a mark Mk is affixed to the bottom of the first storage unit 11. In this example, a sheet with the mark Mk is inserted into the bottom, but the mark Mk may be formed directly on the bottom. The process of specifying the detection area is similar in the sorting control unit 62 and the transport control unit 61, so hereinafter, the process by the sorting control unit 62 will be described as an example.

[0216] When the image captured by the second camera 121 does not include the bottom of the sorting cup 141, the sorting control unit 62 specifies an area smaller than the size Br of the bottom of the sorting cup 141 as the detection area Dr, as shown in (c) of Fig. 16. In this example, when the sorting control unit 62 cannot recognize the mark Mk in the image, it determines that the image does not include the bottom.

[0217] When the bottom is not included in the image, it can be determined that the number of medicines contained in the sorting cup 141 is large. Therefore, taking into consideration that the sorting cup 141 may be positioned offset from the predetermined position, the sorting control unit 62 specifies an area smaller than the size Br of the bottom as the detection area Dr.

[0218] On the other hand, when the captured image includes at least a portion of the bottom of the sorting cup 141, the assorting control unit 62 specifies an area that is approximately the same as the size Br of the bottom of the sorting cup 141 as the detection area Dr, as shown in (d) of Fig. 16. This detection area Dr is the detection area Dr that should have been set. In this example, when the assorting control unit 62 can recognize the mark Mk in the image, it determines that the image includes the bottom.

[0219] When the image includes the bottom, it can be determined that the number of medicines contained in the sorting cup 141 is small. It can also be determined that the medicines are present near the end of the sorting cup 141. Therefore, the sorting control unit 62 specifies an area that is approximately the same as the size Br of the bottom as the detection area Dr. Note that the size of the detection area Dr may be calculated based on the mark Mk.

[0220] In this way, by changing the detection area Dr (specifically, its size) depending on whether the image includes the bottom, it is possible to specify the detection area Dr according to the number of medicines contained in the sorting cup 141 or the first storage unit 11. It is also possible to reduce the possibility that medicines cannot be taken out due to misalignment of the sorting cup 141 or the first storage unit 11. In other words, the above process makes it possible to more reliably take out medicines.

[0221] The above-mentioned medicine removal method (first removal method) is useful when the sorting cup 141 or the first storage unit 11 is substantially transparent. When the sorting cup 141 or the first storage unit 11 is substantially transparent, for example, the bottom surface of the sorting cup 141 or the first storage unit 11 has a fine uneven shape, and the side surface is substantially transparent. In this case, when the sorting control unit 62 or the transport control unit 61 analyzes the image captured by the second camera 121, there is a possibility that the boundary portion between the bottom surface and the side surface is erroneously detected as a part of the medicine. In addition, when the sorting control unit 62 or the transport control unit 61 analyzes the image, there is a possibility that the relatively small medicine placed on the boundary portion cannot be detected. According to the first removal method, such a possibility can be reduced.

[0222] On the other hand, when the sorting cup 141 or the first storage unit 11 has a color (e.g., black), especially when the sorting cup 141 or the first storage unit 11 is uniformly colored, the sorting control unit 62 or the transport control unit 61 can reduce the possibility of being influenced by the boundary portion in analyzing the image. Therefore, the sorting control unit 62 or the transport control unit 61 can stably detect the medicine by brightness or color, etc. In other words, the medicine can be stably detected from the sorting cup 141 or the first storage unit 11 without adopting the first removal method.

[0223] In addition, when the sorting cup 141 or the first storage unit 11 has a color, for example, the medicine may be taken out of the sorting cup 141 by a second take-out method different from the first take-out method. In this case, for example, the sorting control unit 62 moves the adsorption mechanism to the bottom surface of the sorting cup 141 so as to adsorb the medicine in order from the medicine present near the center of the bottom surface. Specifically, the sorting control unit 62 first specifies an area narrowed down to the center including the center of the bottom surface as the adsorption area of ​​the medicine, and controls the position of the adsorption mechanism so as to adsorb the medicine within the area. After that, the sorting control unit 62 gradually expands the adsorption area toward the side surface (for example, in two stages). As a result, even if the medicine is piled up in the sorting cup 141, it is possible to adsorb the medicine from the center while breaking it down. The transport control unit 61 may take out the medicine from the first storage unit 11 by the same process.

[0224] Furthermore, when the sorting cup 141 or the first storage section 11 has a color, the sorting control section 62 or the transport control section 61 can stably detect almost transparent capsules or relatively small medicines standing upright on the bottom surface, which are difficult to detect on a bottom surface having the above-mentioned fine uneven shape.

[0225] (Specify medication and sorting cup) Next, an example of the designation process of medicines and the sorting cup 141 by the sorting control unit 62 will be described. (a) and (b) of Fig. 17 are diagrams for explaining an example of the designation process of medicines and the sorting cup 141. Specifically, (a) of Fig. 17 is a maintenance image Im10 when changing (e.g., maintenance) the medicine database. (b) of Fig. 17 is an initialization image Im11 when initializing the storage contents of the RFID tag (information recording medium) of the sorting cup 141.

[0226] The images to be displayed on the display unit 32 may be referred to as screens. For example, the maintenance image and the initialization image may be referred to as a maintenance screen and an initialization screen, respectively. In addition, the sorting image, inspection image, sorted medicine list image, display color switching image, return source selection image, enlarged display image, and tally image described below may be referred to as a sorting screen, inspection screen, sorted medicine list screen, display color switching screen, return source selection screen, enlarged display screen, and tally screen, respectively.

[0227] The sorting group selection area Gr1 of the maintenance image Im10 and the sorting container group setting area Gr2 of the initialization image Im11 are areas that accept a user operation for setting sorting identification information. The sorting identification information is information for sorting the medicine into the specified sorting cup 141, which is given to the medicine that the user desires to be sorted into the specified sorting cup 141.

[0228] Specifically, when a user wishes to sort a specific medicine into a specific sorting cup 141, the user causes the display unit 32 to display a maintenance image Im10 for that medicine, and inputs a sorting group number to identify the sorting group as sorting identification information in the sorting group selection area Gr1 of the maintenance image Im10.

[0229] The user also causes the initialization image Im11 to be displayed on the display unit 32. Then, in the sorting container group setting area Gr2 of the initialization image Im11, the user inputs, as sorting identification information, the same sorting group number as the sorting group number input in the sorting group selection area Gr1 of the maintenance image Im10.

[0230] The sorting group number input in the sorting group selection area Gr1 and the sorting group number input in the sorting container group setting area Gr2 are stored in the memory unit 80. Therefore, the sorting control unit 62 can identify a sorting cup 141 to which the same sorting group number as the sorting group number input in the sorting container group setting area Gr2 has been assigned for the medicines assigned with the sorting group number input in the sorting group selection area Gr1. In other words, the transport / sorting unit 12 can sort a specific medicine into a specific sorting cup 141.

[0231] The sorting identification information may be information for identifying the sorting cup 141. In this case, this sorting identification information is input to the sorting group selection area Gr1 and the sorting container group setting area Gr2.

[0232] Since the sorting cup 141 is reused, when sorting medicines that should not come into contact with other medicines, such as colored medicines or OD tablets (orally disintegrating tablets), the sorting cup 141 needs to be cleaned after use. In hospital wards where there are many returned colored medicines or OD tablets, cleaning can take time. For such medicines, sorting identification information can be used to sort them into specific sorting cups 141. This reduces or eliminates the need for cleaning work to sort the medicines.

[0233] (Determining sorting position) Next, a description will be given of an example of a process for determining a sorting position by the sorting control unit 62. The sorting control unit 62 may control the transport / sorting unit 12 to sort the medicines identified as targets to be removed from the medicine sorting device 1 to the medicine removal side of the medicine sorting device 1 (the sorting cup 141 arranged in the front area of ​​the second container 14).

[0234] Specifically, the sorting control unit 62 may determine whether or not a journal is needed, in which drug data about the drug reflecting the user's visual inspection results is printed, based on return destination information about the return destination of the sorted drug. If the sorting control unit 62 determines that a journal is needed for the drug, it identifies the drug as a target to be removed from the drug sorting device 1.

[0235] The return destination information is linked to each piece of medicine data related to the medicine and stored in the storage unit 80. The return destination information includes, for example, reader information indicating whether the return destination or the return assistance device is provided with a reader (e.g., an RFID reader) that reads the medicine data. The return destination information also includes, as information indicating the return destination, for example, packing machine information indicating whether the packing mechanism 6 is an accessory to the medicine sorting device 1.

[0236] The return destination includes, for example, a tablet packing machine, a powder packing machine, a medicine shelf, or the packing mechanism 6 provided in the medicine sorting device 1. The return assistance device is a device for returning to the return destination (e.g., medicine shelf). In addition, at least the reader information is acquired from another facility or device (e.g., the return destination or return assistance device described above) different from the medicine sorting device 1.

[0237] Here, the return assistance device includes, for example, a reading unit capable of reading drug data (e.g., drug identification information) and return destination information related to the drug from the journal, and a display unit that displays the drug data and return destination information read by the reading unit. When the drug data and return destination information are expressed at least by a barcode or a two-dimensional code, the reading unit is realized by a barcode reader. In addition, the display unit displays detailed information such as the drug shelf (e.g., shelf number) included in the return destination information read by the reading unit. Since the return destination information is displayed on the display unit, the possibility that the user will return to the wrong drug shelf can be reduced. Note that shelf identification information may be assigned to each drug shelf that is the return destination. In this case, for example, the return assistance device reads shelf identification information assigned to the drug shelf in addition to the return destination information assigned to the journal. The return assistance device compares these read pieces of information and notifies the comparison result. This can further reduce the possibility that the user who uses the return assistance device will return the drug to the wrong drug shelf.

[0238] When sorting medicines, the sorting control unit 62 determines whether the return destination is the packaging mechanism 6 by referring to the return destination information of the medicine. Furthermore, if the return destination is another facility or device, the sorting control unit 62 determines whether the return destination is equipped with an RFID reader. If the sorting control unit 62 determines that the return destination is another facility or device and that the return destination is not equipped with an RFID reader, it determines that the medicine requires a journal. On the other hand, if the sorting control unit 62 determines that the return destination is the packaging mechanism 6 or that the return destination is equipped with an RFID reader, it determines that the medicine does not require a journal.

[0239] The sorting control unit 62 controls the transporting and sorting unit 12 to sort medicines that require a journal into sorting cups 141 arranged in the front area. Each time the transporting and sorting unit 12 determines that a journal is required, it stores the medicines in order, for example, starting from the sorting cup 141 arranged on the front right side. The sorting control unit 62 also controls the transporting and sorting unit 12 to sort medicines that do not require a journal into sorting cups 141 arranged in the back area. Each time the transporting and sorting unit 12 determines that a journal is not required, it stores the medicines in order, for example, starting from the sorting cup 141 arranged on the back left side.

[0240] The journal is inserted into the sorting cup 141 in which the sorted medicines are stored. When inserting the journal into the sorting cup 141, the user needs to remove it from the medicine sorting device 1. By the above process, the medicines that need to be removed (i.e., medicines that require a journal) can be stored in the sorting cup 141 at the front side where they can be easily removed.

[0241] In addition, the sorting cup 141 into which the medicines to be taken out are sorted (that is, a predetermined area on the front side into which the medicines to be taken out are sorted) may be set in advance.

[0242] Furthermore, the return destination information does not have to include the reader information. In this case, the sorting control unit 62 may determine whether or not a journal is required using only the return destination of the medicine, for example.

[0243] For example, when the return destination is a packaging machine, the sorting control unit 62 determines whether or not a journal is required for the medicine to be sorted by identifying which packaging machine it is. Since it is possible to know in advance whether or not an RFID reader is provided for each packaging machine, it is possible to associate and store whether or not a journal is required for each packaging machine. In this case, too, the sorting control unit 62 sorts medicines to be returned to a packaging machine provided with an RFID reader into the sorting cup 141 arranged in the back area because a journal is not required. On the other hand, when the return destination is a medicine shelf, a journal is required. Therefore, the sorting control unit 62 sorts medicines to be returned to a medicine shelf into the sorting cup 141 arranged in the front area.

[0244] Here, the journal may be actually issued as follows. When the user places the sorting cup 141 on the first RFID reader / writer unit 5, the display control unit 67 reads the information stored in the RFID tag of the sorting cup 141. As a result, the display control unit 67 displays an inspection image (described later) of the medicine contained in the sorting cup 141. The user performs visual inspection of the medicine by checking the inspection image. After the visual inspection, the user determines whether or not a journal is necessary depending on the return destination of the medicine contained in the sorting cup 141, and if a journal is necessary, performs user input for issuing a journal on the journal necessity confirmation image. When the print output control unit 69 accepts the user input, it issues a journal by controlling the print output unit 4. The user inserts the issued journal into the sorting cup 141 that has been visually inspected. In this way, by printing the journal every time the sorting cup 141 is placed on the first RFID reader / writer unit 5, it is possible to prevent the user from inserting the journal into the wrong sorting cup 141.

[0245] As described above, the sorting control unit 62 may sort the medicines loaded in the tablet packing machine into a front area and the medicines not loaded in the tablet packing machine into a rear area. In this case, information indicating whether the sorted medicine is loaded in the tablet packing machine or not is stored in the storage unit 80, for example, linked to the medicine data related to the medicine. The sorting control unit 62 may determine whether the medicine is loaded in the tablet packing machine or not based on the return destination information.

[0246] When sorting medicines to a region on the front side of the second storage unit 14, the sorting control unit 62 stores the medicines in order from the frontmost row toward the center of the second storage unit 14. When sorting medicines to a region on the back side of the second storage unit 14, the sorting control unit 62 stores the medicines in order from the backmost row toward the center of the second storage unit 14.

[0247] (Identifying the drug's shape) Next, a description will be given of an example of a process for identifying the shape of a medicine by the discrimination unit 64. In this embodiment, as described above, the first camera 131 images the medicine from positions of θ=0° and 180°, and then, if the type of the medicine cannot be identified to one, images the medicine from positions of θ=45° and 135°.

[0248] Here, tablets generally have a substantially circular shape when viewed from above and a substantially rectangular shape when viewed from the side. On the other hand, capsules generally have a substantially cylindrical shape (with the ends being substantially hemispherical). Therefore, the capsules have a substantially rectangular shape when viewed from above and from the side.

[0249] Therefore, when the medicine is imaged from the positions of θ=0° and 180° (i.e., when imaged from a position viewed from a plane), it can be determined whether the medicine is a tablet or a capsule. Also, the shape of the tablet included in the image captured from the positions of θ=0° and 180° is approximately circular, but the shape of the tablet included in the image captured from the positions of θ=45° and 135° is approximately rectangular. In other words, the shape of the tablet in the image is different when imaged from the positions of θ=0° and 180° and when imaged from the positions of θ=45° and 135°. On the other hand, in the case of a capsule, the shape of the capsule in the image is approximately the same regardless of the position from which it is imaged.

[0250] Therefore, in this example, first, the discrimination unit 64 judges whether the medicine is a tablet or not based on the shape of the medicine included in the image captured by the first camera 131 from the position of θ=0° (first direction) or the position of 180° (second direction opposite to the first direction). The position of θ=0° is the position (direction) facing the mounting surface of the medicine mounting table 133a on which the medicine is mounted.

