Medicine sorting device and data management device

Abstract

SOLUTION: A medicine sorting device (1) is configured so that, in a situation in which medicines of the same kind are packaged in a cartridge located at a remote position in a cartridge group where multiple cartridges are continued, a packaging mechanism (6) packages medicines of the same kind housed in the same segment or different segments, in the same cartridge in the cartridge group, or packages medicines of the same kind in cartridges located in positions close to each other in the cartridge group.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a medicine delivery device and a medicine sorting device. [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] 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] 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. [Means for solving the problem]

[0007] A drug sorting device according to one embodiment of the present invention is a drug sorting device that is communicatively connected to a data management device that manages drug data relating to all drugs that can be handled by multiple drug sorting devices, and is equipped with an imaging unit that images each of multiple types of drugs fed into the drug sorting device, a discrimination unit that discriminates the type of drug based on the image of the drug captured by the imaging unit and the drug data relating to the multiple types of drugs, a sorting unit that sorts the drugs by type based on the discrimination result by the discrimination unit, and a control unit that links the drug data to model discrimination information for identifying the drug sorting device. [Brief description of the drawings]

[0008] [Figure 1] 1 is a block diagram showing the overall configuration of a medicine sorting device. [Diagram 2] FIG. 1 is a diagram illustrating a configuration example of a medicine sorting device. [Diagram 3] FIG. 2 is a perspective view showing an overall configuration of an imaging unit and a perspective view showing an example of a medicine placing table. [Figure 4] FIG. 13 is a diagram for explaining the rotation of the imaging unit. [Diagram 5] 13 is a flowchart showing an example of a drug adsorption process performed by a drug adsorption control unit. [Figure 6] FIG. 4 is a diagram illustrating an example of an adsorption mechanism. [Figure 7] 11A and 11B are diagrams for explaining an example of the operation of the suction mechanism. [Figure 8] 13A and 13B are diagrams for explaining an example of the operation of a push-in detection unit and a diagram showing an example of the configuration of a medicine transport mechanism for realizing a process of determining whether a waiting tray is full by a sorting control unit. [Figure 9] 10 is a flowchart showing an example of a process for determining whether a standby tray is full by a sorting control unit. [Figure 10] 11A and 11B are diagrams for explaining an example of pre-discrimination image processing by an image processing unit. [Figure 11] 10 is a flowchart showing an example of a repackaging process performed by the control unit. [Figure 12] FIG. 4 is a schematic plan view of a second storage section. [Figure 13] 13 is a flowchart showing an example of packaging processing by a packaging control unit, and a flowchart showing an example of medicine sorting processing by a sorting control unit. [Figure 14] 13 is a flowchart showing an example of a discrimination process performed by a discriminating unit. [Figure 15] FIG. 13 is a diagram for explaining an example of a drug delivery mechanism. [Figure 16] 13 is a flowchart showing a display example and a processing example when the medicine sorting device abnormally terminates during the medicine packaging process. [Figure 17] FIG. 2 is a diagram showing a configuration example of a medicine delivery mechanism. [Figure 18] 11A and 11B are diagrams illustrating a configuration example of a storage section lifting mechanism. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] [Basic form of drug sorting device 1] [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 diagram showing an example of the configuration of the medicine sorting device 1, in which 2001 is a perspective view of the medicine sorting device 1 and 2002 is a perspective view showing the basic configuration of the medicine sorting area 2. As shown in Fig. 1 and 2001 and 2002 of Fig. 2, the medicine sorting device 1 includes the medicine sorting area 2, a touch panel 3, a print output unit 4, and a packaging mechanism 6.

[0010] 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 or packaging machine.

[0011] 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 will be described as tablets or capsules. Also, the multiple types of medicines will be described as returned medicines. The medicines are medicines adopted by a pharmacy or hospital that are returned to the pharmacy or hospital as "returned medicines". However, the multiple types of medicines may also be "brought-in medicines" that may include medicines issued by other pharmacies or hospitals in addition to the adopted medicines at the pharmacy or hospital. After the medicines are returned, the medicine sorting device 1 can automatically perform processes from imaging to sorting.

[0012] 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).

[0013] The print output unit 4 prints out a journal representing drug data (e.g., data indicating the drug name, manufacturer, or ingredients) related 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.

