Medicine sorting device

Abstract

To provide a medicine sorting device capable of automatically recognizing medicines whose properties such as a type, shape, size, and expiration date are variously different and which are supplied in a non-aligned state, and storing them while securing a high degree of freedom.SOLUTION: A medicine supply device 1 includes a reception part 100, a recognition part 300, and a storage part 500. The storage part 500 includes storage trays disposed in a plurality of stages. Storage regions are set at the time of storage according to the size of returned medicines 2 recognized by the recognition part 300. The returned medicines are stored in the storage trays while associating identification information on the individual returned medicines with the storage regions so that the individual returned medicines can be taken out with a SCARA-type robot 800.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a medicine sorting device and a medicine sorting method. [Background technology]

[0002] There are cases where medicines prescribed to patients are returned to a department in a medical institution that manages medicine prescriptions due to prescription changes or other reasons (returned medicines). Patent Document 1 discloses a returned medicine sorting device that automatically recognizes and stores returned medicines in order to improve the efficiency of the returned medicine processing work and prevent human error in this work. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2013-215343 A Summary of the Invention [Problem to be solved by the invention]

[0004] In general, returned medicines vary in type, shape, size, expiration date, and other properties. However, in conventional returned medicine sorting devices, including the one disclosed in Patent Document 1, no special consideration is given to storing returned medicines with various properties while ensuring a high degree of freedom in consideration of factors such as the efficiency of the subsequent dispensing work. More specifically, no special consideration is given to storing returned medicines with various properties while ensuring a high degree of freedom so that they can be freely dispensed according to, for example, prescription information.

[0005] The present invention aims to automatically recognize and store medicines that are supplied in an unaligned state and have various different properties such as type, shape, size, and expiration date, while ensuring a high degree of freedom. [Means for solving the problem]

[0006] The first aspect of the present invention is a drugof kinds of A recognition unit for recognizing the before In the recognition section of recognition Later The drug of Store tray and a dispenser mechanism that dispenses the medicine from the storage tray; and a control device that stores information that associates the type of the medicine stored in the storage tray with a position within the storage tray. Equipped with The dispensing mechanism dispenses the medicine from the storage tray based on prescription data and the information. A drug dispensing device is provided. Effect of the Invention

[0007] According to the drug sorting device and drug sorting method of the present invention, the orientation and posture of the drug, as well as properties such as shape, size, type, and expiration date, can be automatically recognized, allowing the drugs to be stored with a high degree of freedom, such as allowing them to be freely dispensed according to prescription information, for example. [Brief description of the drawings]

[0008] [Figure 1] FIG. 2 is a schematic front view of a returned medicine dispensing device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a schematic diagram showing the layout of the returned medicine dispensing device as seen from line II-II in FIG. [Diagram 3] FIG. 3 is a schematic diagram showing the layout of the returned medicine dispensing device as seen from line III-III in FIG. [Figure 4] FIG. 1 is a perspective view showing the appearance of a returned medicine dispensing device according to an embodiment of the present invention. [Diagram 5] FIG. 2 is a perspective view showing the returned medicine dispensing device with an exterior panel removed. [Figure 6] FIG. 2 is a front view of the returned medicine dispensing device with the exterior panel removed. [Figure 7] FIG. [Figure 8] FIG. 4 is a schematic plan view of a return tray. [Figure 9] FIG. [Figure 10] FIG. [Figure 11] FIG. 2 is a schematic front view of an Cartesian robot. [Figure 12] Schematic plan view of the recognition section and non-stored drug placement section. [Figure 13] FIG. 2 is a schematic plan view of a label reading unit. [Figure 14] FIG. 1 is a schematic plan view of a SCARA type robot and a support tray. [Figure 15] FIG. 2 is a schematic side view of a SCARA robot and support tray. [Figure 16] FIG. [Figure 17] FIG. [Figure 18A] FIG. 13 is a perspective view of the storage tray (S size). [Figure 18B] FIG. 13 is a perspective view of the storage tray (medium size). [Figure 18C] FIG. 13 is a perspective view of the storage tray (L size). [Figure 19A] FIG. 18B is a schematic enlarged partial cross-sectional view of FIG. 18A. [Figure 19B] FIG. 18C is a schematic enlarged partial cross-sectional view of FIG. 18B. [Figure 19C] FIG. 18D is a schematic enlarged partial cross-sectional view of FIG. 18C. [Figure 20] FIG. 3 is a schematic plan view of a storage tray. [Figure 21] FIG. 1 is a schematic diagram showing the concept of an adsorption position. [Figure 22] 13 is a conceptual diagram showing a method for determining an adsorption position when the convexity value is low. [Diagram 23] 13 is a conceptual diagram showing a method for determining an adsorption position when the convexity value is high. [Figure 24A] 13 is a flowchart showing the process of placing a returned medicine from the temporary placement section of the recognition section to the storage section or non-stored medicine placement section. [Figure 24B] 13 is a flowchart showing the process of placing a returned medicine from the temporary placement section of the recognition section to the storage section or non-stored medicine placement section. [Diagram 25] FIG. 13 is a schematic partial perspective view of an alternative storage section; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] (Device Overview) 1 to 6 show a returned medicine supplying device (medicine sorting device) 1 according to an embodiment of the present invention. The returned medicine supplying device 1 includes a receiving section 100, a lifting section 200, a recognition section 300, a non-stored medicine arranging section 400, a storage section 500, and a dispensing section 600. The returned medicine supplying device 1 also includes an orthogonal robot 700, a scalar robot 800, and a support tray 900. The returned medicine supplying device 1 further includes a control device 1000, which is shown diagrammatically in FIG. 1. The control device 1000 comprehensively controls the operation of the returned medicine supplying device 1 based on inputs from a control panel 1001 (including a display 1002) shown in FIG. 4, inputs from sensors and cameras, and the like.

[0010] The main functions of the returned medicine supplying device 1 are as follows. The returned medicine supplying device 1 recognizes properties such as the shape, size (length L1 and diameter or width W), type, and expiration date of the returned medicine 2 (see FIG. 8), which is, for example, an ampoule 2A, a vial 2B, or a resin ampoule 2C. In this embodiment, a label 3 on which text information and a barcode including information on the type, expiration date, etc. are printed is attached to the returned medicine 2. The returned medicine supplying device 1 reads the information displayed on the label 3. The returned medicine supplying device 1 also temporarily stores the recognized returned medicine 2 in association with the identification information of the returned medicine 2 (unique information given to each returned medicine 2), and dispenses the medicine based on prescription data (received from a higher-level system (Hospital Information System: HIS), which is, for example, an electronic medical record system). When storing, a storage area is set according to the size of the returned medicine 2 to be stored. The returned medicine 2 is stored in a manner that allows the returned medicine 2 to be placed in the set storage area and to be taken out individually when dispensing. Furthermore, the returned medicine supplying device 1 discharges returned medicines 2 whose expiration date has passed. The term "expiration date" is sometimes used instead of the term "use by date". However, these terms are essentially synonymous. Therefore, in this specification, to avoid confusion, only "use by date" is used, not "expiration date".

[0011] (Acceptance Department) As shown in FIGS. 1 to 3, the receiving unit 100 is disposed on the upper left front side when the returned medicine supplying device 1 is viewed from the front.

[0012] 7, the receiving section 100 includes fixed rack members 101 arranged facing each other in the horizontal direction (X direction in the figure). The rack members 101 are provided with multiple pairs of rail grooves 101a, 101a for holding multiple return trays (receiving containers) 4 in a multi-tiered arrangement.