[0251] For example, the discrimination unit 64 extracts the shape of the medicine from the images captured from these positions, and determines whether the medicine is a tablet or a capsule by calculating the degree of agreement with the shape of a general tablet stored in the storage unit 80. The first camera 131 first captures an image of the medicine from a position of θ=0° or 180°. Therefore, the medicine discrimination process can be expedited by narrowing down the selection of whether the medicine is a tablet or a capsule at an early stage of the medicine discrimination process.

[0252] On the other hand, when the discrimination unit 64 cannot determine whether the medicine is a tablet based on the image captured from the position of θ=0° or 180°, the first camera 131 captures an image of the medicine from the position of θ=45° or 135° (i.e., obliquely with respect to the placement surface). Then, the discrimination unit 64 determines whether the medicine is a tablet based on the image captured from the position of θ=0° or 180° and the shape of the medicine included in the image captured from the position of θ=45° or 135°. For example, the discrimination unit 64 determines whether the medicine is a tablet by comparing the first shape of the medicine included in the image captured from the position of θ=0° or 180° with the second shape of the medicine included in the image captured from the position of θ=45° or 135°.

[0253] As described above, in the case of a tablet, the first shape and the second shape are different, but in the case of a capsule, the first shape and the second shape are approximately the same. Therefore, when the first shape and the second shape are approximately the same (the difference between the first shape and the second shape is within a predetermined range), the discrimination unit 64 determines that the medicine is a capsule, and when the difference is outside the predetermined range, the discrimination unit 64 determines that the medicine is a tablet.

[0254] In this embodiment, since the position facing the placement surface is a position of θ=0°, the imaging direction from the position of θ=0° has been described as the first direction, but this is not limited thereto. In other words, it is sufficient that the imaging direction when imaging from a position facing the placement surface is the first direction.

[0255] In this embodiment, a camera having a manual focus function is used as the first camera 131, but a camera having an autofocus function may be used instead. When the first camera 131 has an autofocus function, it becomes possible to focus on the medicine according to the height of the medicine.

[0256] For example, the imaging control unit 63 adjusts the focus using information indicating the diameter of the medicine registered in advance. In the case of a capsule, the diameter of the medicine is the height of the medicine when placed on the medicine placement table 133a, so the focus is adjusted using the information on the diameter. On the other hand, in the case of a tablet, for example, the height of the medicine to be applied when the diameter is equal to or greater than a predetermined diameter and the height of the medicine to be applied when the diameter is less than the predetermined diameter are stored in the storage unit 80. The imaging control unit 63 specifies the height of the medicine to be applied from the diameter of the medicine registered in advance, and adjusts the focus according to the height of the medicine.

[0257] (Example of using drug specific information) Next, an example of using the drug specific information to identify a drug (type of drug) will be described. Generally, the drug specific information is assigned individually to each device that handles drugs. Therefore, even for the same drug, different drug specific information may be assigned between the drug sorting device 1 and other equipment or other devices different from the drug sorting device 1 (e.g., a tablet packing machine or powder drug packing machine as a return destination, or a return assistance device).

[0258] For example, in the medicine sorting device 1, "001", "002" and "003" are stored as the medicine-specific information of a given medicine, and in other devices or facilities, "002" and "003" are stored as the medicine-specific information. When multiple pieces of medicine-specific information are stored for one medicine, and when the first registered medicine-specific information is used for printing in the journal, the medicine sorting device 1 adopts "001" as the medicine-specific information. In other words, the medicine sorting device 1 issues a journal with "001" printed as the medicine-specific information. Note that when the medicine-specific information is, for example, GS1, it is printed in the journal as a GS1 barcode.

[0259] In this case, even if the drug-specific information printed on the journal is read by another device or equipment, the other device or equipment cannot verify the information because it does not store "001" as the drug-specific information. Therefore, the drug cannot be returned to the other device or equipment.

[0260] Therefore, in this example, the print output control unit 69 prints in the journal at least one of the multiple drug-specific information items related to the sorted drugs obtained from a return destination or return assistance device, which is another device or equipment different from the drug sorting device 1.

[0261] Specifically, the control unit acquires in advance all of the medicine specific information managed by the return destination and the return assistance device from all of these devices, linking the medicine specific information to the return destination. If the medicine specific information is managed in a medicine database, the control unit may acquire the medicine database.

[0262] When the return destination of the sorted medicine is specified, the print output control unit 69 extracts at least one of a plurality of pieces of medicine-specific information related to the medicine managed at the specified return destination (the return assistance device if the return destination is a medicine shelf). If a medicine database has been acquired, the print output control unit 69 extracts the medicine-specific information of the medicine to be returned from the medicine database managed at the specified return destination or the return assistance device. For example, data obtained by converting the file of the medicine-specific information extracted from the medicine database into text may be used as the medicine-specific information to be printed in the journal.

[0263] The print output control unit 69 issues a journal in which the extracted drug-specific information is printed, for example, as a GS1 barcode. This ensures that the journal is issued using the drug-specific information held by the return destination, so that the return destination can reliably perform a match, and as a result, the drug can be reliably returned to the return destination.

[0264] In particular, when printing drug-specific information as a GS1 barcode on a journal, it is common for one piece of drug-specific information to be printed. Therefore, this process is particularly useful when drug-specific information is printed on a journal.

[0265] In addition, the print output control unit 69 may compare at least one device-specific information originally stored in the drug sorting device 1 with at least one device-specific information obtained from the return destination, and identify the matching device-specific information as the information to be printed in the journal.

[0266] In addition, at least one of the medicine-specific information acquired from the return destination may be stored in an RFID tag provided on the sorting cup 141 that contains the sorted medicines. Even when the medicine-specific information stored in the RFID tag is read by an RFID reader at the return destination, it can be reliably collated at the return destination.

[0267] (Cleaning operation of the medicine placement table) Next, an example of a cleaning operation for the medicine placing stage 133a will be described. Fig. 18 is a schematic diagram showing an example of a suction mechanism provided in the transport / sorting unit 12. The suction mechanism shown in Fig. 18 has a configuration suitable for the cleaning operation for the medicine placing stage 133a.

[0268] In the example of Fig. 18, the suction mechanism is provided with an electromagnetic valve 122p' in the air pipe 122b connecting the suction pad 122a and the vacuum pump 122d, for controlling the flow rate of air flowing through the air pipe 122b. As shown in Fig. 18, the suction mechanism is provided with, as the air pipe 122b, a first path for discharging air from the suction pad 122a and a second path for sucking air from the suction pad 122a. A filter 122f for collecting dust and the like sucked up from the suction pad 122a is provided on the second path between the suction pad 122a and the electromagnetic valve 122p'. The filter 122f is provided in a replaceable manner.

[0269] Here, when the medicine is put into the first container 11, the medicine may be broken and fragments or dust may be contained in the first container 11. In this case, the fragments or dust may be attached to the medicine transported from the first container 11 and placed on the medicine placement table 133a. In addition, dust or the like may be attached to the medicine. The medicine placement table 133a placed in the placement area Ar2 is the subject of imaging by the first camera 131 to determine the type of medicine placed on the medicine placement table 133a. Therefore, if a medicine with foreign matter such as dust attached thereto is placed on the medicine placement table 133a or if the foreign matter accumulates on the medicine placement table 133a, it may be impossible to accurately read the outline or marking of the medicine in the captured image. In this case, it affects the discrimination of the type of medicine by the discrimination unit 64. In addition, from the viewpoint of hygiene, it is better to remove the foreign matter.

[0270] Therefore, in this example, the medicine placing stage 133a is cleaned using the transport / sorting unit 12. Specifically, when cleaning the medicine placing stage 133a, the transport control unit 61 moves the suction pad 122a close to the inner surface (inner bottom surface) of the bottom of the medicine placing stage 133a to a position a predetermined distance away from the inner bottom surface. In this state, the transport control unit 61 causes the vacuum pump 122d to draw in air. As a result, foreign matter in the medicine placing stage 133a is collected by the filter 122f via the suction pad 122a. By this operation, the medicine placing stage 133a is cleaned.

[0271] Here, the adsorption mechanism performs an operation of adsorbing the medicine and releasing the medicine. In the case where the air tube 122b has one path, there is a possibility that the foreign matter collected by the filter 122f may flow back and be discharged to the outside of the adsorption mechanism when the medicine is released. In this case, the collected foreign matter will be returned to the inside of the medicine sorting device 1 (including the sorting cup 141).

[0272] As described above, the suction mechanism of this example includes, as the air pipe 122b, a first path for discharging air from the suction pad 122a and a second path for sucking air from the suction pad 122a. When a foreign object is to be suctioned, air drawn in by the vacuum pump 122d flows through the second path, and when a medicine is to be released, air discharged by the vacuum pump 122d flows through the first path. Therefore, as described above, it is possible to prevent the foreign object suctioned by the filter 122f from being returned to the inside of the medicine sorting device 1.

[0273] The transport control unit 61 controls the operation of the suction mechanism to move the suction mechanism over the entire inner bottom surface of the medicine placement table 133a. This allows the entire inner bottom surface to be cleaned. The transport control unit 61 may also analyze the image captured by the second camera 121 to determine that only at least a portion of the inner bottom surface is to be cleaned.

[0274] In the above description, the inner bottom surface of the medicine placement stage 133a is the object to be cleaned, but the object to be cleaned may be the inner bottom surface of the first storage section 11 or the sorting cup 141. When the sorting cup 141 is the object to be cleaned, the sorting control section 62 may perform the process of the transport control section 61.

[0275] (Avoid clogging) The suction mechanism shown in Fig. 18 includes a filter 122f to prevent foreign matter such as dust from entering the downstream air pipe 122b, solenoid valve 122p', or vacuum pump 122d. However, if the filter becomes clogged with foreign matter, the filter 122f must be replaced with a new filter. Note that the suction mechanism shown in Fig. 5 may also be provided with a filter in the air pipe 122b near the suction pad 122a to prevent the foreign matter from entering.

[0276] If the adsorption mechanism is provided with a flow rate sensor (described later), the transport control unit 61 (or the sorting control unit 62) determines whether the flow rate of air in the air pipe 122b when the medicine is not being adsorbed is equal to or lower than a predetermined flow rate. The predetermined flow rate may be set to a flow rate at which the medicine can be adsorbed (a flow rate that does not affect the adsorption of the medicine). If the transport control unit 61 determines that the flow rate is equal to or lower than the predetermined flow rate, it determines that the filter is clogged. If it is determined in this way, the transport control unit 61 moves the adsorption mechanism onto the collection tray 16, for example, and controls the adsorption mechanism to discharge air from the adsorption pad 122a. This makes it possible to remove foreign matter adhering to the filter, thereby extending the service life of the filter (the period until the filter is replaced).

[0277] (Detection of dirt on medicine placement table) By capturing an image of the medicine placing stand 133a with no medicine placed thereon by the first camera 131, it may be possible to determine whether or not dirt (for example, foreign matter) is present on the medicine placing stand 133a.

[0278] As described with reference to Fig. 7, the medicine sorting device 1 includes a visible light irradiating unit (first irradiating unit 134a and second irradiating unit 134b) that emits visible light, and an ultraviolet light irradiating unit 134c that emits ultraviolet light. Therefore, the first camera 131 can acquire a visible light image and an ultraviolet light image. The control unit uses the visible light image and the ultraviolet light image to determine whether or not dirt is present on the medicine placement table 133a.

[0279] Here, a new medicine placement stand 133a (i.e., a medicine placement stand 133a in a clean state) is imaged in advance, and the visible light image and ultraviolet light image (referred to as a reference visible light image and a reference ultraviolet image, respectively) are stored in the memory unit 80.

[0280] For example, at the start of sorting, the imaging control unit 63 captures an image of the medicine placement table 133a on which no medicine is placed, using the first camera 131. The control unit compares the visible light image and the ultraviolet light image (referred to as a target visible light image and a target ultraviolet light image, respectively) with a reference visible light image and a reference ultraviolet light image, respectively, to identify parts (background parts) of the medicine sorting device 1 that are in the background of the medicine placement table 133a in the target visible light image and the target ultraviolet light image.

[0281] Since the medicine placement stand 133a is transparent, the background part of the medicine placement stand 133a is also reflected in the visible light image. In addition, depending on the material of the background part, it may emit light in the ultraviolet light image. Therefore, by comparing the reference visible light image with the target visible light image, or comparing the reference ultraviolet light image with the target ultraviolet light image, the background part can be removed from the target for determining dirt.

[0282] The control unit determines whether an image different from a background portion is present in the target visible light image. If the control unit determines that an image different from a background portion is present, the control unit determines whether the size of the image is equal to or larger than a predetermined size. If the control unit determines that the size is equal to or larger than the predetermined size, the control unit determines that the image is a stain.

[0283] The control unit also determines whether or not there is light emission different from that of the background portion in the target ultraviolet light image. If the control unit determines that there is light emission different from that of the background portion, the control unit determines whether or not the intensity of the light emission is equal to or greater than a predetermined magnitude. If the control unit determines that the intensity is equal to or greater than the predetermined magnitude, the control unit determines that the light emission is caused by dirt.

[0284] When the control unit determines that dirt is present on the medicine placing stand 133a, it issues a notification to prompt cleaning of the medicine placing stand 133a, for example, via the display unit 32. By cleaning the medicine placing stand 133a, it is possible to reduce the possibility that dirt will affect the discrimination of the type of medicine by the discrimination unit 64.

[0285] Also, in the case of a visible light image, dust may not be recognized. On the other hand, in the case of an ultraviolet light image, dust is easily recognized (dust is easily luminous when irradiated with ultraviolet light), but dark objects may not be recognized. By analyzing the visible light image and the ultraviolet light image and using the results to determine the presence of dirt on the medicine placement table 133a, it is possible to identify various types of dirt.

[0286] The predetermined size to be compared with the image size and the predetermined size to be compared with the intensity of emitted light may be set to a size that allows the control unit to recognize dirt that affects the above-mentioned determination. In addition, when the influence of the background portion on the determination of dirt is small, it is not necessarily necessary to compare the captured image with the reference visible light image or reference ultraviolet light image.

[0287] (Determining whether or not the drug can be adsorbed) Next, the determination of whether or not a drug can be adsorbed by the transport control unit 61 or the sorting control unit 62 will be described.

[0288] The transport / sorting unit 12 may be provided with a flow rate sensor (not shown) that detects the flow rate of air flowing through the air pipe 122b of the suction mechanism. In this case, the transport control unit 61 (or the sorting control unit 62) can determine that the medicine has been adsorbed by the suction pad 122a based on a change in the flow rate detected by the flow rate sensor. In other words, the transport control unit 61 can determine the adsorption based on a change in the flow rate instead of a change in the suction force detected by a pressure sensor.

[0289] Even if there is a change in the adsorption state of the drug (e.g., from the state where the drug is adsorbed to the state where the drug is released from the adsorbed state), it takes time for the pressure in the air tube 122b to change to a level where the pressure sensor can detect the change. On the other hand, the flow rate changes in real time following the change in the adsorption state of the drug. Therefore, by using a flow rate sensor instead of a pressure sensor to allow the transport control unit 61 to determine whether or not the drug can be adsorbed, the time required to determine whether or not the drug can be adsorbed can be shortened compared to when a pressure sensor is used.

[0290] As with the pressure sensor, the transport control unit 61 may detect that the drug has approached a predetermined range from the tip of the suction mechanism based on a change in the flow rate detected by the flow rate sensor. By appropriately setting a threshold value, the transport control unit 61 can also determine whether the suction mechanism is sucking in the suction pad 122a itself based on the change in the flow rate. This determination can also be made in less time using the flow rate sensor than using a pressure sensor.