[0014] 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.

[0015] A conventional tablet packing machine or powder packing machine may be used as the packing mechanism 6. In this case, for example, drugs in a sorting cup 141 that have been sorted for each drug type can be packed into one or more packages.

[0016] It should be noted that throughout this specification, the term "packaging" as used at least in the description of the drug sorting device 1 includes both the meaning of "packaging drugs according to the period of administration based on the prescription data" and the meaning of "simply packaging the drugs sorted into the second storage section 14 regardless of the prescription data."

[0017] The medicine sorting device 1 also includes a first RFID (Radio Frequency Identifier) ​​reader / writer unit 5. The first RFID reader / writer unit 5 is provided on the medicine removal side of the base 19, as indicated by 2002 in FIG.

[0018] The first RFID reader / writer unit 5 reads data related to the medicines stored in each sorting cup 141, which is stored in an RFID tag (not shown) provided at the bottom of each sorting cup 141 in the second storage section 14. Examples of the data include data indicating the number of medicines stored, medicine identification data (e.g., GS1 code) for identifying the medicines, data indicating the type of the sorting cup 141, and sorting cup identification information (identification information assigned to the RFID tag) for identifying the sorting cup 141. Note that the medicine data (e.g., medicine name) of the medicines stored in the sorting cup 141 and the image data acquired by the imaging unit 13 are stored in the medicine database 81 in association with the sorting cup identification information.

[0019] The data may also include drug data determined by visual inspection (drug data after visual inspection). The drug data after visual inspection may also be written to the RFID tag. The drug data after visual inspection is used when the drug stored in the corresponding sorting cup 141 is (1) packaged by the packaging mechanism 6 or a packaging machine other than the drug sorting device 1, or (2) returned to the drug shelf. The drug data may also be linked to the sorting cup identification information and stored in the drug database.

[0020] As shown in FIG. 2 at 2001, the medicine sorting device 1 is provided with an opening / closing shutter 51 and an opening / closing door 52 that enable the medicine removal side to be opened and closed.

[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 FIG. 1 and 2002 in FIG.

[0022] 1 and 2, 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 60a of the computer 60 may rotate the first storage section 11 so that the transport / sorting unit 12 can easily obtain the medicines when, for example, one storage section becomes empty.

[0024] The second storage section 14 includes a plurality of sorting cups 141 that store medicines sorted by type. The control section 60a determines the type of medicine based on an 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 to the determined sorting cup 141 by the transporting / sorting unit 12 and stored therein.

[0025] The standby tray 15 is a temporary storage unit where medicines are temporarily placed. For example, when all of the sorting cups 141 are filled with medicines, medicines determined by the control unit 60a to be of a type other than those are temporarily placed on the standby tray 15. In this case, after the medicines are removed from the sorting cups 141, they may be transported from the standby tray 15 to the sorting cups 141.

[0026] In this embodiment, a suspected drug (described later) that is suspected to be a drug may be temporarily placed on the waiting tray 15. When the suspected drug is temporarily placed, the suspected drug is transported from the waiting tray 15 to a predetermined area of ​​the second container 14, for example, in accordance with the determination result of the control unit 60a.

[0027] The collection tray 16 is a storage unit that stores objects whose types cannot be determined by the control unit 60a (e.g., foreign objects other than medicines). Examples of foreign objects other than medicines include pieces of PTP (Press Through Pack) sheets. The pieces of PTP sheets may be mixed into the first storage unit 11 when medicines are returned. The control unit 60a also stores in the collection tray 16 medicines that are registered in the medicine database 81 as medicines to be discarded or medicines that the user wishes to discard (e.g., medicines with old manufacturing dates).

[0028] 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.

[0029] As shown in FIG. 1, the medicine sorting device 1 includes a computer 60 that controls the above-mentioned components (hardware). The computer 60 includes a control unit 60a and a storage unit 80. The control unit 60a includes a transport control unit 61, a sorting control unit 62, an image capture control unit 63, a discrimination unit 64, an operation input unit 66, a display control unit 67, an RFID control unit 68, a printout control unit 69, a registration unit 70, a packaging control unit 71, a medicine adsorption control unit 72, an image processing unit 73, and a sorting position designation unit 74. Here, basic processing of the operation input unit 66, the display control unit 67, the RFID control unit 68, the printout control unit 69, the registration unit 70, and the packaging control unit 71 will be described. The basic processing of the transport control unit 61, the sorting control unit 62, the image capture control unit 63, and the discrimination unit 64 will be described in detail in the section [Basic form of medicine sorting device 1] described later. Other processing will be described in each embodiment described later.