[0013] 8 and 9, the return tray 4 includes a tray body 4a that is open at the top in the figure, and a flange-shaped portion 4b provided on the upper edge of the tray body 4a. As shown in FIG. 8, the returned medicines 2 (e.g., ampoules 2A, vials 2B, and resin ampoules 2C) stored in the return tray 4 have different properties such as shape, size (length L1 and width W), type, and expiration date. In addition, the orientations and postures of the returned medicines 2 stored in the return tray 4 are not aligned and are different from each other. In other words, the returned medicines 2 stored in the return tray 4 are not aligned. Here, the orientation of the returned medicine 2 refers to the direction in which the longitudinal direction of the returned medicine 2 (axis A of the returned medicine 2) extends in the XY plane in the figure. The term orientation of the returned medicine 2 may include the direction in which the tip 2a and base end 2b of the returned medicine 2 are facing, in addition to the direction in which the axis A of the returned medicine 2 extends. However, the properties of the returned medicines 2 stored in the return tray 4, such as shape, size, type, and expiration date, may be uniform. Furthermore, the orientation and posture of the returned medications 2 contained in the returned tray 4 may be uniform. The returned medications 2 in the returned tray 4 are contained so as not to overlap each other.

[0014] As shown in FIG. 7, the rail grooves 101a, 101a provided in the rack member 101 allow the flange-shaped return tray 4 to be inserted into the return tray 4. Department The rail grooves 101a, 101a are as shown in the drawing of the rack member 101. Y-wayThe rail grooves 101a, 101a are provided so as to penetrate from the end surface on the front side to the end surface on the rear side. Therefore, an operator such as a medical worker can insert and remove the returned tray 4 into and from the rail grooves 101a, 101a from the front side of the returned medicine supplying device 1. Also, the lifting unit 200 described later can insert and remove the returned tray 4 into and from the rail grooves 101a, 101a from the rear side of the returned medicine supplying device 1. (Lifting section)

[0015] As shown in FIGS. 1 to 3, the lifting section 200 is disposed at the left rear when the returned medicine supply device 1 is viewed from the front.

[0016] 10, the lifting section 200 comprises a fixed linear guide 201 extending in the Z direction, a carriage 202 that moves up and down along the linear guide 201, and a table 203 mounted on the carriage 202. The table 203 comprises a bottom 203a, side sections 203b, 203b provided on the left and right sides of the bottom 203a, and an end section 203c provided on the rear side of the bottom 203a (the rear side in the Y direction). The front side of the table 203 (the front side in the Y direction) is open. Rail grooves 204, 204 are provided on the side sections 203b, 203b. The rail grooves 204, 204 allow the flange-shaped return tray 4 to slide in a straight line. Department 4b is supported, thereby holding the return tray 4 on the table 203.

[0017] 10, the bottom portion 203a is provided with a fixed linear guide 205 extending in the depth direction (Y direction) of the returned medicine supply device 1. In addition, the base end side of a hook 207 is fixed to a carriage 206 that moves horizontally along the linear guide 205.

[0018] The lifting section 200 can take out one return tray 4 from the receiving section 100 and lower it to the same height position (conceptually indicated by the symbol H in FIG. 1) as the recognition section 300 described later (return tray 4). Product The lifting unit 200 can return the return tray 4 to the receiving unit 100 from the same height position H as the recognition unit 300 (return Product Tray return operation).

[0019] return Product The tray removal operation will be described below. First, the table 203 (carriage 202) rises to a position slightly lower than the rail grooves 101a, 101a of the receiving section 100 in which the return tray 4 to be removed is held. Next, the hook 207 (carriage 206) moves forward (toward the front in the Y direction) from the end 203c side of the table 203. Next, the table 203 rises slightly, and as a result, the hook 207 enters the gap between the flange-shaped portion 4b (the part at the back in the figure) of the return tray 4 and the tray body 4a. After that, the hook 207 moves backward (toward the back in the Y direction) to the end 203c of the table 203. Due to this backward movement of the hook 207, the flange-shaped portion 4b is drawn into the rail groove 204, and the return tray 4 is transferred from the receiving section 100 to the table 203. Finally, the table 203 (carriage 202) descends to the position indicated by the symbol H.

[0020] return Product The tray return operation will be described. First, the table 203 (carriage 202) rises from the height position indicated by the symbol H to a height corresponding to the rail grooves 101a, 101a (not holding the return tray 4) to which the return tray 4 is returned. Next, the hook 207 (carriage 206) moves forward (toward the front side in the Y direction) from the end 203c side of the table 203. As a result, the flange-shaped portion 4b of the return tray 4 pushed by the hook 207 comes out of the rail grooves 204, 204 and enters the rail grooves 101a, 101a of the receiving section 100. Then, the table 203 descends slightly, and the hook 207 comes out downward from the gap between the flange-shaped portion 4b of the return tray 4 (the part at the back side in the figure) and the tray main body 4a. Finally, the hook 207 moves backward to the end 203c side of the table 203.

[0021] (Cartesian type robot) 11, the Cartesian robot 700 (first picking unit) is equipped with a suction nozzle 701 that releasably suctions the returned medicine 2 by a vacuum supplied from a vacuum source (not shown). A rubber suction pad 702 is attached to the tip of the suction nozzle 701. With reference to FIGS. 1 to 3, the Cartesian robot 700 is configured so that the range in which the suction nozzle 701 can suction and hold the returned medicine 2, or can release the suction-held returned medicine 2 by releasing the suction, includes the entire range of the lifting / lowering unit 200 (the return tray 4 when at the height position H described above), the recognition unit 300, and the non-storage medicine position unit 400.

[0022] The Cartesian robot 700 (suction nozzle 701) can suck and hold the returned medicine 2 from the returned tray 4 held on the table 203 (height position H) of the lifting section 200, and transfer it to a temporary placement section (first recognition section) 301, which will be described later, provided in the recognition section 300. The Cartesian robot 700 can also suck and hold the returned medicine 2 from the temporary placement section 301, and transfer it to a label reading section (second recognition section) 302, which will be described later, provided in the recognition section 300. The Cartesian robot 700 can also suck and hold the returned medicine 2 from the label reading section 302, and transfer it to the non-storage medicine arrangement section 400.

[0023] 1 to 3 and 11, the Cartesian robot 700 includes a fixed Y-axis beam 703 extending in the depth direction (Y direction) of the returned medicine supply device 1 below the receiving unit 100, and a carriage 704 moving along the Y-axis beam 703. An X-axis beam 705 extending in the width direction (X direction) of the returned medicine supply device 1 is fixed to the carriage 704. A carriage 706 moving on the X-axis beam 705 is provided, and a head 707 is mounted on the carriage 706. The head 707 is provided with a lifting rod 708 that moves up and down by a ball screw mechanism. A suction nozzle 701 is held by a bracket 709 fixed to the lower end of the lifting rod 708. The suction nozzle 701 rotates around the Z axis relative to the bracket 709. 11 is interposed between the bracket 709 and the suction nozzle 701, so that the suction nozzle 701 can elastically rise relative to the bracket 709. In addition, the carriage 706 is equipped with a position sensor (not shown) for detecting the relative height position (position in the Z direction) of the suction nozzle 701 with respect to the bracket 709.

[0024] The returned drug 2 sucked and held by the suction nozzle 701 moves in the X direction by the linear motion of the carriage 706, moves in the Y direction by the linear motion of the carriage 704, and moves in the Z direction by the elevation of the lift rod 708. In addition, the returned drug 2 sucked and held by the suction nozzle 701 rotates around the axis of the suction nozzle 701 (the Z axis) by the rotation of the suction nozzle 701 relative to the bracket 709.