[0291] (Determining the number of medicines placed on the medicine placement table) Next, a process of determining the number of medicines placed on the medicine placing stand 133a by the imaging control unit 63 will be described. One medicine to be discriminated by the discrimination unit 64 is placed on the medicine placing stand 133a, but there is a possibility that a malfunction will occur in which another medicine is placed on the medicine placing stand 133a while the medicine remains on the medicine placing stand 133a. When two or more medicines are placed on the medicine placing stand 133a, there is a possibility that the discrimination unit 64 will not be able to appropriately discriminate the type of medicine.

[0292] Therefore, in this example, the imaging control unit 63 determines that an error has occurred when two or more medicines are placed on the medicine placement table 133a. For example, the imaging control unit 63 determines that there are two or more medicines in the area extraction process for the front surface of the medicine (the image of the medicine in the image captured from the position of θ=0°). In this case, the imaging control unit 63 does not perform the area extraction process for the back surface of the medicine (the image of the medicine in the image captured from the position of θ=180°) and determines that an error has occurred. When an error has occurred, the control unit may notify the fact via the display unit 32, for example, and may temporarily suspend the medicine sorting process.

[0293] The imaging control unit 63 determines whether or not two or more medicines are placed on the medicine placement stand 133a, for example, as follows.

[0294] First, since the brightness of the medicine in the image varies depending on the color applied to the medicine, the imaging control unit 63 extracts multiple regions based on the brightness distribution in the image captured by the first camera 131. For example, when classifying into regions based on three types of brightness distribution, a first brightness threshold and a second brightness threshold are set in advance. In this case, the imaging control unit 63 classifies into a region R(A) having a brightness equal to or greater than the first brightness threshold, a region R(B) having a brightness less than the first brightness threshold and equal to or greater than the second brightness threshold, and a region R(C) having a brightness less than the second brightness threshold.

[0295] Next, the imaging control unit 63 performs a narrowing-down process on the image using shape features. Shape features are features that are set in advance to remove images of objects that are not drugs. Examples of shape features include the area assumed to be a drug and the degree of indentation of the edge (jaggedness, convexity). By referring to the shape features, the imaging control unit 63 removes areas that are assumed not to be drugs from the image, thereby extracting only areas that are assumed to be drugs.

[0296] Next, the imaging control unit 63 extracts only one of the regions R(A), R(B), and R(C) from the regions estimated to be medicines. Here, it is estimated that the region R(A) is a region corresponding to medicines with a relatively light color, the region R(C) is a region corresponding to medicines with a relatively dark color, and the region R(B) is a region corresponding to medicines with an intermediate color.

[0297] When regions R(A) and R(B) are extracted from an image, the imaging control unit 63 determines that the regions correspond to a relatively light-colored drug and extracts region R(A). When regions R(B) and R(C) are extracted from an image, the imaging control unit 63 determines that the regions correspond to a relatively dark-colored drug and extracts region R(C). When regions R(A), R(B), and R(C) are extracted from an image, the imaging control unit 63 determines that the regions correspond to a relatively dark-colored drug and extracts region R(B).

[0298] After extracting any one of the regions R(A), R(B), and R(C), the imaging control unit 63 performs a division process based on the luminance distribution (e.g., a process using a known Watershed algorithm) on the extracted region. As a result, if there is a region in the extracted region that can be divided by the luminance distribution, it is divided into two or more regions.

[0299] Then, the imaging control unit 63 determines that the finally obtained regions are regions corresponding to medicines, and counts the number of such regions. If the number of such regions is two or more, the imaging control unit 63 determines that an error has occurred.

[0300] 19(a) to (d) are diagrams for explaining an example of the number determination process, and are images captured by first camera 131.

[0301] In the example of (a) in Figure 19, the imaging control unit 63 extracts regions R1(A) and R3(A) as region R(A), extracts region R2(B) as region R(B), and extracts regions R4(C) and R5(C) as region R(C).

[0302] Next, as shown in (b) of Figure 19, the imaging control unit 63 refers to the shape features to exclude regions R3(A), R4(C), and R5(C), which are clearly different from the shape of the drug, and extracts regions R1(A) and R2(B) from which the shape of the drug can be extracted.

[0303] Next, since the extracted regions are region R1(A) and region R2(B), the imaging control unit 63 extracts region R1(A) as shown in FIG. 19(c). The imaging control unit 63 performs a division process based on the luminance distribution on the extracted region R1(A). In the example of FIG. 19, as shown in FIG. 19(d), the imaging control unit 63 extracts two regions from region R1(A). That is, in this case, the imaging control unit 63 determines that two medicines are placed on the medicine placement table 133a, and determines that an error has occurred.

[0304] This allows the discrimination unit 64 to perform discrimination processing only when one medicine is placed on the medicine placement stand 133a. That is, it is possible to perform medicine sorting processing safely.

[0305] (Reservation settings) Furthermore, the display control unit 67 may display on the display unit 32 a setting image capable of accepting a user input for reserving a medicine sorting start time. In this case, the control unit starts the sorting process of the medicines stored in the first storage unit 11 at the time when the set sorting start time is reached. Therefore, the medicine sorting device 1 can be set in a sleep mode (eco mode) until the start of the sorting operation, so that the power consumption of the medicine sorting device 1 can be reduced. Furthermore, generally, electricity costs are cheaper at night than during the day. Therefore, when the sorting start time is set so that the medicine sorting process is performed at night, electricity costs can be further reduced.

[0306] (Identification and repackaging of medications brought in by customers) Next, the identification and repackaging of medications brought by the patient using the medicine sorting device 1 will be described. For example, when a patient who has been visiting or hospitalized at another hospital is admitted, the receiving hospital or pharmacy must identify the medications prescribed at the other hospital or pharmacy (i.e., medications brought by the patient). In this case, the patient must unwrap the packaging paper brought by the patient, visually inspect the medications brought by the patient, and then repackage the medications based on the doctor's examination results. The medicine sorting device 1 can be used for the visual inspection and repackaging of the medications brought by the patient.

[0307] For example, the user unwraps a packaging paper brought by any one patient and places the patient's own medications contained in the packaging paper into the first storage unit 11. The medicine sorting device 1 sorts the patient's own medications stored in the first storage unit 11 into the second storage unit 14. The user then visually inspects the medications. In addition, prescription information relating to the patient is input based on the doctor's examination results for the patient. The packaging mechanism 6 of the medicine sorting device 1 repackages the patient's own medications stored in the second storage unit 14 based on the input prescription information.

[0308] Since the prescription information has been entered, new medicines that are not included in the patient's medication can be added and packaged. It is also possible to avoid packaging medicines that are included in the patient's medication but are not entered in the prescription information.

[0309] (Determining whether or not to deliver master image) Next, a process of determining whether or not to transmit a master image by the management device will be described. After capturing an image of a returned medicine with the first camera 131, the medicine sorting device 1 can register an image obtained by visual inspection as a master image by linking it to the name of the medicine. Furthermore, when the medicine sorting device 1 is installed in multiple locations (e.g., hospitals), the master image registered by the medicine sorting device 1 installed at any location can also be transmitted to the medicine sorting device 1 installed at the other locations. However, if the master image is transmitted to another medicine sorting device 1 without checking the authenticity of the master image, the medicine sorting device 1 may erroneously determine the type of medicine.

[0310] In this embodiment, a management device (not shown) that collects master images from a plurality of medicine sorting devices 1 and can distribute the master images to the plurality of medicine sorting devices 1 determines whether or not the master images can be distributed. The management device determines whether or not the master images can be distributed, for example, (A1) The registration date of the master image, (A2) the number of returns to the drug sorting device 1; (A3) The first day that a return is made to the tablet packing machine or powder packing machine; and (A3) The date of return of the medicine to the tablet packing machine or powder packing machine. The above information (1) to (4) is managed by the medicine sorting device 1, and is sent to the management device in association with the registered master image.

[0311] When the management device receives the master image from the medicine sorting device 1, for example, (B1) Has a certain number of days passed since the date of registration? (B2) Whether the number of returns has reached a certain number, (B3) Whether the required number of days has elapsed since the first day of return, and (B4) Determine whether a specified number of days has passed since the last day for returns.

[0312] Regarding (B1), if a predetermined number of days have not passed since the registration date, the number of times the master image has been used in the medicine sorting device 1 (i.e., the number of times it has been used for visual inspection, in other words, its usage record) is likely to be low, and therefore the master image can be determined to be of low credibility. Therefore, if a predetermined number of days have not passed since the registration date, the management device excludes the master image from the master images to be distributed.

[0313] Regarding (B2), if the number of returns does not reach the predetermined number, the master image has a low usage record, and therefore the management device can determine that the master image has low credibility. Therefore, if the number of returns does not reach the predetermined number, the management device excludes the master image from the distribution targets.

[0314] Regarding (B3), if the specified number of days have not passed since the first day of return, even if the master image has a high usage history (even if the number of returns has reached a specified number), there is a possibility that the master image may be mistakenly determined to have been registered in a subsequent visual inspection. Therefore, in order to increase the credibility of the master image, the management device excludes the master image from the distribution target if the specified number of days have not passed since the first day of return.

[0315] Regarding (B4), if a predetermined number of days have passed since the last day for returns, it can be determined that the master image lacks credibility because it has not been used for a while since it was last returned to the tablet packing machine or powder packing machine. Therefore, if a predetermined number of days have passed since the last day for returns, the management device excludes it from the master images to be distributed.

[0316] By determining whether or not the master image can be delivered in this manner, a highly reliable master image can be delivered to the medicine sorting device 1.

[0317] The number of days for (B1), (B3), and (B4) may be set based on experience from the viewpoint of past usage, and may be different from each other. The number of days for (B2) is set in the same manner.

[0318] <Example of processing from drug sorting to drug return> An example of the process from medicine sorting to medicine return (one example of a medicine return method) will be described below. Fig. 20 is a diagram showing an example of the process flow from medicine sorting to medicine return. In this example, it is assumed that a plurality of types of medicines are sorted by type by the medicine sorting device 1.

[0319] As shown in FIG. 20, when a plurality of types of medicines are input into the first container 11, the medicine sorting device 1 sorts and stores the medicines by type in the sorting cups 141 of the second container 14 (medicine sorting step).

[0320] Thereafter, the medicine sorting device 1 displays on the touch panel 3 an inspection image Im2 for visually inspecting the medicines sorted by the medicine sorting device 1 (display process). That is, the user uses the inspection image Im2 displayed on the touch panel 3 to visually inspect the medicines sorted by the medicine sorting device 1 (inspection process).

[0321] Thereafter, the medicine sorting device 1 performs a process to enable the medicine after visual inspection to be returned to the packing machine 200 or the medicine shelf 300, which is the return destination, based on the visual inspection result using the inspection image Im2 (return preparation process). That is, the user returns the medicine after visual inspection to the packing machine 200 or the medicine shelf 300 based on the visual inspection result (inspection result) (return process). Note that examples of the packing machine 200 include a tablet packing machine and a powdered medicine packing machine.

[0322] Through the above steps, the medicines sorted by the medicine sorting device 1 can be visually inspected by the user and then returned to the packing machine 200 or medicine shelf 300 as the return destination.

[0323] Next, a method of displaying the inspection image Im2 will be described with reference to Fig. 21 and Fig. 22. (a) and (b) of Fig. 21 and Fig. 22 are diagrams showing an example of a method of displaying the inspection image Im2.

[0324] The medicine sorting device 1 can stop the medicine sorting operation at any timing. For example, the medicine sorting device 1 stops the sorting operation when a user input for stopping the sorting operation is received, or when sorting of the medicines stored in the first storage unit 11 into the second storage unit 14 is completed. When the medicine sorting device 1 stops the sorting operation (for example, when it determines that the medicine sorting operation is completed), it displays a sorting image Im1 showing the medicine sorting status, as shown in FIG. 21. Note that the medicine sorting device 1 may display the sorting image Im1 during the sorting operation.

[0325] Each of the multiple sorting positions where medicines are sorted, the sorting cups 141 arranged at the corresponding sorting positions, and medicine data related to the medicines contained in the sorting cups 141 are linked to each other and stored in the memory unit 80 and an RFID tag provided in the sorting cups 141. Therefore, the medicine sorting device 1 can display a sorting image Im1 that reflects the multiple sorting positions in the second container unit 14 and the sorting status (e.g., the number of medicines contained) at each of the sorting positions.

[0326] 21, the medicine assorting device 1 receives a user input for a sorting position indicated in a sorting image Im1, and displays an inspection image Im2 of a medicine associated with the sorting position on the touch panel 3. This allows the inspection image Im2 of a medicine that the user desires to visually inspect to be displayed.

[0327] Furthermore, the medicine sorting device 1 continues sorting until the medicines stored in the first storage unit 11 are all gone. If the number of sorting cups 141 that can be placed in the second storage unit 14 is, for example, 40, the medicine sorting device 1 can store 40 types of medicines in the second storage unit 14. If 41 or more types of medicines are stored in the first storage unit 11, the medicine sorting device 1 cannot sort all of the medicines into the second storage unit 14. Therefore, when medicines have been sorted into all of the sorting cups 141 placed in the second storage unit 14, the medicine sorting device 1 sorts the 41st and subsequent types of medicines into the waiting tray 15.

[0328] In this case, in order to store the medicines stored in the waiting tray 15 in the sorting cups 141, the medicine sorting device 1 may take out the medicines stored in any of the sorting cups 141 and package them by the packaging mechanism 6. For example, the sorting cup 141 that contains the medicines that have been sorted becomes the target of automatic packaging by the packaging mechanism 6.

[0329] In addition, in the medicine sorting device 1, a user can visually inspect the medicines contained in the sorting cup 141 at any timing. The medicine sorting device 1 determines that the sorting of the medicines that have been visually inspected has been completed, and can make the medicines the target for removal or packaging after the visual inspection is completed. Therefore, even if the medicine sorting device 1 is in the middle of sorting medicines, if the medicines contained in the sorting cup 141 are visually inspected, the medicine sorting of the medicines is considered to be completed, and the medicines can be made the target for automatic packaging by the packaging mechanism 6 as described above. However, when the medicine sorting device 1 performs the packaging process of the medicines, the medicine sorting device 1 temporarily stops the medicine sorting process.

[0330] As shown in (a) of Fig. 22, after packaging the medicine that is the target of automatic packaging, the packaging mechanism 6 gives a barcode for reading the inspection image Im2 to the packaging paper. The barcode includes, for example, medicine data related to the medicine.

[0331] When the sorted medicines are packaged, the user causes a barcode reader (not shown) to read medicine data related to the medicine contained in the barcode attached to the packaging paper. The medicine sorting device 1 uses the medicine data related to the medicine read by the barcode reader to read image data associated with the data and stored in the storage unit 80, thereby displaying an inspection image Im2 of the medicine on the touch panel 3.

[0332] 22(b), the medicine sorting device 1 may display an inspection image Im2 using data stored in an RFID tag provided on the sorting cup 141. In this case, the user takes out the sorting cup 141 containing the medicine to be returned to the return destination, and places it on the first RFID reader / writer unit 5. The medicine sorting device 1 uses the data related to the medicine read by the first RFID reader / writer unit 5 to read image data associated with the data and stored in the storage unit 80, thereby displaying an inspection image Im2 of the medicine on the touch panel 3. If image data is included in the RFID tag, the inspection image Im2 may be displayed on the touch panel 3 using the image data.

[0333] In this manner, the method shown in FIG. 22 can also display the inspection image Im2 of the medicine that the user desires to visually inspect.