[0030] 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 the user input received by the operation input unit 66.

[0031] The registration unit 70 registers the drug data relating to a drug for which the discrimination unit 64 has determined that there is no drug data corresponding to the image data in the drug database 81. Specifically, for a drug for which the discrimination unit 64 has determined that there is no corresponding drug data, the registration unit 70 registers the captured image 82 of the drug in the drug database 81 by linking it with the drug data specified by the user.

[0032] When the medicine sorting device 1 includes a packaging mechanism 6, the control unit 60a includes a packaging control unit 71 that controls the packaging mechanism 6. The packaging control unit 71 controls the operation of the packaging mechanism 6. The packaging control unit 71 also controls the transport / sorting unit 12 to transport the medicines stored in the sorting cup 141 to the medicine insertion port 17.

[0033] The medicine sorting device 1 may also include a barcode reader 7. The barcode reader 7 reads, for example, a barcode indicating medicine data of the medicine printed on a medicine packet (packaging paper) in which the packaging mechanism 6 packages the medicine after sorting. This allows the control unit 60a to perform processing based on the read barcode (for example, displaying the medicine data indicated by the barcode). The packaging mechanism 6 may also include a barcode printing mechanism (not shown) that prints, on the medicine packet, a barcode indicating the medicine data of the medicine packaged in the medicine packet.

[0034] The barcode reader 7 may be any reading device capable of reading information indicating drug data printed on a drug package or the like. The drug sorting device 1 does not necessarily need to include the barcode reader 7. When the control unit 60a performs processing based on the above information, the control unit 60a may obtain the above information by communicating with an external device including the barcode reader 7.

[0035] The computer 60 also includes a storage unit 80. The storage unit 80 stores in advance a medicine database (medicine master) 81 that manages medicine data on a plurality of types of medicine, and stores captured images 82 and the like as the medicine sorting device 1 performs sorting. The captured image 82 is an image captured by the first camera 131. The captured image 82 may also be an image captured by the first camera 131 and subjected to image processing by the imaging control unit 63. The image processing may include a process of generating an image to be analyzed by the discrimination unit 64 (an image for extracting the characteristics of the medicine and enabling comparison with the characteristics of the medicine contained in the medicine database 81). For example, a process of extracting an image of the medicine from the captured image may be included.

[0036] The various data stored in the storage unit 80 may not necessarily be managed by the storage unit 80, but may be managed by, for example, an external device. In this case, the control unit 60a may obtain the various data from the external device via a communication line such as the Internet, as necessary. The drug database 81 may be updated by adding new drug data.

[0037] [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 an image of each conveyed medicine. The control unit 60a determines the type of each medicine based on the captured image and determines a sorting position in the second storage section 14 for each of the determined medicines. 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.

[0038] [Drug Delivery Processing to Imaging Unit 13] First, the process of transporting medicine from the first container 11 to the imaging unit 13 will be described with reference to FIG. 1 and 2001 in FIG.

[0039] Specifically, the transport / sorting unit 12 transports the medicines stored in the first storage section 11 to a receiving area Ar1 (see 3002 in FIG. 3) where the imaging unit 13 receives the medicines. The transport control section 61 controls the transport process by the transport / sorting unit 12.

[0040] The transport / sorting unit 12 includes a second camera 121 , a suction / shutter mechanism 122 , and a transport mechanism 123 .

[0041] 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.

[0042] 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.

[0043] 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 3002 in FIG. 3) of the medicine holding mechanism 133 arranged in the receiving area Ar1, it 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.

[0044] 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 medicine to be transported on the first container 11, or transport of a medicine from the first container 11 to the medicine placement table 133a. Also, in the medicine sorting process, it enables transport of a medicine from the medicine placement table 133a to the second container 14, the waiting tray 15, or the collection tray 16. In the medicine sorting process, the sorting control unit 62 controls the transport / sorting unit 12 to transport the medicine placed in the receiving area Ar1 to a predetermined sorting cup 141 of the second container 14 or the waiting tray 15 based on the discrimination result by the discrimination unit 64.