[0025] (Recognition section and non-stored drug placement section) 1 to 3, the recognition unit 300 includes a light 303 and a camera (first image capture unit) 304. The light 303 and the camera 304 are located above the lift unit 200. The recognition unit 300 also includes a temporary placement unit 301 and a label reading unit (an example of a second recognition unit in the present invention) 302 which, together with the camera 304, constitute an example of a first recognition unit in the present invention. The temporary placement unit 301 and the label reading unit 302 are disposed on the lower left front side when the returned medicine supply device 1 is viewed from the front, and are located below the receiving unit 100.

[0026] Referring also to Figure 12, the temporary placement section 301 includes a translucent plate 305 on which the returned medication 2 is placed, a light 306 arranged below the translucent plate 305, and a camera 307 (second photographing section) located above the translucent plate 305.

[0027] 13, the label reading unit 302 includes an endless belt 308 that is driven to rotate, and a roller 309 disposed on the endless belt 308. The returned medicine 2 rotates about its own longitudinal axis A as the endless belt 308 and roller 309 rotate. The label reading unit 302 also includes a light 310 and a camera 311 (an example of a third photographing unit in the present invention) shown only in FIG. 1. The label reading unit 302 further includes a barcode reader (first barcode reader) 312.

[0028] 12, the non-storage medicine placement section 400 includes two non-storage medicine placement boxes 401, 402 arranged adjacent to the temporary placement section 301. These non-storage medicine placement boxes 401, 402 include placement grooves for holding returned medicines 2, similar to the storage tray (storage container) 5 described later.

[0029] (Operation until recognition of returned medicine is completed) Here, we will explain the operation of the returned drug supplying device 1 until it has completed recognizing the orientation and posture of the returned drugs 2 contained in the returned tray 4 of the receiving section 100, as well as their properties such as type, shape, size, and expiration date.

[0030] First, the return tray 4 is transferred from the receiving unit 100 to the table 203 of the lifting unit 200. After the return tray 4 is transferred, the table 203 descends to the height position H (see FIG. 1). After the table 203 descends to the height position H, the recognition unit 300 starts recognition. First, the return tray 4 on the table 203 is irradiated with illumination light (preferably highly directional light) from the lighting 303 from above, while the camera 304 takes an image. From the elongated area in which the returned medicine 2 included in the image captured by the camera 304 strongly reflects the illumination light, the position, orientation (the direction in which the axis A extends in the XY plane, not including the direction in which the tip end 2a and the base end 2b are facing) of the returned medicine 2 in the returned tray 4, and the approximately middle position of the returned medicine 2 (a position suitable for adsorbing and holding the returned medicine 2) are recognized. Based on this recognition result, the suction nozzle 701 of the Cartesian robot 700 picks up and holds the returned medicines 2 in the return tray 4 one by one, and transfers them onto the semi-transparent plate 305 of the temporary placement section 301 (see FIG. 12). At this time, the suction nozzle 701 adjusts the orientation of the picked-up returned medicines 2 by rotating around its own axis (Z-axis).

[0031] In the temporary placement unit 301, while illuminating light (preferably high-luminance light) is irradiated from below the translucent plate 305 by the lighting 306, the camera 307 takes an image. The shape, size, and orientation (including the direction in which the axis A extends in the XY plane and the direction in which the tip 2a and the base 2b are facing) of the returned medicine 2 are recognized by the image captured by the camera 307. In addition, the suction position of the returned medicine 2 (the position where it is sucked by the suction nozzle 701 of the Cartesian robot 700 and the suction nozzle 801 of the SCARA robot 800) is calculated by the image captured by the camera 307. The calculation of the suction position of the returned medicine 2 will be described in detail later. Based on the recognition result by the image captured by the camera 307, the suction nozzle 701 of the Cartesian robot 700 sucks and holds the returned medicine 2 on the translucent plate 305, and transfers it to the label reading unit 302. At this time, the suction nozzle 701 adjusts the orientation of the suctioned and held returned drug 2 by rotating about its own axis (Z axis).

[0032] In the label reading unit 302, the returned medicine 2 rotates around its own axis A (see FIG. 13) by the rotation of the endless belt 308 and the roller 309, the details of which will be described later. The rotating returned medicine 2 is photographed by the camera 311 while being irradiated with illumination light from the illumination 310. From the image photographed by the camera 311, text information related to the expiration date and the like displayed on the label 3 of the returned medicine 2 is recognized, and the posture of the returned medicine 2 around the axis A is recognized. In addition to photographing by the camera 311, the barcode included in the label 3 is read by the barcode reader 312. The type and expiration date of the returned medicine 2 are recognized from the image photographed by the camera 311 and the barcode read by the barcode reader 312. The type and expiration date of the medicine may be recognized by only one of the image photographed by the camera 311 and the reading of the barcode by the barcode reader 312. For example, if the barcode included in the label 3 of the returned medicine 2 includes the type and expiration date of the returned medicine 2, the camera 311 is not provided, and only the barcode reader 312 is provided, and the type and expiration date of the returned medicine 2 can be recognized by reading the barcode with the barcode reader 312. After the recognition is completed, the rotation of the endless belt 308 and the roller 309 is stopped so that the rotation of the returned medicine 2 around the axis A stops with the area where the barcode of the label 3 is displayed facing upward (facing the Z direction). Whether the label is facing upward can be confirmed based on the image captured by the camera 311. Note that, if there is an area on the returned medicine 2 that cannot be picked up by the suction nozzle 801 of the scalar robot 800 described later (for example, if there is an area on the returned medicine 2 where there is a burr such as the side of the resin ampule 2C or an area where the label may peel off when picked up), it is preferable to stop the rotation of the returned medicine 2 so that the area does not face upward. For this reason, the area that cannot be picked up is associated with the medicine and registered (pre-stored) in the medicine master described later.

[0033] In the label reading unit 302, the returned medication 2 is rotated around the axis A by the rotation of an endless belt 308 and a roller 309, rather than a pair of rollers. The combination of the endless belt 308 and the roller 309 can rotate a wider range of shapes, sizes, and types of returned medication 2, compared to a pair of rollers.

[0034] If the label reading unit 302 is configured to rotate the returned drug 2 by a pair of rollers, the returned drug 2 may move in one of two directions along the rotation axis of the pair of rollers due to the relative inclination or deviation between the rotation axes of the pair of rollers. In order to limit the movement direction of the returned drug 2 to one direction, it is necessary to precisely adjust the relative inclination or deviation between the rotation axes of the pair of rollers. In this case, the returned drug 2 may move in one of two directions along the rotation axis of the pair of rollers due to the returned drug 2 being supplied in an inclined position with respect to the pair of rollers.

[0035] In contrast, in this embodiment, as shown most clearly in Fig. 13, the rotation axis of the roller 309 is inclined with respect to the traveling direction of the endless belt 308. With such an arrangement of the endless belt 308 and the roller 309, the direction in which the returned medicine 2 moves in the width direction of the endless belt 308 can be limited to one direction (downward in Fig. 13). As a result, the position of the returned medicine 2 in the label reading unit 302 can be aligned.

[0036] If the expiration date recognized by the label reading unit 302 has already passed, or if the expiration date cannot be recognized by the label reading unit 302, the returned medicine 2 is sucked and held by the suction nozzle 701 of the Cartesian robot 700, and transferred to the non-storage medicine placement boxes 401, 402 of the non-storage medicine placement unit 400. Any of the return trays 4 of the receiving unit 100 (for example, the bottommost return tray 4) may be used as a tray for non-storage placement medicines, and the returned medicines 2 in the non-storage medicine placement boxes 401, 402 may be returned to that return tray 4.