[0334] Next, a method for returning the product after the visual inspection is completed will be described with reference to Figures 23 and 24. Figures 23(a) and (b) and Figure 24 are diagrams showing an example of a method for returning the product after the visual inspection is completed.

[0335] When the packing machine 200 to which the container is to be returned is provided with a function for reading data stored in an RFID tag provided on the sorting cup 141, the container may be returned in a manner such as that shown in FIG. 23(a), for example.

[0336] Specifically, the medicine sorting device 1 displays an inspection image Im2 based on a user input or user operation. The user visually inspects the medicines contained in any sorting cup 141 by checking the inspection image Im2. After completing the visual inspection, the user inputs that fact to the medicine sorting device 1. In response to the user input, the medicine sorting device 1 stores data on the medicine determined as a result of the visual inspection in the RFID tag of the sorting cup 141.

[0337] Thereafter, the user carries the sorting cup 141 to the packing machine 200 and causes an RFID reader (not shown) provided in the packing machine 200 to read data related to the medicine stored in the RFID tag of the sorting cup 141. This allows the user to store (return) the medicine stored in the sorting cup 141 in a cassette (not shown) provided in the packing machine 200 in which the medicine is stored. At this time, if the cassette of the packing machine 200 has a locking lid, the lock of the cassette of the packing machine 200 may be unlocked on the condition that it is confirmed that the visual inspection result of the sorting cup 141 is all OK as a result of the user visually inspecting the inspection image Im2 sorted based on the visual inspection result stored in the RFID tag of the sorting cup 141, i.e., the information (engraved information or printed information) indicated by the imprint or print of the medicine reliably recognized by this device.

[0338] On the other hand, if the return destination packaging machine 200 does not have the function to read the data stored in the RFID tag provided on the sorting cup 141, or if the return destination is a medicine shelf 300, the return method will be, for example, as shown in (b) of Figure 23.

[0339] Specifically, the user places the sorting cup 141 to be visually inspected on the first RFID reader / writer unit 5. This causes the medicine sorting device 1 to display an inspection image Im2 based on the data related to the medicine stored in the RFID tag of the sorting cup 141. The user then visually inspects the medicines contained in the sorting cup 141 by checking the inspection image Im2. After completing the visual inspection, the user inputs that effect to the medicine sorting device 1. In response to the user input, the medicine sorting device 1 issues a journal Jo in which medicine data related to the medicine that reflects the visual inspection results and return destination information, etc. are printed.

[0340] Thereafter, if the return destination is the packing machine 200, the user carries the sorting cup 141 and the journal Jo to the packing machine 200. Then, the user causes a barcode reader (not shown) provided in the packing machine 200 to read out the medicine data related to the medicine included in the barcode printed in the journal Jo. This allows the user to store (return) the medicine stored in the sorting cup 141 in the cassette provided in the packing machine 200 in which the medicine is stored. At this time, if a locking lid is provided on the cassette of the packing machine 200, the lock of the cassette of the packing machine 200 may be unlocked on the condition that it is confirmed that the visual inspection result included in the barcode printed in the journal Jo, that is, the inspection image Im2 sorted based on the information (stamped information or printed information) indicated by the stamped or printed medicine reliably recognized by this device, includes an inspection result that the visual inspection of the sorting cup 141 is all OK.

[0341] Also, when the return destination is the medicine shelf 300, the user causes a reading unit (e.g., a barcode reader) provided in the above-mentioned return assistance device to read out the medicine data and return destination information related to the medicine contained in the barcode printed on the journal Jo. This allows the user to carry the sorting cup 141 and the journal Jo to the medicine shelf 300, which is the return destination, and store (return) the medicine contained in the sorting cup 141 in a predetermined position on the medicine shelf 300. At this time, if the medicine shelf 300 has a door with a lock, the door of the medicine shelf 300 may be unlocked on the condition that it is confirmed that the visual inspection result included in the barcode printed on the journal Jo, that is, the inspection image Im2 sorted based on the information (stamped information or printed information) indicated by the stamped or printed medicine reliably recognized by this device, includes an inspection result that the visual inspection of the sorting cup 141 is all OK.

[0342] Furthermore, when returning medicines packaged by the packaging mechanism 6 to the packaging machine 200 or medicine shelf 300, for example, a returning method such as that shown in Fig. 24 is used. For example, as described above, when medicines are contained in all of the sorting cups 141 arranged in the second storage section 14 and medicines are contained in the waiting tray 15, the medicines are removed from the sorting cups 141 and the medicines in the waiting tray 15 are contained in the sorting cups 141. In this case, the medicines removed from the sorting cups 141 are packaged by the packaging mechanism 6.

[0343] 23(a), after the user completes the visual inspection, the user inputs that effect to the medicine sorting device 1. In response to the user input, the medicine sorting device 1 stores data related to the medicine that reflects the visual inspection result in the RFID tag of the sorting cup 141 and in the memory unit 80.

[0344] Thereafter, the medicine sorting device 1 packs the medicine using the packaging mechanism 6, using the data on the medicine stored in the RFID tag or the memory unit 80. At this time, the medicine sorting device 1 imparts the medicine data and / or return destination information on the medicine, for example in the form of a barcode, to the packaging paper on which the medicine is packed. As in (b) of FIG. 23, the user reads the medicine data and / or return destination information on the medicine contained in the barcode printed on the packaging paper using a barcode reader provided in the packaging machine 200 or a reading unit provided in the return auxiliary device. This allows the user to store (return) the medicine stored in the sorting cup 141 in a cassette of the packaging machine 200 or a predetermined position on the medicine shelf 300. At this time, if the lid of the cassette of the packing machine 200 or the medicine shelf 300 has a door with a locking mechanism, the lock of the cassette of the packing machine 200 or the lock of the door of the medicine shelf 300 may be unlocked on the condition that the user visually inspects the inspection image Im2 sorted based on the visual inspection result contained in the barcode printed on the packing paper, i.e., the information (engraved information or printed information) indicated by the medicine's imprint or print reliably recognized by this device, and confirms that the inspection result includes an inspection result that the visual inspection of the sorting cup 141 is all OK.

[0345] (Example of a journal) Next, an example of a journal issued by the medicine sorting device 1 will be described with reference to FIG. 25. (a) and (b) of FIG. 25 are diagrams showing an example of the journal. (a) of FIG. 25 shows an example of a journal Jo1 that is issued in response to a visual inspection result that all medicines contained in any sorting cup 141 are the same type of medicine. The visual inspection result in this case is referred to as "visual OK". (b) of FIG. 25 shows an example of a journal Jo2 that is issued in response to a visual inspection result that at least one medicine among the medicines contained in any sorting cup 141 is a different type from the other medicines. The visual inspection result in this case is referred to as "visual NG".

[0346] 25(a), when the visual inspection result is "visually OK", a barcode and character information are printed in the journal Jo1 as information about the medicine indicating the visual inspection result. Information included in the barcode may include, for example, medicine-specific information (medicine identification code), device-specific information for identifying the medicine sorting device 1, or the number of medicines contained in the sorting cup 141.

[0347] By recording the device-specific information or the number of pieces information in the journal Jo1, the packing machine 200 can read out this information when returning (filling) the medicine to the packing machine 200. When the device-specific information is recorded, the packing machine 200 can determine which medicine sorting device 1 the medicine was sorted by.

[0348] The text information printed in the journal Jo1 may include, for example, the inspection date and time, the name of the inspector, the name of the drug, the engraving on the drug, the total number of drugs contained in the sorting cup 141, the total drug price of the drugs, container-specific information for identifying the sorting cup 141, and information indicating the return destination.

[0349] 25(a), a plurality of return destinations that are candidates for return are printed in the journal Jo1. Specifically, the type of packing machine 200 that is the return destination, the machine number of the packing machine 200, and the cassette number of the cassette equipped in the packing machine 200 are printed. Also, the shelf number of the medicine shelf 300 is printed.

[0350] On the other hand, as shown in (b) of Figure 25, if the visual inspection result is “visual NG,” journal Jo2 also prints a barcode and text information as information about the drug indicating the visual inspection result, but differs from journal Jo1 in the following ways.

[0351] The journal Jo2 is issued when the sorting cup 141 contains a medicine that is "not acceptable by visual inspection" (a medicine that is a different type from the other medicines), and therefore the number of medicines contained in the sorting cup 141 is not included in the information contained in the barcode. In this case, the packing machine 200 cannot identify the number of medicines to be returned. Therefore, the journal Jo2 is printed with a sentence that prompts the user to count the number of medicines (medicines whose visual inspection result is OK) remaining after removing the medicines whose visual inspection result is NG (the above-mentioned "not acceptable by visual inspection") and input the number. Furthermore, instead of the total number of medicines printed in the journal Jo1, the journal Jo2 prints the number of medicines whose visual inspection result is OK (number of medicines whose visual inspection result is NG) and the number of medicines whose visual inspection result is NG (number of medicines whose visual inspection result is NG). Furthermore, in the journal Jo2, as shown in FIG. 25(b), the words "not acceptable by visual inspection" are printed so that the visual inspection result can be seen at a glance.

[0352] The barcode is also attached to the packing paper in the return method shown in Fig. 24. The barcode attached to the packing paper may be the barcode described above. In other words, the information contained in the barcode attached to the packing paper may differ depending on whether the barcode is "visually OK" or "visually unacceptable."

[0353] (Examples of images displayed: sorting image and inspection image) Next, examples of display images will be described with reference to FIGS.

[0354] FIG. 26(a) is a diagram showing an example of an assortment image Im1, and FIG. 26(b) is a diagram showing an example of an assorted medicine list image Im3 showing information related to the assorted medicine. The assortment image Im1 shown in FIG. 26(a) is another example of the display image shown in FIG. 11(a). In the assortment image Im1 shown in FIG. 26(a), the configuration of the lower part is mainly different from the display image shown in FIG. 11(a). Here, the parts of the assortment image Im1 that are different from the display image shown in FIG. 11(a) will be mainly described. Also, FIG. 27(a) to (c) are diagrams showing examples of images displayed when a user input for the assortment image Im1 is accepted.

[0355] In the assorting image Im1, a plurality of rectangular portions Rs corresponding to each sorting cup 141 arranged in the second storage unit 14 can accept user input. In response to a user input for a rectangular portion Rs, the medicine assorting device 1 displays an inspection image Im2 (see FIG. 28(a)) corresponding to the rectangular portion Rs. As in FIG. 11(a), the medicine assorting device 1 displays the number of sorted medicines in the rectangular portion Rs corresponding to the sorting cup 141 into which the medicines have been sorted.

[0356] The "display switching" button Bo1 is an operation button that accepts a user input for selecting a color-coding method for the rectangular portion Rs. When the medicine sorting device 1 accepts a user input to the "display switching" button Bo1, it displays a pop-up display color switching image Im4 showing the color-coding method as shown in (a) of FIG.

[0357] The display color switching image Im4 includes, for example, a "color-code by return destination" button Bo11 and a "color-code by visual inspection status" button Bo12. The "color-code by return destination" button Bo11 is an operation button that accepts user input for color-coding by return destination. The "color-code by visual inspection status" button Bo12 is an operation button that accepts user input for color-coding by visual inspection status.

[0358] When a user inputs the "Color-code by return destination" button Bo11, the medicine sorting device 1, for example, when the medicine name of the medicine contained in the sorting cup 141 has been determined, colors the rectangular portion Rs by referring to the return destination information linked to the medicine data related to the medicine. In addition, the medicine sorting device 1 displays the rectangular portion Rs for which the medicine name has not been determined and the rectangular portion Rs corresponding to the sorting cup 141 in which no medicine is contained in a color different from that for when the medicine name has been determined. The rectangular portion Rs for which the medicine name has not been determined and the rectangular portion Rs corresponding to the sorting cup 141 in which no medicine is contained may be displayed in different colors. An example of the display of the rectangular portion Rs for each return destination is the display image shown in FIG. 12 described above.

[0359] When a user inputs into the "Color-code by visual inspection status" button Bo12, the medicine sorting device 1 displays, for example, (1) rectangular portions Rs where the visual inspection result is "visual OK", (2) rectangular portions Rs where the visual inspection result is "visual NG", and (3) rectangular portions Rs where visual inspection has not been performed, each in a different color. FIG. 26(a) is an example of a sorting image Im1 where a color-coded display is performed for each visual inspection status. Note that at least one of the above three types of visual inspection status may be displayed in a color different from the other visual inspection statuses.

[0360] The sorting image Im1 also includes a "sort" button Bo3 that accepts user input to start and stop sorting by the medicine sorting device 1, and a "package" button Bo4 that accepts user input to start and stop packaging by the packaging mechanism 6.

[0361] In this embodiment, the specifications may be such that the drug sorting process by the drug sorting device 1 and the packaging process by the packaging mechanism 6 cannot be performed simultaneously. In the case of such specifications, as shown in (a) of FIG. 26, for example, if the drug sorting process is in progress, the "Packaging" button Bo4 will be inactive (only the button for stopping sorting (square button) will be active). On the other hand, if the packaging process is in progress, the "Sorting" button Bo3 will be inactive (only the button for stopping packaging (square button) will be active). Note that if the drug sorting device 1 does not have a packaging mechanism 6, the "Packaging" button Bo4 does not need to be displayed.

[0362] The "Select Return Source" button Bo5 is an operation button that accepts a user input for selecting the return source of the medicine. The return source is a place where the medicine was stored before being put into the medicine sorting device 1, such as a ward, a medical department, or a facility (e.g., a medical institution). When the user input to the "Select Return Source" button Bo5 is accepted, the medicine sorting device 1 displays a return source selection image Im5 shown in (b) of FIG. 27. For example, when the medicine sorting device 1 is linked to the packing machine 200 (connected to be able to communicate with each other), the medicine sorting device 1 can obtain information (e.g., ward ID) that identifies the ward or the like in which the packing machine 200 is installed. Therefore, the medicine sorting device 1 can associate the information that identifies the ward ID or the like with the medicine data related to the put-in medicine and store it in the memory unit 80 or the RFID tag of the sorting cup 141.

[0363] When the return source displayed in the return source selection image Im5 shown in (b) of Figure 27 is selected, the selected return source shown in (a) of Figure 26 (displayed as ``Not selected'' in the figure).

[0364] The "Packaging Target Selection" button Bo6 is an operation button that accepts a user input for selecting a method of packaging medicines by the packaging mechanism 6. When a user input to the "Packaging Target Selection" button Bo6 is accepted, the medicine sorting device 1 displays a pop-up display, for example, as shown in FIG. 27(c). In the example of FIG. 27(c), (1) a "All Packaging" button Bo61 for packaging all sorted medicines by the packaging mechanism 6, (2) a "Visual Inspection Completed Only" button Bo62 for packaging only medicines that have been visually inspected by the packaging mechanism 6 out of all sorted medicines, (3) a "Not Packaged Only" button Bo63 for packaging only medicines that have not been packaged at the return destination by the packaging mechanism 6 out of all sorted medicines, and (4) a "Select Only" button Bo64 for packaging only medicines that are contained in a sorting cup 141 individually selected by the user by the packaging mechanism 6 out of all sorted medicines are displayed. According to the user's selection, the selected packaging method is displayed in the packaging method shown in (a) of FIG. 26 (displayed as "Not selected" in the figure). Note that the medicine data related to the sorted medicine may be linked to return destination information. In this case, the user input to the "Select packaging target" button Bo6 may be applied only to the rectangular portion Rs corresponding to the sorting cup 141 containing the medicine whose return destination indicated by the return destination information is the packaging mechanism 6.