[0037] (Scalar robot and support tray) 14 and 15, a scalar robot 800 (second picking unit) includes a suction nozzle 801 that functionally suctions the returned medicine 2 so as to be releasable by a vacuum supplied from a vacuum source (not shown). A rubber suction pad 802 is attached to the tip of the suction nozzle 801. The scalar robot 800 is configured such that the range in which the suction nozzle 801 can suction and hold the returned medicine 2, or in which the suctioned and held returned medicine 2 can be released by releasing the suction, includes the label reading unit 302 of the recognition unit 300, the entire range of all the storage trays 5 included in the storage unit 500, and the entire area of ​​the dispensing tray 8 arranged at the dispensing position described later.

[0038] The scalar robot 800 (suction nozzle 801) can suck and hold the returned medicine 2 from the label reading unit 302 of the recognition unit 300, and transfer it to a storage tray 5 (described later) provided in the storage unit 500. In addition, the scalar robot 800 can suck and hold the returned medicine 2 from the storage tray 5, and transfer it to a dispensing tray 8 (described later) of the dispensing unit 600.

[0039] 1 to 3, 14, and 15, the SCARA robot 800 includes a pair of fixed linear guides 803, 803 extending in the height direction (Z direction) of the returned medicine supply device 1, and carriages 804, 804 moving on these linear guides 803, 803. The carriages 804, 804 support an end of an X-axis beam 805 extending in the width direction (X direction) of the returned medicine supply device 1. A base 806 is fixed to the X-axis beam 805. The base end side of a first arm 807 connected to the base 806 rotates around the Z axis, and a second arm 807 connected to the tip side of the first arm 807 rotates around the Z axis. 808 The base end side of the second arm 807 also rotates around the Z axis. A head 809 is attached to the tip side of the second arm 807. A suction nozzle 801 is held by a bracket 810 fixed to the head 809. The suction nozzle 801 rotates around the Z axis relative to the bracket 810. A spring 811, shown only in FIG. 15, is interposed between the bracket 810 and the suction nozzle 801. Therefore, the suction nozzle 801 can elastically rise relative to the bracket 810.

[0040] 14 only, and a presence / absence detection sensor 820 for detecting the returned drug 2. The barcode reader 812 is mounted at a position offset to the side of the suction nozzle 801, and is adapted to read the barcode of the label 3 affixed to the returned drug 2 located below the suction nozzle 801 from diagonally above. In other words, the barcode reader 812 is disposed so as to face the barcode of the label 3 affixed to the returned drug 2 when the suction nozzle 801 is located above the target returned drug 2, similar to the positional relationship of the barcode reader 312 to the returned drug 2 in the label reading unit 302.

[0041] In this embodiment, the presence / absence detection sensor 820 is a reflective photoelectric sensor that detects the presence or absence of returned drugs 2 in the area below the suction nozzle 801 by irradiating light toward the area below the suction nozzle 801 and receiving the reflected light.

[0042] The returned drug 2 that is sucked and held by the suction nozzle 801 is moved in the Z direction by the linear motion of the X-axis beam 805 (carriage 804), and is sucked by the first arm 807 and the second arm 808. 808 The returned medicine 2 sucked and held by the suction nozzle 801 moves on the XY plane due to the rotation of the suction nozzle 801 relative to the bracket 810. The returned medicine 2 sucked and held by the suction nozzle 801 rotates about the axis of the suction nozzle 801 (Z axis).

[0043] 1, 14, and 15, the support tray 900 is fixed to the lower end of a rod 901 that moves up and down relative to a base 806 of a scalar robot 800. In this embodiment, the support tray 900 has a placement groove for holding the returned medicine 2 similar to a storage tray 5 described later. As shown in FIG. 15, by moving the rod 901 up and down, the support tray 900 moves up and down between a height position approaching the returned medicine 2 adsorbed and held by the suction nozzle 801 and a height position away from the returned medicine 2 adsorbed and held by the suction nozzle 801.

[0044] When the suction nozzle 801 picks up and transfers the returned drug 2, the scalar robot 800 moves the suction nozzle 801 horizontally using the first arm 807 and the second arm 808 to position it above the support tray 900. At this time, the head 809 is rotated so that the picked up returned drug 2 is aligned with the arrangement groove of the support tray 900. Then, by raising the rod 901, the support tray 900 is moved from a height position away from the returned drug 2 to a height position approaching the returned drug 2. As a result, the returned drug 2 being transferred is attached to the picked up suction pad 802 and / or small suction pads. Do Even if the returned drug 2 comes off from the suction nozzle 801, the support tray 900 can prevent the returned drug 2 from falling below the suction nozzle 801. This makes it possible to transport the returned drug 2 at a higher speed while preventing damage to the returned drug 2 due to loss of suction.

[0045] Furthermore, the returned drug 2 that has dropped onto the support tray 900 may be sucked up again by the suction nozzle 801 and transferred. At this time, a pressure sensor (not shown) provided on the suction nozzle 801 may detect that the suction has been released. Furthermore, as described above, the returned drug 2 is transferred with its orientation aligned with the arrangement groove on the support tray 900, so that when the suction by the suction nozzle 801 is released, the returned drug 2 falls into the arrangement groove directly below the suction nozzle 801 without changing its orientation or posture. This makes it possible to predict that the returned drug 2 is directly below the suction nozzle 801, thereby increasing the success rate when the returned drug 2 is re-sucked by the suction nozzle 801.

[0046] (Storage section) As shown in FIGS. 1 to 3, the storage section 500 is disposed at the right rear when the returned medicine supplying device 1 is viewed from the front.

[0047] 16 and 17, the storage section 500 includes a linear guide 501 extending in the Z direction. A holding frame 502 that holds the storage tray 5 so that it can be removed is held in the linear guide 501 so as to be movable up and down. The holding frames 502 are arranged in multiple stages. Linear guides 503, 503 extending in the Z direction are arranged on both sides of the storage trays 5 arranged in multiple stages. Carriages 504, 504 that move up and down on these linear guides 503, 503 are provided. A lift member 505 that can move between a retracted position shown in FIG. 16 and an extended position shown in FIG. 17 is mounted on the carriage 504. The lift member 505 is also arranged in the depth direction in the figure. The lift member 505 may also be arranged in multiple stages.

[0048] With the lift member 505 in the retracted position as shown in FIG. 16, the carriages 504, 504 move to a position corresponding to one of the holding frames 502. Next, the lift member 505 moves to the protruding position as shown in FIG. 17 and enters below the holding frame 502. When the carriages 504, 504 rise in this state, the holding frame 502 into which the lift member 505 has entered and the holding frame 502 above it are lifted upward. As a result, a space S is formed between the holding frame 502 into which the lift member 505 has entered and the holding frame 502 one step below it. Through this space S, the suction nozzle 801 of the SCARA robot 800 can access the storage tray 5 held by the holding frame 502 one step below the holding frame 502 into which the lift member 505 has entered. In other words, by providing this interval S, the suction nozzle 801 of the scalar robot 800 can perform the operation of transferring the returned medicine 2 to all of the storage trays 5, and the operation of suction-holding and removing the returned medicine 2.

[0049] 18A to 19C, the storage trays 5 include a storage tray 5A (S size) suitable for storing relatively small returned medicines 2, a storage tray 5B (M size) suitable for storing medium-sized returned medicines 2, and a storage tray 5C (M size) suitable for storing relatively large returned medicines 2. C The storage section 500 has these three types of storage trays 5A to 5 CEach storage tray 5 (5A to 5C) has a tray body 5a that is open at the top in the figure, and a flange-like portion 5b provided on the upper edge of the tray body 5a.

[0050] 20, the bottom of the tray body 5a is provided with a plurality of ridges (projections) 6 that extend in the depth direction (Y direction) of the returned medicine supply device 1 and are spaced apart in the width direction (X direction) of the returned medicine supply device 1. Linear arrangement grooves (recesses) 7 are formed between adjacent ridges 6, and the returned medicines 2 are accommodated in the arrangement grooves 7. As is clear from FIGS. 19A to 19C, the three types of storage trays 5A to 5 C Since the dimensions (height and width) and pitch of the ridges 6 are different, the dimensions (depth and width) of the arrangement grooves 7 are different. Due to the difference in the dimensions of the arrangement grooves 7, the three types of storage trays 5A to 5B can be used in the same manner as described above. C The dimensions of the return drug 2 suitable for storage are different.

[0051] (Payment section) The dispensing section 600 includes a transport mechanism 601. The transport mechanism 601 moves and positions the dispensing tray 8 from an entrance 602 shown in FIG. 1 to a dispensing position (the position on the front side in the drawing of the storage section 500), and carries out the dispensing tray 8 after the dispensing operation is completed from an exit 603 shown in FIG.

[0052] (Storage and dispensing of returned drugs) The operation of storing the returned medicine 2 in the storage section 500 after the recognition in the recognition section 300 is completed, and the operation of dispensing the medicine from the storage section 500 to a dispensing tray arranged at a dispensing position in the dispensing section 600 will be described.

[0053] First, the storing operation will be described.

[0054] The returned medication 2 in the label reading unit 302 is sucked and held by the suction nozzle 801 of the scalar robot 800. For the returned medication 2 sucked and held by the suction nozzle 801, a storage area, i.e., the range it occupies when stored and a storage position (which storage tray 8 and which position it is stored in) are set according to at least the size of the returned medication 2. In this embodiment, the range of the storage area when stored corresponds to the length L1 and width W of the returned medication 2. The area shown when stored includes a margin to prevent interference with other returned medications 2. A search is performed to determine in which storage tray 5 and in which arrangement groove 7 of the multiple storage trays 5 in the storage unit 500 the returned medication 2 sucked and held by the suction nozzle 801 can be placed. Based on the search results, the storage tray 5 and arrangement groove 7 (where the returned medication 2 is to be placed) in which the returned medication 2 is to be placed are selected. Product In the case of one storage tray 5, when the arrangement groove 7 of "No. 3" is already filled with the returned medicine 2 as shown in FIG. 20, the other arrangement grooves 7 become candidates for the storage position in which the returned medicine 2 sucked by the suction nozzle 801 is to be arranged. For example, in the case of the groove of "No. 6", two returned medicines 2 are already arranged, but if the distance between these returned medicines 2 is equal to or greater than the range shown for the returned medicines 2 to be stored during storage as described above, the groove can become a candidate for the arrangement of the returned medicine 2 sucked and held by the suction nozzle 801.

[0055] As described above, when the recognition by the label reading unit 302 is completed, the returned medicine 2 is in a position in which the label 3 faces upward. The suction nozzle 801 of the SCARA robot 800 suctions and holds the returned medicine 2 while maintaining the position in which the label 3 faces upward, and places the returned medicine 2 in the corresponding arrangement groove 7 of the corresponding storage tray 5, i.e., the position determined as described above. T The returned drug 2 is transferred to the storage area.

[0056] 16 and 17, the storage unit 500 is configured to provide a space S between the holding frames 502. Therefore, the suction nozzle 801 of the scalar robot 800 that has suctioned and held the returned medicine 2 can freely access the storage tray 5 held by any of the holding frames 502 arranged in multiple stages, and place the returned medicine 2 that it has suctioned and held.

[0057] As described with reference to FIGS. 18A to 19C, the storage trays 5 of the storage section 500 include three types of storage trays 5A to 5C that are different in size. C Therefore, the returned medication 2 that has been recognized can be stored in the storage unit 500 without being restricted by the size of the returned medication 2 to be stored.

[0058] With regard to the returned medicines 2 stored in the storage section 500, the control device 1000 stores the above-mentioned storage area, that is, the position (the position on the arrangement groove 7) of the returned medicine 2 in association with the identification information of each returned medicine 2. The control device 1000 also stores the type and expiration date of each returned medicine 2 in association with the identification information of each returned medicine 2.

[0059] Next, the dispensing operation will be described.

[0060] The suction nozzle 801 of the scalar robot 800 sucks and holds the returned medicine 2 from the storage tray 5 in the storage unit 500, and transfers it to a dispensing tray 8 arranged at the dispensing position.

[0061] The dispensing operation is performed based on prescription data received by the returned medicine supply device 1 from a higher-level system (Hospital Information System: HIS), which is, for example, an electronic medical record system. As described above, the type and expiration date of the returned medicine 2 stored in the storage unit 500 are stored in association with identification information, and each returned medicine 2The location of the returned medicine 2 in the storage unit 500 is also stored in association with the identification information. Specifically, the control device 1000 includes a medicine master that stores the type, expiration date, and storage area of ​​the returned medicine 2 stored in the storage unit 500 in association with the identification information. Moreover, as described above, since the interval S can be provided between the storage trays 5 arranged in multiple stages, the suction nozzle 801 can freely suction and hold the returned medicine 2 stored in any of the storage trays 5 arranged in multiple stages as necessary. Therefore, if it is confirmed that the medicine included in the prescription data is the returned medicine 2 stored in the storage unit 500 as a result of referring to the medicine master, it can be dispensed without restrictions according to the prescription data. In addition, efficient dispensing according to the prescription data is possible, such as dispensing medicines of the same type with the closest expiration date. Furthermore, if it is confirmed that the medicine included in the prescription data is not stored in the storage unit 500 as a result of referring to the medicine master, a process such as displaying a necessary display on the display 1002 of the control panel 1001 can be executed.

[0062] As described above, according to the returned drug supply device 1 of this embodiment, returned drugs 2 having various different properties such as type, shape, size, expiration date, etc. and supplied in an unaligned state can be automatically recognized and stored with a high degree of flexibility, and can be freely dispensed according to prescription data.

[0063] (Details of recognition of drug shape and size) As described above, the shape and size of the returned medicine 2 are recognized (shape and size information is acquired) in the temporary placement section 301 of the recognition section 300. For this purpose, the returned medicine 2 is placed on the placement surface 305a (the plane on the camera 307 side) of the semi-transparent plate 305, as shown in Figs. The axis The returned medicine 2 is placed so as to be parallel to the placement surface 305a. Then, the returned medicine 2 placed on the translucent plate 305 is photographed by a camera 307 arranged above the translucent plate 305 in a state where light is irradiated from below by a light 306 arranged below the translucent plate 305.

[0064] The control device 1000 is configured to acquire information on the shape and size of the returned drug 2 based on the image captured by the camera 307. That is, the control device 1000 functions as a recognition unit for recognizing the shape and size of the returned drug 2.

[0065] The control device 1000 is also configured to process the image of the camera 307 showing the returned drug 2 (having an image processing unit) in order to obtain information on the shape and size of the returned drug 2. As image processing for the image of the camera 307, for example, edge detection processing for detecting edges of the image of the returned drug 2 shown in the image and binarization processing for binarizing the image (black and white) are performed. The control device 1000 obtains information on the shape and size of the returned drug 2 based on the image that has been subjected to the edge detection processing and the binarization processing.

[0066] The control device 1000 is also configured to determine, based on the acquired shape of the returned drug 2, whether the shape of the returned drug 2 is a shape of a drug that is to be handled by the returned drug supply device 1.

[0067] The returned medicines 2 returned through the return tray 4 may include, for example, medicines that are caught between the endless belt 308 and the roller 309 in the label reading unit 302, medicines that cannot be held by the scalar robot 800, medicines that cannot be stored in the storage unit 500, that is, medicines that cannot be handled by the returned medicine supplying device 1 due to its structure. Examples include medicines stored in a bag or box, medicines that are partially missing, medicines with labels partially peeled off, and medicines with partially peeled labels attached to other medicines. Such returned medicines cannot be handled by the returned medicine supplying device 1 due to its structure, so they are processed as medicines that cannot be handled (non-stored medicines). The non-stored medicines are returned to the return tray 4 for non-stored medicines through the non-stored medicine placement boxes 401, 402 of the non-stored medicine placement unit 400 as described above.