[0365] The "sorting list" button Bo7 is an operation button for switching the display image from the assortment image Im1 to the assorted medicine list image Im3. When a user inputs to the "assortment list" button Bo7, the medicine assorting device 1 switches to display the assorted medicine list image Im3.

[0366] 26(b), the sorted medicine list image Im3 shows the history of sorting by the medicine sorting device 1 for each type of medicine. The RFID tag of the storage unit 80 or the sorting cup 141 stores medicine data related to the medicine, container specific information for identifying the sorting cup 141, the number of medicines contained in the sorting cup 141, return destination information, etc., in a linked manner so that the sorted medicine list image Im3 can be generated.

[0367] When any medicine included in the sorted medicine list image Im3 is selected and user input is received via the "Visual Inspection" button Bo31, the medicine sorting device 1 displays an inspection image Im2 of the selected medicine. The list of medicines included in the sorted medicine list image Im3 can be scrolled up and down and sorted by user input. By receiving user input via the "Container List" button Bo32 of the sorted medicine list image Im3, the medicine sorting device 1 switches the display from the sorted medicine list image Im3 to the sorting image Im1.

[0368] The sorting image Im1 is a display image showing a sorting state (current sorting state) of medicines during medicine sorting processing by the medicine sorting device 1. On the other hand, the sorted medicine list image Im3 is a display image including not only the sorting state of medicines during medicine sorting processing, but also past medicine sorting states by the medicine sorting device 1. In other words, by displaying the sorted medicine list image Im3, the user can check, for example, information on medicines that have been sorted in the past but have not yet been visually inspected.

[0369] Figure 28 (a) to (c) are diagrams showing an example of an inspection image Im2. Note that the inspection image Im2 shown in Figure 28 (a) and (b) is another example of the display image shown in Figure 11 (b). Mainly, the parts of the inspection image Im2 that are different from the display image shown in Figure 11 (b) will be described.

[0370] As shown in (a) of Fig. 28, when any medicine is selected in the sorting image Im1 or sorted medicine list image Im3, the medicine sorting device 1 displays an inspection image Im2 of the medicine. When a user input is received on a "Start visual inspection" button Bo21 of the inspection image Im2, the medicine sorting device 1 displays an inspection image Im2 capable of receiving the confirmation result of the visual inspection, as shown in (b) of Fig. 28.

[0371] The inspection image Im2 shown in (b) of Fig. 28 includes an "All OK" button Bo22 and an "NG" button Bo23 that allow the visual inspection results of the displayed medicines (medicines contained in the sorting cup 141) to be registered collectively. The "All OK" button Bo22 and the "NG" button Bo23 are operation buttons that replace the "Register" button included in the display image shown in (b) of Fig. 11.

[0372] When a user input to the "All OK" button Bo22 is accepted, the medicine sorting device 1 determines that the visual inspection result of all displayed medicines is "visual OK" and writes the visual inspection result to the RFID tag of the sorting cup 141 in which the medicines are contained. On the other hand, when a user input to the "NG" button Bo23 is accepted, the medicine sorting device 1 determines that the visual inspection result of at least one medicine out of all displayed medicines is "visual NG" and writes the visual inspection result to the RFID tag of the sorting cup 141 in which the medicines are contained.

[0373] In addition, in the inspection image Im2 shown in (a) and (b) of Figure 28, when a user input is received regarding an image of the drug contained in the sorting cup 141 (visible light image of the drug captured by the imaging unit 13), the drug sorting device 1 displays an enlarged image Im6 of the drug, as shown in (c) of Figure 28.

[0374] An enlarged image of the selected drug is displayed in the enlarged display area R21 of the enlarged display image Im6. Images of the front and back sides of the drug captured by the imaging unit 13 are displayed. In addition, an image (master image) (e.g., an image of an uncoated tablet) and the size of the selected drug registered in the drug database are displayed in the normal image display area R22.

[0375] If the visual inspection result for the selected medicine is "visually OK", the medicine sorting device 1 accepts "visually OK" as the visual inspection result for the medicine by accepting user input to the "visually OK" button Bo22. On the other hand, if the visual inspection result is "visually NG", the medicine sorting device 1 accepts "visually NG" as the visual inspection result for the medicine by accepting user input to the "NG" button Bo23.

[0376] In addition, in the inspection image Im2 shown in (a) and (b) of Figure 28, the image of the captured medicine can be enlarged or reduced by user input on the image (e.g., pinch in or pinch out). As a result, in the inspection image Im2 shown in (a) and (b) of Figure 28, the "display size" button for changing the display size of the display image shown in (b) of Figure 11 is not required.

[0377] In addition, the medicine sorting device 1 may arrange the images of the medicines stored in the sorting cup 141 in the inspection image Im2 in order of the highest matching accuracy with the images of the medicines registered in the medicine database (for example, from the top left). Alternatively, the images may be arranged in order of lowest matching accuracy (for example, from the top left). This allows the medicines with the lowest matching accuracy to be displayed in order from the position that is most visually easy for the worker to see, thereby improving the efficiency and accuracy of visual inspection. In addition, when the user stores (returns) the medicines stored in the sorting cup 141 in a cassette (not shown) in the packaging machine 200 in which the medicines are stored, or stores (returns) the medicines in a predetermined position on the medicine shelf 300, if the lid of the cassette or the door of the shelf has a locking mechanism, the locking mechanism of the lid of the cassette or the door of the shelf may be unlocked on the condition that the matching accuracy of all the medicines stored in the sorting cup 141 to be returned is equal to or higher than a predetermined value. The matching accuracy may be set to a level or threshold based on the degree of certainty of recognition of information (stamped information or printed information) indicated by the stamp or print on the medicine recognized by the medicine sorting device 1.

[0378] Next, (a) to (c) of Fig. 29 are diagrams showing another example of the inspection image Im2. As shown in (a) to (c) of Fig. 29, the medicine sorting device 1 may display an inspection image Im2 that reflects whether or not visual inspection has been performed and the result of the visual inspection.

[0379] For example, as shown in (a) and (b) of FIG. 29, the medicine sorting device 1 may use different display methods when accepting user input to the "All OK" button Bo22 and when accepting user input to the "NG" button Bo23. For example, as shown in (a) of FIG. 29, when the medicine sorting device 1 accepts user input to the "All OK" button Bo22, the medicine sorting device 1 surrounds the entire display area R23 of the medicines that have been inspected with a predetermined pattern (e.g., green). On the other hand, as shown in (b) of FIG. 29, when the medicine sorting device 1 accepts user input to the "NG" button Bo23, the medicine sorting device 1 surrounds the entire display area R23 with a pattern different from the predetermined pattern (e.g., yellow).

[0380] Furthermore, as shown in (c) of Fig. 29, the medicine sorting device 1 may display an inspection image Im2 with a pattern that indicates whether or not visual inspection has been performed and the visual inspection result for each medicine image displayed in the display area R23. For example, a pattern that indicates three different states, namely, visual inspection not performed, visual inspection result being "visually OK", and visual inspection result being "visually NG", is attached to each medicine. In (c) of Fig. 29, the medicine images in the top two rows of the display area R23 are marked with a pattern indicating that visual inspection has not been performed (e.g., surrounded by blue), and the medicine images in the bottom three rows are marked with a pattern indicating that visual inspection has been performed (e.g., surrounded by green).

[0381] (Example of display image: Summary image) Next, examples of a display image will be described with reference to Fig. 30 and Fig. 31. Fig. 30 is a diagram showing an example of a display image (aggregation image Im7) relating to the aggregation work of medicines sorted by the medicine sorting device 1. The medicine sorting device 1 displays the aggregation image Im7 as shown in Fig. 30 by accepting user input for performing the medicine aggregation work. The aggregation image Im7 can accept user input for specifying, for example, "aggregation period", "output category", "output unit", and "journal output format". The medicine sorting device 1 displays the aggregation results (e.g., CSV (Comma Separated Value) output) or outputs them in a journal in accordance with these user inputs.

[0382] In the "collection period" field, a collection period desired by the user is set.

[0383] In "Output category", the method for outputting the tally results is set. As options for "Output category", for example, "Sorting result tally" and "Main unit error history tally" are displayed in a pull-down menu. When "Sorting result tally" is selected, the medicine sorting device 1 performs tallying for the sorted medicines. When "Main unit error history tally" is selected, the medicine sorting device 1 tallys up the history of errors in the medicine sorting device 1. The medicine sorting device 1 stores a log of when a malfunction occurs, such as an operational error in the transport / sorting unit 12, a communication error in the medicine sorting device 1, or a failure to adsorb medicines by the adsorption mechanism, and tallys up the log as an error history.

[0384] In "output unit", the output method for tabulating the sorted medicines is set. Selection items for "output unit" are displayed in a pull-down menu, for example, "by medicine", "by medicine type", "by efficacy classification", "by return origin (hospital ward / department / facility)", and "by user". Depending on the selected item, the medicine sorting device 1 tabulates the sorted medicines by medicine, by medicine type, by efficacy, by return origin, or by user.

[0385] In "Journal output format", an output method is selected when the tally results of sorted medicines are printed and output in a journal. Selection items for "Journal output format" are displayed in a pull-down menu, such as "Number of sorted medicines (by medicine)", "Sorted drug price (by medicine)", "Number of sorted medicines, drug price (by medicine)", and "Number of sorted medicines, drug price (total)". Depending on the selected item, the medicine sorting device 1 tallys up the number of each sorted medicine, the drug price of each sorted medicine (total, i.e. number of medicines x drug unit price), the number and drug price of each sorted medicine (total), or the total number and drug price of all sorted medicines.

[0386] FIGS. 31(a) to 31(d) are diagrams showing an example of output when the counting result is output by a journal.

[0387] FIG. 31(a) is an example in which the number of drugs is printed in the journal for each sorted drug. In this example, "number of drugs sorted (by drug)" is selected as the "journal output format" in the tabulation image Im7. FIG. 31(b) is an example in which the drug price is printed in the journal for each sorted drug. In this example, "sorted drug price (by drug)" is selected as the "journal output format" in the tabulation image Im7. FIG. 31(c) is an example in which both the number of drugs and the drug price are printed in the journal for each sorted drug. In this example, "number of drugs sorted, drug price (by drug)" is selected as the "journal output format" in the tabulation image Im7. FIG. 31(d) is an example in which the total number and drug price of the sorted drugs are printed in the journal. In this example, "number of drugs sorted, drug price (total)" is selected as the "journal output format" in the tabulation image Im7.

[0388] In the journal output examples of (a) to (c) in Figures 31, the number of all sorted medicines and the total drug price are also printed, but this printing is optional.

[0389] During the tallying operation, by accepting user input to such tally image Im7, the medicine sorting device 1 can tally up the sorted medicines, for example, by "sorting processing time (by ward, medical department, or facility)" and "by specified period." The medicine sorting device 1 can also tally up the number of medicines (number of sorted tablets) or drug price (total) by "drug," "drug effect," or "drug type." The medicine sorting device 1 can then output the tally results by displaying them or printing them in a journal. Note that the unit price of each medicine may be output. The medicine sorting device 1 may also tally up and output, for example, the number of medicines (total number of tablets) that could not be sorted.

[0390] <Example of sorting cup configuration> Below, we will explain a specific configuration example of the sorting cup 141. (a) of Fig. 32 is a diagram showing an example of a specific configuration of the sorting cup 141. Fig. 33 is a six-sided view of the sorting cup 141 shown in (a) of Fig. 32.

[0391] As described above, the sorting cup 141 is disposed in the second storage section 14, and serves as a sorting container for storing the medicines sorted by the medicine sorting device 1 (specifically, the transporting and sorting unit 12).

[0392] As shown in FIG. 32(a) and FIG. 33, the sorting cup 141 has a substantially rectangular parallelepiped shape composed of a side wall 143 (outer wall) and a bottom 144. In other words, when viewed from the opening 142 side, the shape of the sorting cup 141 (the shape of the opening 142 and the bottom 144) is substantially rectangular. In this case, compared to when the sorting cup 141 is substantially cylindrical, the sorting cup 141 can be placed without gaps in the second storage section 14. Therefore, the storage space for the sorting cup 141 in the second storage section 14 can be effectively utilized. Note that in this embodiment, the "rectangle" in the shape of the sorting cup 141 also includes a case where the four corners are connected by curved lines.

[0393] In particular, when the sorting cup 141 has a substantially rectangular shape when viewed from the opening 142 side, the directionality of the sorting cup 141 can be determined when the sorting cup 141 is placed in the second storage section 14. In other words, the multiple sorting cups 141 can be aligned and placed so that the long sides (or short sides) of each of the multiple sorting cups 141 face the same direction. Note that, by forming the placement location of the sorting cup 141 in the second storage section 14 to match the shape of the sorting cup 141, the multiple sorting cups 141 can be placed uniformly without gaps and in a predetermined direction.

[0394] In the sorting cup 141, an opening 142 into which the medicines sorted by the transporting and sorting unit 12 are inserted is formed in the upper surface of the sorting cup 141 by a side wall 143. In addition, an upper portion of the side wall 143 defines an edge 145 as the outer periphery of the opening 142.

[0395] Furthermore, in order to facilitate storing medicines transported by the transport / sorting unit 12 in the sorting cup 141 and to facilitate removing medicines stored in the sorting cup 141, the size of the opening 142 may be larger than the size of the bottom 144. In other words, the cross-sectional shape of the sorting cup 141 cut along a plane including a perpendicular line to the bottom 144 (the cross-sectional shape of the sorting cup 141 as viewed from the side wall 143 side) may be substantially trapezoidal in which the bottom 144 side is smaller than the opening 142 side. Without being limited to this, the sorting cup 141 may be rectangular (the size of the bottom 144 and the size of the opening 142 are substantially the same).

[0396] The sorting cup 141 has a convex portion 146 on at least a part of the edge 145. Specifically, the convex portion 146 is provided on at least one of a plurality of sides constituting the edge 145. In other words, the edge 145 is composed of the convex portion 146 and a base portion 148 which is the portion other than the convex portion 146.

[0397] A user can lift up the sorting cup 141 placed in the second storage unit 14 by gripping the protrusion 146. In other words, by providing the protrusion 146 on the edge 145, each of the multiple sorting cups 141 stored in the second storage unit 14 can be easily removed from the second storage unit 14.

[0398] In (a) of Figure 32, one protrusion 146 is provided on each of the four sides of the edge 145. The protrusions 146 provided on two adjacent sides are adjacent to each other. The heights 146h of the adjacent adjacent parts 146a are the same. This allows the protrusions 146 to be wider, making it easier to remove the sorting cup 141.

[0399] In addition, in (a) of Fig. 32, the convex portions 146 are provided at mutually opposing corners. As described above, the opening 142 and the bottom portion 144 are substantially rectangular. Therefore, the user can easily arrange the sorting cup 141 in the second storage section 14 with the sorting cup 141 oriented in the same direction, and as a result, the convex portions 146 provided at the corners can be easily arranged so as not to be adjacent to each other. In other words, the user can arrange the sorting cup 141 so that it is easy to take it out without being aware of it.

[0400] When the opening 142 and the bottom 144 are square, unless the user consciously places the sorting cups 141, the convex portions 146 of adjacent sorting cups 141 may be adjacent to each other. In this case, it becomes difficult for the user to grasp the convex portions 146, making it difficult to remove the sorting cups 141. However, for example, if the placement location of the sorting cups 141 is specified in the second storage section 14 so as to facilitate removal, the shape of the sorting cups 141 when viewed from the opening 142 side may be square.

[0401] Note that, if the sorting cup 141 can be positioned so that it is easy for the user to take it out without being aware of it, the convex portion 146 may not be provided at the corner as described above. For example, the convex portion 146 may be provided on each side so as to be point symmetrical on the opposing sides.

[0402] Moreover, as long as the above-mentioned points are not taken into consideration, the shape of the sorting cup 141 may be any shape. For example, the shape of the opening 142 or the bottom 144 may be circular or elliptical, and part of the outer periphery of the opening 142 or the bottom 144 may be curved. Moreover, the convex portions 146 do not have to be provided on all sides, and do not have to be provided adjacent to and facing each other at the corners. Furthermore, the heights of the adjacent portions 146a of the adjacent convex portions 146 may be different from each other.

[0403] The edge 145 functions as a protrusion (returned portion) that protrudes outward from the side wall 143 at the connection portion with the side wall 143 (the upper portion of the side wall 143). This allows the user to hook their finger on the protrusion, further improving the ease of removal. However, if this point is not taken into consideration, the edge 145 does not necessarily need to protrude outward from the side wall 143 as well.

[0404] 32(a), an upper portion 146u of the convex portion 146 is not inclined and is straight. An extension portion 146e of the convex portion 146 that extends to the base portion 148 is inclined from the upper portion 146u toward the base portion 148. The base portion 148 is not inclined and is straight. A connection portion 146c between the upper portion 146u of the convex portion 146 and the extension portion 146e, and a connection portion 146d between the extension portion 146e of the convex portion 146 and the base portion 148 are both substantially arc-shaped.

[0405] The sorting cup 141 in this example has a color (for example, black) so that the medicine can be easily identified when imaged by the second camera 121. However, the sorting cup 141 may be light-transmitting as long as it is possible to image the medicine.

[0406] (Modification of sorting cup 141) Fig. 32(b) to (d) are diagrams showing modified examples of the sorting cup 141. In the sorting cup 141a shown in Fig. 32(b), the shape of the opening 142 and the bottom 144 is a rectangle longer horizontally (or vertically) than the opening 142 and the bottom 144 of the sorting cup 141 shown in Fig. 32(a). In the sorting cup 141b shown in Fig. 32(c), the height 146h' of the convex portion 146 is higher than the height 146h of the convex portion 146 of the sorting cup 141 shown in Fig. 32(a). The sorting cup 141c shown in Fig. 32(d) is a sorting cup 141 in which the above-mentioned protrusion (turned portion) is not provided on the edge portion 145.

[0407] Figures 34(a) to (c) and Figures 35(a) to (h) are diagrams showing further modified examples of the sorting cup 141. In Figures 34(a) to (c) and Figures 35(a) to (h), the edge 145 is shown as not being provided with the above-mentioned protrusion, but like the sorting cup 141, the edge 145 may be provided with the above-mentioned protrusion.

[0408] In the sorting cup 141d shown in (a) of FIG. 34, the convex portion 146 (i.e., the upper portion 146u and the extending portion 146e) is approximately arc-shaped. That is, in the upper portion 146u, the end portion opposite the end portion connected to the extending portion 146e (in (a) of FIG. 34, the adjacent portion 146a where the convex portions 146 are adjacent to each other) protrudes most upward. In the sorting cup 141e shown in (b) of FIG. 34, in addition to the convex portion 146 and the extending portion 146e, the base portion 148 is also approximately arc-shaped. In the sorting cup 141d, at least the base portion 148 is concave. That is, in the sorting cup 141d, the curve connecting the points Px and Py is point-symmetrical about its approximate center Pc. In a sorting cup 141f shown in Fig. 34(c), an upper portion 146u is linear, and an extension portion 146e and a base portion 148 are substantially arc-shaped. At least the base portion 148 is concave.

[0409] In the sorting cup 141g shown in FIG. 35(a), the convex portion 146 has a curved shape with the center portion thereof raised upward. In other words, the sorting cup 141g differs from the sorting cup 141d shown in FIG. 34(a) in that the convex portion 146 protrudes most upward near its center, not the adjacent portion 146a. The base portion 148 also has a curved shape with the center portion thereof raised upward. In the sorting cup 141h shown in FIG. 35(b), the convex portion 146 has a curved shape similar to that in FIG. 35(a), but the base portion 148 is linear. In the sorting cup 141i shown in FIG. 35(c), the convex portion 146 has a curved shape similar to that in FIG. 35(a), but the base portion 148 has a concave shape similar to that in the sorting cup 141e shown in FIG. 34(b).

[0410] In the sorting cups 141g to 141i shown in Fig. 35(a) to (c), the convex portion 146 is curved, but the convex portion 146 may be polygonal as in the sorting cups 141j to 141m shown in Fig. 35(d) to (g). Furthermore, as shown in Fig. 35(h), the convex portion 146 may be staircase-shaped.

[0411] (Other: Bottom shape of sorting cup) Fine protrusions may be provided on the inner bottom surface of the sorting cup 141. If the suction mechanism approaches the inner bottom surface of the sorting cup 141 and sucks the sorting cup 141, there is a possibility that the sorting cup 141 will be lifted up. By providing fine protrusions on the inner bottom surface, it is possible to make it more difficult for the sorting cup 141 to be sucked.

[0412] Incidentally, in order to prevent the first housing portion 11 from being lifted up, a minute protrusion may be provided on the inner bottom surface of the first housing portion 11.

[0413] <Other Examples of Processing or Operation> (character recognition) Next, another example of character recognition processing by the discrimination unit 64 will be described. Here, the storage unit 80 stores image data (master image) showing an image of a drug including characters, markings, and a score line, for example, linked to identification information showing the name of the drug, as master information of the drug. This image data may be managed by a drug database. In this case, the discrimination unit 64 performs pattern matching with a plurality of image data stored in the storage unit 80 for the image of the drug captured by the first camera 131 in the arrangement area Ar.

[0414] Generally, when performing OCR processing, the orientation and size of characters contained in the target image must be consistent. Therefore, the discrimination unit 64 performs OCR processing while rotating the visible light image. In this case, however, the visible light image must be rotated every time analysis is performed, which takes a corresponding amount of processing time. In addition, the character recognition accuracy of OCR processing may not be high.

[0415] Therefore, in this example, symbol identification information for identifying the symbol shown on the medicine, which indicates the type of symbol (e.g., letters (numbers and letters, etc.), manufacturer's mark, and score line), size, and angle, is registered in advance in association with the identification information. The discrimination unit 64 identifies the type of medicine by referring to the symbol identification information.

[0416] A method for generating symbol identification information will be described with reference to FIG. 36. FIG. 36 is a diagram for explaining an example of a method for generating symbol identification information. FIG. 36(a) is a diagram showing an example of a drug image Ima for which symbol registration information is generated, and (b)-(d) are diagrams showing examples of drug images Imr1-Imr3 when acquiring symbol identification information. The process for generating symbol identification information is executed by an information generating device that generates the symbol identification information. The information generating device may be provided in the drug sorting device 1, and the drug sorting device 1 may generate the symbol registration information. The information generating device is also assumed to have the above-mentioned master information.

[0417] First, the information generating device acquires an image Ima of a drug for which symbol registration information is to be generated, as shown in (a) of Fig. 36. In this example, the image Ima includes the letters (numbers) 1, 2, and 3.

[0418] Next, as shown in (b) to (d) of FIG. 36, the information generating device acquires symbol identification information by performing pattern matching with image data included in the master information of the medicine while rotating the image Ima. For example, in the state of (b) of FIG. 36, pattern matching is performed to acquire "1" from the image Imr1. At this time, the information generating device identifies multiple pixels forming the "1" by drawing a line to trace the "1" in the image Imr1. As a result, the information generating device identifies the size of the "1" in the image Imr1. At this time, the type of character may be identified as a number. In addition, the information generating device also acquires the angle of the image Imr1 from the reference when the position of the image Ima shown in (a) of FIG. 36 is used as the reference. As a result, the information generating device identifies the angle of the "1" in the image Imr1. In the states of (c) and (d) of FIG. 36, the size and angle of the "2" in the image Imr2 and the "3" in the image Imr3 are also identified.

[0419] The information generating device associates the identified type, size, and angle of the characters as symbol identification information in the storage unit 80 of the medicine sorting device 1 with the identification information (master information).

[0420] The discrimination unit 64 performs pattern matching of the captured drug image with multiple image data stored in the storage unit 80, thereby narrowing down multiple types of drugs (e.g., 10 types) in descending order of matching score. The discrimination unit 64 compares the captured image with the symbol identification information for each of the multiple narrowed-down drugs (applies the symbol identification information to the captured image). The discrimination unit 64 identifies the drug image that has the highest degree of match with the symbol identification information among the captured images of the narrowed-down drugs, and identifies that drug as the type of drug (drug name) linked to the symbol identification information.

[0421] In this way, the discrimination unit 64 can identify the type of medicine more easily and accurately by performing matching using the symbol identification information, as compared to OCR processing. Therefore, the discrimination unit 64 can identify the type of medicine quickly and accurately.

[0422] (Drug adsorption method) Next, the drug adsorption method will be described with reference to Fig. 37. Fig. 37 is a diagram for explaining an example of the drug adsorption method. Fig. 37(a) is a diagram for explaining a state in which a relatively small drug is adsorbed while the adsorption mechanism is moved, and Figs. 37(b) and 37(c) are diagrams for explaining a state in which the drug is adsorbed when the adsorption method is changed depending on the size of the drug.

[0423] As described above, the suction mechanism changes the moving speed in the Z-axis direction when suctioning the medicine (moving speed when descending) based on the change in the suction force detected by, for example, a pressure sensor. For example, when the suction mechanism adsorbs the medicine in the first storage section 11, the suction mechanism stops just before the medicine (before contacting the medicine) so as not to push the medicine in by its descent. In this case, the suction mechanism adsorbs the medicine just before the medicine, so it descends while sucking in air with the vacuum pump 122d.

[0424] Here, a relatively small drug has a relatively light mass. Therefore, as shown in FIG. 37(a), when the above method is used to adsorb a drug, the relatively small drug may be sucked up at an angle in front of the adsorption pad 122a. In this case, a gap may be formed between the adsorption pad 122a and the adsorption force (flow rate) may differ depending on the position of the adsorption pad 122a, and the adsorption force may become unstable. Therefore, it may be difficult to determine whether the drug is adsorbed to the adsorption pad 122a based on the change in the adsorption force.

[0425] Furthermore, when the medicine is adsorbed, the medicine stored on the medicine placement stage 133a is imaged by the second camera 121. Therefore, the sorting control unit 62 can calculate the size (area) of the medicine to be adsorbed by analyzing the captured image. In particular, since at least one medicine is placed on the medicine placement stage 133a when the medicine is adsorbed, the sorting control unit 62 can relatively easily calculate the size of the medicine to be adsorbed. The size of the medicine is identified, for example, by counting the number of pixels of the image of the medicine in the acquired image.

[0426] In this example, the sorting control unit 62 changes the drug adsorption method by determining whether the calculated size of the drug is equal to or larger than a predetermined value. This predetermined value is set in advance through, for example, experiments.

[0427] Specifically, when the calculated area of ​​the medicine is less than a predetermined value (when the medicine is relatively small), the sorting control unit 62 lowers the adsorption mechanism to a predetermined position PS1 without suction, as shown in FIG. 37(b). Thereafter, the sorting control unit 62 starts suction at the predetermined position PS1 to adsorb the medicine. The predetermined position PS1 is a position where the medicine can be adsorbed by suction, and for example, substantially coincides with a position where the suction force changes by the above-mentioned method. When adsorbed in this manner, the medicine can be lifted straight up, and therefore, unlike the case of FIG. 37(a), the suction force in the state where the medicine is adsorbed can be stabilized. Therefore, the sorting control unit 62 can stably perform adsorption determination of a relatively small medicine.

[0428] The predetermined position PS1 may be set to the same position (height) for all the medicines, or may be calculated from the distance to the medicine detected by a distance measuring sensor. In addition, when the type of medicine is specified, the predetermined position PS1 may be calculated based on information on the size of the medicine (e.g., diameter, thickness) included in the medicine database.

[0429] On the other hand, when the calculated area of ​​the medicine is equal to or larger than a predetermined value (when the medicine is relatively large), the sorting control unit 62 adsorbs the medicine using the above-mentioned method, as shown in (c) of FIG. 37. That is, the sorting control unit 62 lowers the adsorption mechanism while sucking, and stops the adsorption mechanism when the suction force changes (i.e., at the predetermined position PS2). That is, the adsorption mechanism stops just before the medicine. In this state, the adsorption mechanism adsorbs the medicine. When the medicine is relatively large, the adsorption mechanism is unlikely to be lifted at an angle even with this method, so that the suction force when the medicine is adsorbed can be stabilized. Also, since the adsorption mechanism is stopped at the predetermined position PS2 based on the change in suction force, the adsorption mechanism can be stopped just before the medicine (without crushing the medicine) using a simple method and reliably.

[0430] In this way, by changing the adsorption method according to the size of the medicine (i.e., the weight of the medicine), the medicine can be stably adsorbed to the adsorption pad 122a regardless of the weight of the medicine. Therefore, the failure of adsorption of the medicine can be reduced, and the medicine sorting process can be speeded up.

[0431] In addition, even when a relatively large drug is to be adsorbed, as explained with reference to (b) of Fig. 37, the adsorption mechanism may be moved to the predetermined position PS2 in a non-adsorbing state, and then suction may be started at the predetermined position PS2. In this case, the process of determining whether the drug is large or small is not required.

[0432] 37(b) and (c) may be used for the adsorption of the medicine in the first container 11 and the sorting cup 141. In this case, the transport control unit 61 identifies the medicine to be adsorbed from the captured image and calculates the size of the medicine. The predetermined position PS1 is calculated by detecting the distance to the medicine to be adsorbed using a distance sensor, for example.

[0433] (Air blowing operation) Next, the air blowing operation by the suction mechanism will be described.

[0434] Depending on the position where the medicine to be adsorbed by the adsorption mechanism is placed or the posture of the medicine, the adsorption mechanism may not be able to adsorb the medicine. For example, if the medicine is placed on the edge of the first container 11, the sorting cup 141, the medicine placement table 133a, etc., or if it stands at an angle, the adsorption mechanism may not be able to adsorb the medicine. If the medicine to be adsorbed cannot be adsorbed, the adsorption mechanism attempts to adsorb the medicine by, for example, repeating the adsorption operation (picking operation) a predetermined number of times. In other words, in this case, the number of retries of adsorbing the medicine increases.

[0435] Therefore, in this example, when the transport control unit 61 or the sorting control unit 62 determines that the adsorption of the drug to be adsorbed has failed, it blows air from the adsorption mechanism. This can change the position or posture of the drug. For example, it is possible to put the drug in a state different from when adsorption failed, such as by laying down a standing drug or changing the position of the drug to a position away from the end. This increases the possibility of adsorbing the drug, making it possible to reduce the number of retries of drug adsorption.

[0436] Furthermore, when it is determined that the adsorption of the drug to be adsorbed has failed, the adsorption mechanism may blow air toward the drug and its vicinity a predetermined number of times, i.e., the adsorption mechanism may blow air toward the same place a predetermined number of times.