[0068] (Details of drug type and expiration date awareness) As described above, the type and expiration date of the returned medicine 2 are recognized in the label reading unit 302 (information on the type and expiration date is acquired). For this purpose, as shown in Fig. 13, the label reading unit 302 has an endless belt 308 on which the returned medicine 2 is placed, and a roller 309 that comes into contact with the returned medicine 2 placed on the endless belt 308 and rotates the returned medicine 2 about its axis A. The label reading unit 302 also has a belt driving unit (not shown) that drives the endless belt 308, and a roller driving unit (not shown) that drives the roller 309. The belt driving unit and the roller driving unit are, for example, motors, and are controlled by the control device 1000.

[0069] 13, the roller 309 is disposed above the endless belt 308 with a gap therebetween, for example, with a gap of 1 mm. The traveling direction F of the endless belt 308 is the same as the extending direction of the rotation center line Rc of the roller 309 ( Y-way For example, in this embodiment, the angle between the extension direction of the rotation center line Rc of the roller 309 and the traveling direction F of the endless belt 308 is in the range of 5 to 15 degrees.

[0070] The traveling direction F of the endless belt 308 is the direction in which the returned medicines 2 placed on the endless belt 308 approach the roller 309. On the other hand, the rotation direction of the roller 309 is such that the circumferential speed is the opposite direction to the X-direction component of the traveling direction F of the endless belt 308 in the opposing region with the endless belt 308.

[0071] In addition, in the case of this embodiment, the endless belt 308 and the roller 309 are driven and controlled by the control device 1000 via a belt drive unit and a roller drive unit so that the moving speed of the endless belt 308 and the rotation speed of the roller 309 are the same in the opposing area between the endless belt 308 and the roller 309.

[0072] With such an endless belt 308 and roller 309, the returned medicine 2 placed on the endless belt 308 is carried by the endless belt 308 and comes into contact with the roller 309. As a result, the returned medicine 2 is maintained in contact with the roller 309, X direction The position is determined with respect to the direction.

[0073] It is preferable that the returned medicine 2 (particularly the ampule 2A or the resin ampule 2C) is placed on the endless belt 308 by the Cartesian robot 700 in such a direction that the base end 2b faces the stopper 317 when in contact with the roller 309. If the tip 2a (head 2d) of the ampule 2A or the resin ampule 2C is placed on the endless belt 308 in such a direction that the tip 2a (head 2d) is located on the stopper 317 side, the corner of the base end 2b side of the body 2c will contact the roller 309 first when the endless belt 308 starts to be conveyed, and the direction will change on the endless belt 308 due to the reaction of the contact, and the head 2d may get between the endless belt 308 and the roller 309. Therefore, if there is a possibility that the head 2d of the returned drug 2 may get caught between the endless belt 308 and the roller 309, it is preferable that the returned drug 2 is placed on the endless belt 308 by the Cartesian robot 700 in an orientation such that its base end 2b faces the stopper 317 when in contact with the roller 309.

[0074] Since the traveling direction F of the endless belt 308 and the extending direction of the rotation center line Rc of the roller 309 intersect non-orthogonally, the returned medicine 2 after contacting the roller 309 is guided by the roller 309 and moves in the extending direction of the rotation center line Rc of the roller 309 ( Y-way Finally, one end of the returned medication 2 in the direction of extension of the axis A comes into contact with the stopper 317, so that the returned medication 2 moves in the direction of extension of the rotation center line Rc of the roller 309 ( Y-way As a result, the returned medication 2 is positioned with respect to the label reading unit 302.

[0075] The returned medication 2 is maintained in a highly accurately positioned state by the arrangement of the rollers 309 relative to the endless belt 308 and the stopper 317 such that the traveling direction F of the endless belt 308 and the extension direction of the rotation center line Rc of the rollers 309 intersect non-orthogonally.

[0076] If the traveling direction F of the endless belt 308 and the extension direction of the rotation center line Rc of the roller 309 are perpendicular to each other, the returned medication 2 in contact with the roller 309 may move in the extension direction of the rotation center line Rc of the roller 309 and move away from the stopper 317. In consideration of this, in order to maintain the contact state between the stopper 317 and the returned medication 2, the traveling direction F of the endless belt 308 and the extension direction of the rotation center line Rc of the roller 309 intersect non-perpendicularly.

[0077] By maintaining the returned medicine 2 in a highly accurately positioned state, for example, the returned medicine 2 is maintained within the field of view of the camera 311 of the label reading unit 302, and the barcode of the label 3 of the returned medicine 2 is set and maintained within the readable area of ​​the barcode reader 312. As a result, it is possible to ensure high recognition accuracy of the type and expiration date of the returned medicine 2 by the camera 311 and the barcode reader 312.

[0078] The control device 1000 is configured to acquire information on the expiration date of the returned drug 2 based on an image of the label 3 captured by the camera 311 (having an OCR unit that recognizes the expiration date written on the label 3). The control device 1000 is also configured to acquire information on the type of the returned drug 2 based on a barcode read by the barcode reader 312. That is, the control device 1000 functions as a part of the recognition unit for recognizing the type and expiration date of the returned drug 2.

[0079] As described above, if the barcode printed on the label 3 includes information on the type and expiration date of the returned drug 2 (for example, if a barcode indicating the expiration date is printed on the label 3), it is possible to obtain information including the type and expiration date of the returned drug 2 from the barcode read by the barcode reader 312. As a result, the camera 311 can be omitted.

[0080] As described above, the type and expiration date of the returned medicine 2 are recognized from the label 3 of the returned medicine 2 while the returned medicine 2 is being rotated by the roller 309, so there is a possibility that the recognition may fail. To deal with this, for example, the recognition may be repeated until a predetermined number of recognition failures occur or until a predetermined time has elapsed by repeating the recognition operation (until a timeout occurs). For example, if the OCR unit cannot recognize the expiration date written on the label 3 shown in the image captured by the camera 311, a new image is captured by the camera 311. The OCR unit performs the recognition operation on the expiration date of the label 3 shown in the newly captured image. If the recognition fails a predetermined number of times (for example, 18 times) or a timeout occurs, the returned medicine 2 is processed as a non-storage medicine whose label 3 cannot be read (stored in the non-storage medicine placement boxes 401, 402 of the non-storage medicine placement unit 400).

[0081] The control device 1000 is also configured to control the rotation speed of the roller 309 based on the outer diameter of the returned medicine 2 set in the label reading unit 302.

[0082] The reason is that when the outer diameter of the returned drug 2 is relatively small and the rotation speed of the roller 309 is relatively high, the circumferential speed of the returned drug 2 is high. Therefore, there is a possibility that the barcode reader 312 cannot accurately read the barcode of the label 3 affixed to the outer circumferential surface of the returned drug 2. To deal with this, the control device 1000 controls the roller drive unit so that the rotation speed of the roller 309 decreases as the outer diameter of the returned drug 2 decreases. To make this possible, the control device 1000 is configured to calculate the outer diameter of the returned drug 2 based on the shape and size (size in the extension direction of the axis A) of the returned drug 2 acquired from the image of the camera 307 of the temporary placement unit 301 of the recognition unit 300.

[0083] (Determination of the pickup position) Next, referring to Figures 21 to 23, a method for calculating the suction position of the returned drug 2 (the position to be picked up by the suction nozzle 701 of the Cartesian robot 700 and the suction nozzle 801 of the SCARA robot 800) based on an image captured by the camera 307 of the temporary placement section 301 will be described.

[0084] 21, in the case of vial 2B, the amount by which head 2d protrudes from body 2c is relatively small, and the difference in diameter between body 2c and head 2d is also small, so if the suction position SP is set to approximately the midpoint of the length (total length L1), the weight balance is good when suctioned by suction nozzles 701, 801. In other words, in the case of vial 2B, holding by suction nozzles 701, 801 is stable if the suction position SP is set to approximately the midpoint of total length L1.

[0085] 21, in the case of the ampoule 2A, the head 2d protrudes from the body 2c by a relatively large amount, and the difference in diameter between the body 2c and the head 2d is also large. Therefore, if the suction position SP is set to approximately the middle position of the total length L1, the weight balance is not good when the ampule 2A is picked up by the suction nozzles 701, 801. In the case of the ampoule 2A, if the suction position SP is set to approximately the middle position of the length L2 of the body 2c, rather than the total length L1, the weight balance is good when the ampule 2A is picked up by the suction nozzles 701, 801. In other words, in the case of the ampoule 2A, if the suction position SP is set to approximately the middle position of the length L2 of the body 2c, the ampule 2A is stably held by the suction nozzles 701, 801. This point is similar to that of the resin ampoule 2C.

[0086] For the above reasons, the adsorption position SP of the returned medicine 2 is calculated based on the image captured by the camera 307 of the temporary placement section 301 in the following manner.

[0087] First, an envelope 313 is set for the outline of the image (image of the returned drug 2 in a plan view) captured by the camera 307 (step 1 in Figs. 22 and 23). The convexity is calculated from this envelope 313 (step 1 in Figs. 22 and 23). The more the envelope 313 can enclose the returned drug 2 in a straight line, the closer the convexity value approaches 1. In other words, the larger the convexity value (maximum value is 1), the smaller the difference in diameter between the body 2c and the head 2d, and the smaller the difference in diameter between the neck connecting the body 2c and the head 2d and the body 2c and the head 2d.

[0088] If the calculated convexity value is equal to or greater than a preset threshold value (which can be set in the range of 0.8 to 0.9, for example), it can be determined that the returned drug 2 photographed by the camera 307 has a shape that can be assumed to be that of a vial 2B, and therefore the midpoint of the total length L1 and the midpoint of the width W is set as the suction position SP (step 2 in Figure 22).

[0089] If the calculated convexity value is less than the above-mentioned preset threshold value, it is determined that the returned medicine 2 photographed by the camera 307 has a shape that can be assumed to be an ampule 2A (or a resin ampule 2C). 2c In order to set the center of the length L2 as the pickup position SP, the following process is carried out.

[0090] First, by comparing the envelope 313 with the outline of the image of the returned drug 2, a constricted portion 314 corresponding to the neck portion (partially narrowed portion) between the body portion 2c and the head portion 2d is extracted (step 2 in FIG. 23).

[0091] Next, a rectangular region 315 is created by surrounding the extracted constricted portion 314 with straight lines (step 3 in FIG. 23).

[0092] Thereafter, two regions 316a and 316b are created by removing a rectangular region 315 from the outline of the image of the returned drug 2 (step 4 in FIG. 23). These regions 316a and 316b correspond to the region other than the constricted portion 314 of the outline of the image of the returned drug 2. One of these regions 316a and 316b corresponds to the body 2c of the returned drug 2, and the other corresponds to the head 2d. The areas of the regions 316a and 316b are compared, and the one with the larger area (corresponding to the body 2c) is left as the processing target, and the one with the smaller area (corresponding to the head 2d) is excluded from the processing target. In this example, the area of ​​the region 316a is larger than the area of ​​the region 316b, so the region 316a is left as the processing target.

[0093] Finally, the center of the length L2' (corresponding to the length L2 of the body 2c of the ampoule 2A) and the center of the width W' (corresponding to the width W of the body 2c of the ampoule 2A) of the region 316a are set as the suction position SP (step S20 in FIG. 23). 5 ).

[0094] By the above procedure, the suction position SP where the returned medicine 2 can be stably held by the suction nozzles 701, 801 can be automatically determined based on the image captured by the camera 307 of the temporary placement section 301.

[0095] (Processing from recognition of the shape of returned medicines to transportation) Next, an example of the flow from the recognition of the shape and the like of the returned medicine 2 described above to the transportation of the returned medicine 2 based on the recognition result will be described with reference to FIGS. 24A and 24B.

[0096] First, in step S101, the returned medicine 2 is placed on the semi-transparent plate 305 in the temporary placement section 301 of the recognition section 300 by the Cartesian robot 700.

[0097] Next, in step S102, the returned medicine 2 placed on the semi-transparent plate 305 is photographed by the camera 307 disposed above it.

[0098] The image captured by the camera 307 in step S102 is subjected to image processing (edge ​​detection processing, binarization processing) by the control device 1000 in step S103.

[0099] In step S104, the control device 1000 acquires information on the shape of the returned medicine 2 placed on the semi-transparent plate 305 of the temporary placement section 301, based on the image of the camera 307 that has been image-processed in step S103.

[0100] In step S105, the control device 1000 judges whether or not the shape of the returned drug 2 placed on the semi-transparent plate 305 of the temporary placement unit 301 is the shape of a drug to be handled, based on the information on the shape of the returned drug 2 acquired in step S104. If the shape of the returned drug 2 is the shape of a drug to be handled, the process proceeds to step S106, and if not (if the drug is not the shape to be handled), the process proceeds to step S115.

[0101] In step S106, the control device 1000 acquires information on the size of the returned medicine 2 placed on the semi-transparent plate 305 of the temporary placement section 301, based on the image of the camera 307 that has been image-processed in step S103.

[0102] In step S107, the control device 1000 judges whether or not the size of the returned drug 2 placed on the semi-transparent plate 305 of the temporary placement unit 301 is the size of a drug to be handled, based on the size information of the returned drug 2 acquired in step S106. If the size of the returned drug 2 is the size of a drug to be handled, the process proceeds to step S108, and if not (if not the size to be handled), the process proceeds to step S115.

[0103] In step S108, the returned medicine 2 in the temporary placement section 301 is transported to the label reading section 302 by the orthogonal robot 700. Thereby, the returned medicine 2 is set in the label reading section 302.

[0104] In step S109, the control device 1000 106Based on the size (outer diameter) of the returned medicine 2 acquired in step 2, the rotation speed of the roller 309 of the label reading unit 302 that comes into contact with the returned medicine 2 and rotates the returned medicine 2 is adjusted.

[0105] In step S110, the control device 1000 determines whether the label 3 of the returned drug 2 can be accurately read by the camera 311 or the barcode reader 312. If the expiration date and the barcode indicating the type of the returned drug 2 written on the label 3 can be accurately read, the process proceeds to step S111. If the expiration date and the barcode cannot be accurately read, for example, because they have been partially erased, the process proceeds to step S115.

[0106] In step S111, the label 3 of the returned medicine 2 is accurately read by the camera 311 or the barcode reader 312 in the label reading unit 302.

[0107] In step S112, the control device 1000 acquires information on the type and expiration date of the returned drug 2 based on the label 3 of the returned drug 2 read in step S111.

[0108] In step S113, the control device 1000 judges whether the type and expiration date of the returned drug 2 set in the label reading unit 302 are the type and expiration date of the drug to be handled, based on the information on the type and expiration date of the returned drug 2 acquired in step S112. That is, it judges whether the type of the returned drug 2 is the type stored in the drug master, and judges whether the expiration date has not passed or there is still a sufficient expiration date. If both the type and expiration date of the returned drug 2 are the type of the drug to be handled, proceed to step S114. If not, proceed to step S115.