[0437] For example, in this case, after the suction mechanism blows out air, the second camera 121 captures the first container 11 and the like. This blowing operation and image capturing operation are repeated a predetermined number of times, and the image captured by the second camera 121 is stored in the storage unit 80 each time. The transport control unit 61 or the sorting control unit 62 identifies changes in the image in the area where the suction mechanism blows air from the images captured multiple times. Then, the transport control unit 61 or the sorting control unit 62 determines whether there is an image that does not change in the images captured multiple times, except for the image of the housing of the first container 11 and the like. If the medicine is present in the area where air is blown, the position or posture of the medicine will be changed to some extent by the blown air. Therefore, if there is an image that does not change in the images captured multiple times, the transport control unit 61 or the sorting control unit 62 determines that the image is dirt attached to the first container 11 and the like. Note that the presence or absence of changes in the image may be determined, including the image acquired by the second camera 121 when the medicine fails to be adsorbed.

[0438] In this way, by performing the air blowing action multiple times, it is possible to determine whether or not dirt is attached to the first storage section 11, etc. Therefore, it is possible to notify the user that dirt is attached to the first storage section 11, etc. (that cleaning is required).

[0439] In addition, the multiple air blowing operations are not limited to when the medicine adsorption fails. For example, multiple air blowing operations may be performed when the medicine is not contained in the first container 11, etc. In this case, by comparing the images described above, it is possible to determine that an object that does not change in image other than the medicine placement table 133a is dirt attached to the medicine placement table 133a.

[0440] In addition, when fragments or dust of a medicine are contained in the medicine placement table 133a, the fragments may reduce the accuracy of identifying the medicine. For example, depending on the position or size of the fragments, the fragments may be erroneously recognized as a medicine (or a part thereof). In particular, the medicine placement table 133a identifies the type of medicine based on the captured image, but the position or size of the fragments may affect the identification.

[0441] Therefore, in this example, the suction mechanism blows air toward the medicine mounting stand 133a. This makes it possible to blow debris and the like out of the medicine mounting stand 133a. It is also possible to prevent debris and the like from adhering to the medicine mounting stand 133a. The suction mechanism performs the air blowing operation, for example, when no medicine is placed on the medicine mounting stand 133a (for example, before a medicine is placed on the medicine mounting stand 133a, or after a medicine is removed from the medicine mounting stand 133a).

[0442] Also, the suction mechanism can blow air out of the first storage unit 11 and the sorting cup 141, etc., to blow away debris or prevent adhesion of debris. By blowing air when the suction mechanism fails to adsorb the medicine, for example, as described above, the suction mechanism can change the attitude or position of the medicine and blow away debris. Without being limited to this, the suction mechanism may perform the air blowing operation when, for example, no medicine is stored in the first storage unit 11 and the sorting cup 141.

[0443] (Processing to identify pickup position) Next, the process of identifying the pickup position will be described.

[0444] The transport control unit 61 or the sorting control unit 62 identifies the position of the medicine in the first container 11 or the sorting cup 141, etc., by analyzing the image captured by the second camera 121. When the first container 11 has a color (e.g., black or gray), the transport control unit 61 identifies the position of the medicine from the difference between the color of the first container 11 and the color of the medicine in the image captured by the second camera 121, for example. When the sorting cup 141 has a color, the sorting control unit 62 performs a similar process to identify the position of the medicine. However, when the medicine has a dark color (a medicine close to the color of the first container 11, etc.) or is a transparent medicine, it may not be possible to identify the position of the medicine using this method.

[0445] Therefore, in this example, the transport control unit 61 or the sorting control unit 62 specifies the position of the medicine by the light that is irradiated onto the surface of the medicine and reflected by the surface. (a) to (c) of Figure 38 are diagrams for explaining the process of specifying the adsorption position.

[0446] As shown in (a) of Fig. 38, the transport / sorting unit 12 of this example includes a light source 124 that emits light when the second camera 121 captures an image. The light source 124 is provided near the second camera 121 and emits light toward the first container 11 or the sorting cup 141. This allows the second camera 121 to capture an image including an image of the light reflected from the surface of the medicine. Therefore, the transport control unit 61 or the sorting control unit 62 can identify the position of the reflected light included in the image captured by the second camera 121 as the position of the medicine.

[0447] 38(a), the transport / sorting unit 12 has two light sources 124. However, as long as the position of the medicine can be identified in the image captured by the second camera 121, the number of light sources 124 may be one, or three or more.

[0448] Here, when the two light sources 124 are considered as one light source, the position of the reflected light on the medicine differs depending on the position where the medicine is placed, as shown in (b) of Fig. 38. Specifically, if the medicine is located directly below the light source 124, the position of the reflected light is at or near the center of the medicine. On the other hand, the farther the medicine is located from directly below the light source 124, the farther the position of the reflected light is from the center of the medicine.

[0449] Therefore, in this example, the transport control unit 61 or the sorting control unit 62 corrects the position of the reflected light on the medicine. The storage unit 80 stores correction value information indicating a correction value (correction amount and direction) for correcting the position of the reflected light. The correction value information is set by an experiment or the like.

[0450] The correction value is associated with each position of the drug (i.e., each position of the reflected light) captured in advance by changing the position of the drug. Also, as shown in FIG. 38(c), the correction value is set to be larger the further away from directly below the light source 124. Specifically, for drugs at positions P1, P3, and P4 that are shifted from directly below the light source 124, the position Pre of the reflected light shifts from the center position of the drug. Therefore, the correction value is determined so that the position Pre of the reflected light is the center position of the drug (detection position Pde where the reflected light is detected). On the other hand, for the drug at position P2 that is directly below the light source 124, the position Pre of the reflected light is the same as the center position of the drug, so the correction value is 0.

[0451] The transport control unit 61 or the sorting control unit 62 identifies the position Pre of the reflected light included in the image captured by the second camera 121, and then corrects the position Pre of the reflected light to the detection position Pde of the reflected light by referring to the correction value information. The transport control unit 61 or the sorting control unit 62 identifies the detection position Pde of the reflected light as the adsorption position of the medicine.

[0452] This makes it possible to accurately identify the adsorption position of the medicine even when the first container 11 or the sorting cup 141 has a color and the medicine has a color similar to that of the first container 11 or the sorting cup 141 or is transparent. Furthermore, since the accuracy of the adsorption position is required when the medicine is particularly small, this process makes it possible to determine the adsorption position with higher accuracy.

[0453] (Method of determining rotation direction of first camera) Next, a method for determining the rotation direction of first camera 131 will be described.

[0454] Consider a case where the position of first camera 131 when first camera 131 images a medicine from above is 0°, and information such as identification information attached to the medicine (e.g., capsule) is facing in a direction of 315°, and the medicine is placed on medicine placement stand 133a. In this case, imaging control unit 63 can acquire information such as identification information (hereinafter simply referred to as identification information) by analyzing the medicine imaged by first camera 131 from the position of 315°.

[0455] Here, consider a case where the rotation mechanism 132 rotates the first camera 131 so as to rotate around the arrangement area Ar2 in only one direction (for example, clockwise when viewed from the front of the medicine sorting device 1). When capturing an image of the identification information of a medicine placed in the above state, the rotation mechanism 132 must move the first camera 131 to three positions of 45°, 135°, and 225°, and after the first camera 131 captures an image of the medicine, move it to the 315° position. This is because it is difficult to obtain the identification information by analyzing the images captured from the 45°, 135°, and 225° positions.

[0456] Therefore, in this example, the rotation mechanism 132 rotates the first camera 131 so as to rotate around the arrangement area Ar2 in both the clockwise and counterclockwise directions. The imaging control unit 63 controls the rotation mechanism 132 based on the image captured from the 0° position to determine the rotation direction of the first camera 131.

[0457] For example, the imaging control unit 63 divides the medicine in half in a direction parallel to the direction in which the shaft portion 133c extends (direction perpendicular to the rotation direction of the first camera 131) in an image of the medicine captured from a position of 0°, and sets two regions on the medicine. The imaging control unit 63 identifies one of the two regions that contains at least a part of the identification information attached to the medicine, and determines the direction in which the identified region exists as the rotation direction of the first camera 131. If both of the two regions contain identification information, the imaging control unit 63 determines the direction in which the region with the larger area occupied by the identification information exists as the rotation direction of the first camera 131. If the image of the medicine captured from a position of 0° does not contain identification information, the imaging control unit 63 rotates the first camera 131 in an initially set direction (e.g., clockwise).

[0458] This can reduce the time required to obtain the identification information and the time required to identify the type of medicine.

[0459] <Example of drug sorting device configuration> Next, a configuration example of the medicine sorting device 1a will be described with reference to Fig. 39. Fig. 39 is a diagram showing a configuration example of the medicine sorting device 1a, where (a) is a perspective view of the medicine sorting device 1a, and (b) is a perspective view showing a basic configuration of the medicine sorting area 2 provided in the medicine sorting device 1a.

[0460] In the medicine sorting device 1 shown in FIG. 2, the first RFID reader / writer unit 5 is provided on the medicine take-out side (front side), but in the medicine sorting device 1a, as shown in FIG. 39(b), the first RFID reader / writer unit 5 is provided on the medicine take-out side of the base 19. By providing the first RFID reader / writer unit 5 on the base 19, when reading information on the RFID tag of the sorting cup 141, it is not necessary to take the sorting cup 141 out of the medicine sorting device 1a. Therefore, it is possible to reduce the possibility that the sorting cup 141 will be dropped outside the medicine sorting device 1a, causing the medicines in the sorting cup 141 to scatter. In other words, it is possible to improve operational safety.

[0461] In addition, in accordance with the change in the installation position of the first RFID reader / writer unit 5, the medicine sorting device 1a is provided with an opening / closing door 52 on the medicine removal side as shown in FIG. 39(a). In order to move the medicines stored in the second storage section 14 to the packaging mechanism 6, the medicine sorting device 1a is provided with, for example, a packaging hopper that temporarily holds the medicines, and a moving path that moves the medicines held in the packaging hopper to the packaging mechanism 6. In addition, at least the moving path is removable. By opening the opening / closing door 52, the moving path can be taken out to the outside of the medicine sorting device 1a.

[0462] That is, the provision of the opening / closing door 52 makes it possible to remove the passageway for cleaning. In addition, with the passageway removed, it becomes possible to clean the members (e.g., packaging hopper) provided between the medicine inlet 17 and the packaging mechanism 6.

[0463] The medicine sorting device 1a is provided with an opening / closing shutter 51 that allows the medicine take-out side to be opened and closed. The medicine sorting device 1 shown in Fig. 2 is also provided with an opening / closing shutter similar to the opening / closing shutter 51 (in Fig. 2, the opening / closing shutter is illustrated as being substantially transparent so that the medicine sorting area 2 can be visually confirmed).

[0464] Another expression of the invention A drug sorting device according to one embodiment of the present invention comprises a first storage unit that stores a mixture of multiple types of drugs, a second storage unit that stores the drugs sorted by type, an imaging unit that images the drugs, a discrimination unit that discriminates the type of the drugs based on the image captured by the imaging unit, and a sorting unit that sorts the drugs by type based on the discrimination result by the discrimination unit and stores them in the second storage unit, wherein the second storage unit has a plurality of sorting containers for storing the drugs, the first storage unit and the second storage unit are provided on the same plane, and the sorting unit sequentially transports the drugs removed from the first storage unit on a horizontal plane that is horizontal to the plane, and stores the drugs in each of the plurality of sorting containers in the second storage unit.

[0465] In addition, a drug sorting device according to one embodiment of the present invention includes a rotating unit that rotates the imaging unit so as to rotate around a placement area in which the drug to be imaged is placed, and the imaging unit images the drug placed in the placement area from a plurality of positions rotated by the rotating unit, and the rotating unit may rotate the imaging unit so as to rotate around one drug placed in the placement area, around a rotation axis defined on a horizontal plane that is horizontal to the plane.

[0466] In addition, the drug sorting device of one embodiment of the present invention may further include a detection area changing unit that changes the detection area for detecting the drugs contained in the first storage unit from an area narrower than the bottom surface of the first storage unit to a gradually wider area as the sorting unit removes the drugs from the first storage unit.

[0467] In addition, a drug sorting device according to one embodiment of the present invention includes a packaging mechanism that packages the drugs sorted into the second storage section, and the sorting section further transports the drugs sorted into the second storage section to the packaging mechanism, and may further include a detection area change section that changes the detection area for detecting drugs contained in a sorting container that is arranged in the second storage section and contains the drugs sorted by the sorting section, from an area narrower than the bottom surface of the sorting container to a detection area that is gradually wider as the sorting section removes the drugs from the second storage section.

[0468] In addition, a drug sorting device according to one embodiment of the present invention may include a first storage unit that stores multiple types of drugs, a second storage unit that stores the drugs sorted by type, an imaging unit that images the drugs removed from the first storage unit, a discrimination unit that discriminates the type of the drugs based on the image captured by the imaging unit, a sorting unit that stores the drugs in the second storage unit by type based on the discrimination result by the discrimination unit, a sorting container that is detachably arranged in the second storage unit and stores the drugs sorted by the sorting unit, and an object detection unit that moves horizontally to detect an object present in an upper space of the sorting container placed in the second storage unit in a specified state.

[0469] In addition, a drug sorting device according to one embodiment of the present invention is a drug sorting device that sorts and stores drugs by type in a plurality of sorting containers, and includes a sorting container installation section in which the plurality of sorting containers are installed, an information acquisition section that acquires information for determining the type of drug to be sorted, a transport section that transports the drug about which the information has been acquired by the information acquisition section to any of the plurality of sorting containers installed in the sorting container installation section, and a sorting control section that, if the characteristics of the drug about which the information has been acquired are deemed to be identical to the characteristics of a drug already stored in the sorting container, causes the transport section to transport the drug about which the information has been acquired to a sorting container already storing a drug having characteristics deemed to be identical to the characteristics of the drug about which the information has been acquired, and the drugs stored in the sorting containers may be drugs handled in other equipment or devices different from the drug sorting device.

[0470] In addition, in a drug sorting device according to one aspect of the present invention, if the sorting control unit determines that the characteristics of the drug about which the information has been obtained are not identical to the characteristics of the drug already stored in the sorting container, the sorting control unit may cause the transporting unit to transport the drug about which the information has been obtained to a sorting container other than the sorting container in which the already stored drug is stored.

[0471] In addition, in a drug sorting device according to one aspect of the present invention, even if the characteristics of the drug about which the information has been acquired are deemed to be identical to the characteristics of the drug already stored in the sorting container, when the sorting container has been stored up to the upper limit of the number of drugs that can be stored therein, the sorting control unit may cause the transporting unit to transport the drug about which the information has been acquired to a sorting container other than the sorting container in which the already stored drug is stored.

[0472] A medicine sorting device according to one aspect of the present invention is a medicine sorting device that sorts a plurality of types of medicine by type, and includes a first storage unit that stores the plurality of types of medicine, a transport unit that transports the medicine from the first storage unit, an imaging unit that images the medicine, a discrimination unit that discriminates the type of the medicine based on an image captured by the imaging unit, a sorting unit that sorts the medicine by type based on a discrimination result by the discrimination unit, and a second storage unit that stores the medicines sorted by the sorting unit in a state sorted by type, and the plurality of types of medicine are not stored in containers. the multiple types of drugs include the drugs themselves that were packaged by multiple packaging machines different from the drug sorting device, and when the type of drug identified by the discrimination unit is compared with drug data indicating the type of drug implemented in each of the multiple packaging machines and the type of drug identified by the discrimination unit matches the type of drug indicated by the drug data, one of the multiple packaging machines may be determined as the return destination for the drugs sorted by the sorting unit.