[0109] In step S114, the returned drug 2 in the label reading unit 302 is transported to the storage unit 500 by the scalar robot 800 as a drug to be handled. That is, the returned drug 2 whose shape, size, type, and expiration date are the same as those of the drug to be handled is stored in the storage unit 500.

[0110] In step S115, the returned medicine 2 whose shape is determined to be an unsuitable medicine in step S105, the returned medicine 2 whose size is determined to be an unsuitable medicine in step S107, S Returned medication 2 whose label 3 is determined to be unreadable in step S110, or whose type and / or expiration date are determined to be that of an unhandled medication in step S113, is transported (stored) in the non-storage medication placement section 400 as a non-storage medication.

[0111] (Modification) Various modifications of the above-described embodiment will now be described.

[0112] In the case of the above-mentioned embodiment, if the returned medicine 2 is a medicine to be handled, it is stored in the storage tray 5 of the storage unit 500 from the returned tray 4 through the temporary placement unit 301 and the label reading unit 302 of the recognition unit 300 in that order. Alternatively, the returned medicine 2 may be stored in the storage unit 500 through the label reading unit 302 without passing through the temporary placement unit 301.

[0113] Specifically, the temporary placement section 301 is provided in anticipation of the case where the shape and size of the returned medicine 2 returned via the returned tray 4 are such that they cannot be handled by the returned medicine supply device 1.

[0114] However, if most of the returned drugs 2 returned via the return tray 4 are drugs that can be handled by the returned drug supply device 1, for example because users are thoroughly aware of the situation or because they open the box delivered by the drug manufacturer and immediately store the drugs from the box directly into this device, it would be extremely wasteful to perform shape and size recognition on all such returned drugs 2 in the temporary storage section 301.

[0115] To deal with this, the returned medicine 2 in the return tray 4 is first transferred to the label reading unit 302 of the recognition unit 300 by the Cartesian robot 700 (placed on the endless belt 308). Next, before the endless belt 308 and the roller 309 start to be driven, the camera 311 photographs the returned medicine 2 on the endless belt 308. Based on the photographed image, the orientation of the returned medicine 2 on the endless belt 308 is recognized. With regard to the recognized orientation, it is determined whether or not the base end 2b of the returned medicine 2 is oriented on the stopper 317 side. If not, the orientation is changed by the Cartesian robot 700.

[0116] The orientation of the returned drug 2 is as follows: Product When the returned medicine 2 is present in the tray 4, i.e., when the returned tray 4 is placed on the table 203 of the lifting unit 200, it can also be recognized based on an image captured by the camera 304 located above the returned tray 4. The orientation of the returned medicine 2 in the returned tray 4 is recognized based on the image from the camera 304, and based on the recognition result, the Cartesian robot 700 places the returned medicine 2 on the endless belt 308 of the label reading unit 302 so that the base end 2b of the returned medicine 2 is located on the stopper 317 side.

[0117] The type and expiration date of the returned medicine 2 transferred directly from the return tray 4 to the label reading unit 302 are recognized by a camera 311 and a barcode reader 312 .

[0118] Based on the recognized type, information on the shape and size of the returned drug 2 is acquired. Specifically, the control device 1000 is provided with a size information master that stores the type, shape, and size of a drug in association with each other. By referring to the information stored in the size information master, the control device 1000 acquires the shape and size corresponding to the type of the returned drug 2 recognized by the label reading unit 302. Then, based on the acquired shape and size, a storage area in the storage unit 500 for the returned drug 2 is determined.

[0119] If the shape and size information corresponding to the type recognized by the label reading unit 302 does not exist in the size information master, the returned drug 2 in the label reading unit 302 is transferred to the temporary storage unit 301 in order to acquire the shape and size information. Then, as described above, the shape and size information of the returned drug 2 is acquired in the temporary storage unit 301. The acquired shape and size information of the returned drug 2 is associated with the type of the returned drug 2 and stored in the size information master. In addition, a storage area in the storage unit 500 for the returned drug 2 is determined based on the shape and size.

[0120] In addition, the association information of the type, shape, and size of the returned drug 2 stored in the size information master or new association information may be updated or added, for example, via an internet environment. For example, based on drug information provided by a supplier, new association information of the type, shape, and size of the returned drug 2 may be added to the size information master via a PC (personal computer) connected to an internet environment. This eliminates or reduces the need to transfer the returned drug 2 from the label reading unit 302 to the temporary storage unit 301 and obtain information on the shape and size of the returned drug 2 in the temporary storage unit 301.

[0121] The storage tray is not limited to that of the embodiment, and for example, a deformable member may be arranged on the bottom of the tray body 5a of the storage tray 5, which deforms when the returned medication 2 is placed thereon and maintains the position and posture of the placed returned medication 2. In other words, the storage tray 5 may be capable of storing the returned medication 2 in a planar manner so as to maintain the orientation and posture of the returned medication 2 in a manner different from that of the embodiment. Also, as shown in FIG. 25, a storage section 500 may have a plurality of steps 9 on each of which the returned medication 2 can be placed.

[0122] In the embodiment, the Cartesian robot 700 and the SCARA robot 800 both use the suction nozzle 701, 801 However, these robots may releasably hold the returned medication 2 mechanically instead of by suction.

[0123] Although the present invention has been described by taking the returned medicine supplying device as an example, the present invention is not limited to a medicine supplying device for returned medicines, that is, the medicines supplied to the receiving section are not limited to returned medicines. [Explanation of symbols]

[0124] 1 Returned drug supply device 2. Returned Drugs 2a tip 2b Proximal end 2c Torso 2d head 2A Ampoule 2B Vial 2C Resin Ampoule 3. Labels 4 Return Tray 4a Tray body 4b Flange-shaped part 5,5A,5B,5C Storage Tray 5a Tray body 5b Flange-shaped part 6 ridges 7 Placement groove 8. Dispensing Tray 9 steps 100 Acceptance Department 101 Rack parts 101a Rail groove 200 Lifting section 201 Linear guide 202 Carriage 203 Table 203a bottom 203b Side 203c end 204 Rail groove 205 Linear guide 206 Carriage 207 Hook 300 Recognition part 301 Temporary Storage Section 302 Label reader 303 Lighting 304 Camera 305 Translucent plate 306 Lighting 307 Camera 308 Endless Belt 309 Lola 310 Lighting 311 Camera 312 Barcode reader 313 Envelope 314 Constricted part 315 Rectangular area 316a,316b area 400 Non Drug storage section 401,402 Non-storage drug placement box 500 Storage Unit 501 Linear guide 502 Holding Frame 503 Linear guide 504 Carriage 505 Lifting materials 600 Payment section 601 Conveyor mechanism 602 Entrance 603 Exit 700 Cartesian Robot 701 Suction nozzle 702 Suction pad 703 Y-axis beam 704 Carriage 705 X-axis beam 706 Carriage 707 Head 708 Lifting Rod 709 Bracket 710 Spring 800 Scalar Robot 801 Suction nozzle 802 Suction pad 803 Linear guide 804 Carriage 805 X-axis beam 806 Base 807 First Arm 808 Second Arm 809 Head 810 Bracket 811 Spring 812 Barcode reader 900 Support Tray 901 Rod 1000 Control device 1001 Control Panel 1002 Display

Claims

[Claim 1] A recognition unit that recognizes the orientation and posture of the medicine and properties of the medicine such as shape, size, type, and expiration date; a storage unit that associates a storage area that is set for each of the medicines when stored in accordance with at least the size recognized by the recognition unit with identification information of each of the medicines, and individually arranges the medicines, thereby removably storing the individual medicines; A drug sorting device comprising:

Images