[0473] In addition, a drug sorting system according to one embodiment of the present invention may include the drug sorting device, and a return assistance device for returning the drugs sorted by the sorting unit to a return destination, the return assistance device including a reading unit that reads information indicating the type of drug sorted by the sorting unit and the return destination information from a journal in which information indicating the type of drug sorted by the sorting unit and the return destination information are printed, and a display unit that displays the information indicating the type of drug and the return destination information read by the reading unit.

[0474] A system according to one aspect of the present invention is a system including a medicine sorting device that sorts a plurality of types of medicine by type, and a packaging machine that packages the medicines sorted by the medicine sorting device, the medicine sorting device including an imaging unit that images the plurality of types of medicine, a sorting unit that sorts the medicines by type based on an image captured by the imaging unit, and a storage unit that stores the medicines sorted by the sorting unit in a sorted state by type, and the storage unit stores the medicines sorted by the sorting unit in a sorted state by type. The drug sorting device is capable of arranging a plurality of sorting containers each containing drugs, and the drug sorting device stores the results of visual inspection of the drugs contained in the sorting containers in the sorting containers or prints the results of the visual inspection. The packaging machine is equipped with a cassette that can contain the drugs contained in the sorting containers and has a lockable lid, and when it determines that the result that all of the drugs contained in the sorting containers transported to the packaging machine are the same type of drug is stored in the sorting container or that the result is printed, the packaging machine unlocks the lid.

[0475] Moreover, a system according to one aspect of the present invention is a system comprising a medicine sorting device that sorts a plurality of types of medicine by type, a medicine shelf to which the medicines sorted by the medicine sorting device are returned, and a return assistance device for returning the medicines sorted by the medicine sorting device to the medicine shelf, wherein the medicine sorting device comprises an imaging unit that images the plurality of types of medicine, a sorting unit that sorts the medicines by type based on an image captured by the imaging unit, and a storage unit that stores the medicines sorted by the sorting unit in a sorted state by type, and a plurality of sorting containers that store the medicines sorted by the sorting unit in a sorted state by type can be placed in the storage unit, the medicine sorting device prints the results of a visual inspection of the medicines stored in the sorting containers, the medicine shelf has a lockable door, and when the return assistance device determines that a result indicating that all of the medicines stored in the sorting containers and to be returned to the medicine shelf are the same type of medicine is printed, the medicine shelf unlocks the door.

[0476] A system according to one aspect of the present invention is a system including a medicine sorting device that sorts a plurality of types of medicine by type, and a packaging machine that packages the medicines sorted by the medicine sorting device, the medicine sorting device including an imaging unit that images the plurality of types of medicine, a sorting unit that sorts the medicines by type based on an image captured by the imaging unit, and a storage unit that stores the medicines sorted by the sorting unit in a sorted state by type, the storage unit being capable of arranging a plurality of sorting containers that store the medicines sorted by the sorting unit in a sorted state by type, and the medicine sorting device performs packaging for all of the medicines stored in the sorting containers. The accuracy of matching between the image captured by the imaging unit and the image registered in a drug database is identified, and accuracy information indicating the matching accuracy for all of the identified drugs is stored in the sorting container or the accuracy information is printed.The packaging machine is equipped with a cassette that can contain the drugs contained in the sorting container and has a lockable lid, and when it is determined that the matching accuracy for all of the drugs contained in the sorting container transported to the packaging machine is equal to or greater than a predetermined value based on the accuracy information stored in the sorting container or the printed accuracy information, the lid is unlocked.

[0477] A system according to one aspect of the present invention is a system including a medicine sorting device that sorts a plurality of types of medicine by type, a medicine shelf to which the medicines sorted by the medicine sorting device are returned, and a return assisting device for returning the medicines sorted by the medicine sorting device to the medicine shelf, wherein the medicine sorting device includes an imaging unit that images the plurality of types of medicine, a sorting unit that sorts the medicines by type based on an image captured by the imaging unit, and a storage unit that stores the medicines sorted by the sorting unit in a state sorted by type, and the storage unit stores the medicines sorted by the sorting unit in a state sorted by type. The medicine sorting device is capable of arranging a plurality of sorting containers that contain medicines in a packed state, and the medicine sorting device determines the matching accuracy between the image captured by the imaging unit and the image registered in a medicine database for all of the medicines contained in the sorting containers and prints accuracy information indicating the matching accuracy for all of the identified medicines, and the medicine shelf is provided with a lockable door, and when the return assistance device determines based on the printed accuracy information that the matching accuracy for all of the medicines contained in the sorting containers and to be returned to the medicine shelf is equal to or greater than a predetermined value, the medicine shelf unlocks the door.

[0478] In addition, a drug sorting device according to one embodiment of the present invention includes a first storage unit that stores multiple types of drugs, a second storage unit that stores the drugs sorted by type, a discrimination unit that discriminates the type of drug removed from the first storage unit, and a sorting unit that stores the drugs in the second storage unit by type based on the discrimination result by the discrimination unit, and the multiple types of drugs are drugs that are not stored in containers or unpackaged, and are drugs that have been prescribed to patients and then returned.

[0479] In addition, the medicine sorting device according to one aspect of the present invention further includes a collection tray that receives items whose type cannot be identified by the identification unit.

[0480] In addition, in a drug sorting device according to one embodiment of the present invention, the second storage section is capable of disposing a plurality of sorting containers in which the drugs sorted by the sorting section are stored in a sorted state by type, and the device further includes a waiting tray for temporarily placing drugs of a different type than any of the drugs stored in the plurality of sorting containers when all of the plurality of sorting containers are filled with drugs.

[0481] In addition, in a drug sorting device according to one aspect of the present invention, when the discrimination unit is unable to identify the type of drug and estimates that the drug is a tablet or a capsule, the sorting unit temporarily places the drug on the waiting tray.

[0482] In addition, in the medicine sorting device according to one aspect of the present invention, the sorting section sorts the medicines temporarily placed on the waiting tray after the medicines are removed from the multiple sorting containers.

[0483] Moreover, the medicine sorting device according to an aspect of the present invention further includes a packaging mechanism that packages the medicines contained in the second container.

[0484] In addition, in a drug sorting device according to one embodiment of the present invention, the second storage unit is capable of arranging a plurality of sorting containers in which the drugs sorted by the sorting unit are stored in a sorted state by type, and the second storage unit is further provided with a waiting tray for temporarily storing drugs of a different type from any of the drugs stored in the plurality of sorting containers when drugs are stored in all of the plurality of sorting containers, and the packaging mechanism packages the drugs stored in any of the plurality of sorting containers, and the sorting unit places the drugs temporarily placed on the waiting tray in the sorting container into which the drugs that were stored therein have been packaged by the packaging mechanism.

[0485] In addition, the medicine sorting device according to one embodiment of the present invention further includes an imaging unit that captures an image of the medicine removed from the first storage section, and the discrimination unit discriminates the type of the medicine based on the image captured by the imaging unit.

[0486] In addition, a drug sorting device according to one embodiment of the present invention includes a discrimination unit that discriminates the type of each of multiple types of drugs fed into the drug sorting device, a storage unit that stores the drugs in a sorted state by type, and a sorting unit that stores the drugs in the storage unit by type based on the discrimination result by the discrimination unit, and the sorting unit includes an adsorption mechanism that adsorbs the drugs, and a shutter mechanism that prevents the drugs adsorbed by the adsorption mechanism from falling.

[0487] In addition, a drug sorting device according to one embodiment of the present invention includes a discrimination unit that discriminates the type of each of multiple types of drugs fed into the drug sorting device, a storage unit that stores the drugs in a sorted state by type, and a sorting unit that stores the drugs in the storage unit by type based on the discrimination result by the discrimination unit, and the sorting unit moves on a single plane to transport the drugs from the area where the drugs were fed to the storage unit.

[0488] In addition, a drug sorting device according to one embodiment of the present invention is a drug sorting device comprising a discrimination unit that discriminates the type of each of multiple types of drugs input into the drug sorting device, a storage unit having multiple sorting containers that store the drugs sorted by type, a sorting unit that stores the drugs in the storage unit by type based on the discrimination results by the discrimination unit, and a display control unit that displays on a display unit a display image showing the progress of drug sorting by the sorting unit by switching the display content of the portion corresponding to the sorting container.

[0489] In addition, in a drug sorting device according to one embodiment of the present invention, the storage section has the multiple sorting containers arranged in a row from the front to the back of the drug sorting device, and the display control section may display portions corresponding to the sorting containers on the display section so as to correspond to the arrangement of the multiple sorting containers.

[0490] In addition, a drug sorting device according to one embodiment of the present invention may be provided with a sorting control unit that determines a sorting position of the drug based on a discrimination result by the discrimination unit, and the display image may be generated and displayed on the display unit based on the sorting position determined by the sorting control unit and data regarding the drug linked to the sorting position.

[0491] In addition, in a drug sorting device according to one embodiment of the present invention, when user input is received in a portion corresponding to the sorting container in which the drug is stored, the display control unit may display all image data of the drug stored in the sorting container on the display unit.

[0492] In addition, in a drug sorting device according to one aspect of the present invention, the display control unit may display, in a portion corresponding to the sorting container in which the drug is stored, information indicating the name of the drug stored in the sorting container, the number of the drugs, and whether an image of the drug has been visually inspected.

[0493] In addition, in a drug sorting device according to one embodiment of the present invention, an information recording medium is provided in the sorting container, and data relating to the drugs stored in the sorting container is written to the information recording medium, and the display control unit may display the display image based on the data relating to the drug read from the information recording medium of the sorting container in which the drug is stored each time sorting of one drug is completed.

[0494] In addition, in the medicine sorting device according to one aspect of the present invention, the display control unit may color-code the portion corresponding to the sorting container depending on a return destination of the medicine.

[0495] In addition, in a drug sorting device according to one aspect of the present invention, the display control unit may switch to the display image and display on the display unit a sorted drug list image showing the history of drug sorting by the sorting unit for each type of drug.

[0496] Furthermore, a control method for a drug sorting device according to one embodiment of the present invention is a control method for a drug sorting device, the drug sorting device having a storage unit with a plurality of sorting containers that store a plurality of types of drugs input into the drug sorting device in a sorted state by type, and includes a discrimination step of discriminating the type of each of the plurality of types of drugs, a sorting step of storing the drugs in the storage unit by type based on the discrimination result of the discrimination step, and a display control step of displaying on a display unit a display image showing the progress of drug sorting by the sorting step by switching the display content of the portion corresponding to the sorting container.

[0497] Furthermore, a program according to one aspect of the present invention is a program for causing a computer to function as the medicine sorting device described above, and is a program for causing a computer to function as the discrimination unit and the display control unit.

[0498] [Additional Notes] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of symbols]

[0499] 1. Drug sorting device 11 First storage section 14 Second storage section 12 Conveying and sorting unit (sorting section) 15 Waiting Tray 16 Collection Tray 61 Conveyor control unit (detection area change unit) 62 Sorting control unit (detection area change unit) 63 Imaging control section 64 Discrimination part 65 Image Classification Unit 122 Adsorption / shutter mechanism (adsorption mechanism) 131 1st camera (imaging unit) 132 Rotation mechanism (rotating part) 133a Medicine Stand 133b Swivel mechanism (movement mechanism) 133c Shaft 134 Illuminator (ultraviolet light irradiation section, visible light irradiation section) 134a 1st irradiation section (visible light irradiation section) 134b Second irradiation section (visible light irradiation section) 134c Ultraviolet light irradiation section 141, 141a-141j Sorting cup (sorting container) 142 Aperture 143 Side wall (exterior wall) 145 Edge 146 Convex 146a Adjacent part Ar1 Receiving area (loading area, sorting waiting area) Ar2 placement area Dr Detection area Jo, Jo1, Jo2 Journal Im1 sorting image Im2 inspection image

Claims

1. A medicine dispensing device, comprising: A discrimination unit that discriminates the type of each of the plurality of types of medicines input into the medicine sorting device; A sorting unit that sorts the medicines by type based on the discrimination result by the discrimination unit; A sorting control unit that determines whether a medicine to be sorted by the sorting unit is to be removed from the medicine sorting device based on return destination information regarding a return destination of the medicine, The sorting unit sorts drugs identified as drugs to be removed from the drug sorting device based on the return destination information to a drug removal side of the drug sorting device.

2. The drug sorting device of claim 1, wherein the sorting control unit determines whether or not a journal is needed for the drug to be sorted, based on the return destination information, and if it determines that the journal is needed, identifies the drug to be sorted as one to be removed from the drug sorting device.

3. The sorting unit includes a plurality of sorting containers in which medicines sorted by type are stored, The return destination information is stored in association with each of the drug data related to a plurality of types of drugs, The drug sorting device of claim 2, wherein the sorting control unit determines that the journal is necessary when the return destination information for the drug to be sorted indicates that the return destination is a facility or device different from the drug sorting device, and that the return destination does not have a reader that reads the drug data recorded on an information recording medium provided in the sorting container.

4. The sorting unit includes a plurality of sorting containers in which medicines sorted by type are stored, a display control unit that displays a portion of the sorting container on the display unit so as to correspond to a position where each of the sorting containers is provided, The medicine sorting device according to claim 1 , wherein the display control unit colors the parts corresponding to the sorting containers according to a destination to which the medicines are to be returned.

5. a control unit that compares the type of medicine identified by the discrimination unit with medicine data indicating the type of medicine implemented in each of a plurality of packaging machines different from the medicine sorting device, and when the type of medicine identified by the discrimination unit matches the type of medicine indicated by the medicine data, determines one of the plurality of packaging machines as a destination for returning the medicine, and when they do not match, determines a medicine shelf as a destination for returning the medicine; The medicine sorting device according to claim 4 , wherein the display control unit colors the parts corresponding to the sorting containers according to the return destination determined by the control unit.

6. The medicine sorting device according to claim 4 , further comprising a storage unit that stores a return destination of the medicine and a display color set in association with the return destination of the medicine.

7. The sorting unit includes a plurality of sorting containers in which medicines sorted by type are stored, A plurality of pieces of drug-specific information for identifying the drug are assigned to each of the plurality of types of drug, A drug sorting device as described in any one of claims 1 to 6, which (1) stores at least one of multiple drug-specific information related to the drug obtained from a return destination to which the drug sorted by the sorting unit is returned, or from a return assistance device for returning the drug to the return destination, in an information recording medium provided in the sorting container, or (2) prints in a journal printed with drug data related to the drug reflecting the inspection results by the user.

8. A medicine sorting device according to any one of claims 1 to 7; A return assistance device for returning the medicines sorted by the sorting unit to a return destination, A reading unit that reads the medicine data indicating the type of medicine and the return destination information from a journal on which the medicine data indicating the type of medicine sorted by the sorting unit and the return destination information are printed; A return assistance device including a display unit that displays drug data indicating the type of drug read by the reading unit and return destination information; A drug return system comprising:

9. A method for controlling a medicine sorting device, comprising: A discrimination step of discriminating the type of each of the plurality of types of medicines inputted into the medicine sorting device; a sorting step of sorting the medicines by type based on the discrimination result by the discrimination step; A sorting control step of determining whether or not the medicine to be sorted in the sorting step is to be removed from the medicine sorting device based on return destination information regarding a return destination of the medicine, In the sorting step, drugs identified as those to be removed from the drug sorting device based on the return destination information are sorted to a drug removal side of the drug sorting device, in this control method for a drug sorting device.

10. A program for causing a computer to function as the medicine sorting device according to claim 1, the program causing a computer to function as the discrimination unit and the sorting control unit.

Images