[0045] [Drug Imaging Processing] Next, the medicine imaging process by the imaging unit 13 will be described with reference to Fig. 1, 2002 in Fig. 2, Fig. 3, and Fig. 4. 3001 and 3002 in Fig. 3 are perspective views showing the overall configuration of the imaging unit 13, and 3003 in Fig. 3 is a perspective view showing an example of the medicine placement table 133a. 4001 and 4002 in Fig. 4 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.

[0046] 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 (imaging area) in which the medicine to be imaged is placed, as shown in 3002 in Fig. 3. 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 3, 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).

[0047] 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 3001 and 3002 in FIG. 3. 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.

[0048] 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 in the storage unit 80 as a captured image 82. 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.

[0049] 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.

[0050] 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.

[0051] As shown in 3003 in FIG. 3, the medicine mounting stand 133a may have a substantially V-shaped cross section with a recessed bottom. As shown in 3003 in FIG. 3 and FIG. 4, when the medicine mounting stand 133a is placed in the receiving area Ar1 and the placement area Ar2, the groove direction of the substantially V-shaped cross section (extension direction of the shaft portion 133c) is substantially parallel to the rotation axis Ay of the imaging mechanism (described later) by the rotation mechanism 132. The bottom of the medicine mounting stand 133a may not be a sharp V-shaped shape. As shown in 3003 in FIG. 3, the bottom may include a bottom surface portion 133aa and an inclined surface portion 133ab inclined from two opposing points of the bottom surface portion 133aa. The shape of the bottom portion need only be such that the information (engraved information or printed information) engraved or printed on the medicine can be recognized when viewed (imaged) from the back side of the medicine placement stand 133a, and that the medicine can be fixed in place.

[0052] 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 approximately 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 portion 133c may be rotated in the circumferential direction of the axis portion 133c to make the flat portion (inclined surface portion 133ab) of the medicine placement table 133a face the first camera 131, thereby ensuring that the medicine does not move.

[0053] In addition, the turning mechanism 133b can also vibrate (slightly move or shake) the medicine placement table 133a. In this case, for example, by vibrating and rolling the capsule placed on the medicine placement table 133a, the part of the capsule on which the print is attached can be oriented in a predetermined direction (for example, the part can be made to face the first camera 131 placed in the initial position described below). In addition, by the vibration, even if a cylindrical tablet (with a circular bottom) is placed upright on the flat surface, the tablet can be turned sideways (placed so that the bottom of the tablet faces the flat surface).

[0054] 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 3001 of Fig. 3, the illuminator 134 includes a visible light irradiating unit (first irradiating unit 134a and second irradiating unit 134b) that irradiates the medicine with visible light, and an ultraviolet light irradiating unit 134c that irradiates the medicine with ultraviolet light.

[0055] The first irradiation unit 134a and the second irradiation unit 134b irradiate the medicine with white light as visible light. The first irradiation unit 134a is a bar-shaped visible light source (bar illumination), and the second irradiation unit 134b is a ring-shaped visible light source (ring illumination). The first camera 131 receives the visible light emitted from the first irradiation unit 134a or the second irradiation unit 134b and reflected by the medicine, thereby acquiring an image based on the visible light (visible light image). The imaging control unit 63 stores image data indicating the visible light image acquired by the first camera 131 in the storage unit 80 as an imaged image 82.

[0056] 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. The first camera 131 receives the fluorescence emitted from the drug to obtain an image based on the ultraviolet light (ultraviolet light image). The imaging control unit 63 stores image data indicating the ultraviolet light image obtained by the first camera 131 in the storage unit 80 as the captured image 82.

[0057] As shown in Figs. 3 and 4, 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.

[0058] As shown in 3001 of Fig. 3, 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.

[0059] The rotation mechanism 132 rotates the imaging mechanism between an initial position and a position opposite to the initial position. The initial position is a position in a direction substantially perpendicular to the arrangement area Ar2 and above the arrangement area Ar2. 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.

[0060] As shown in Fig. 4, 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 4001 in Fig. 4 shows a case where the imaging mechanism is at a position of θ=0°, and 4002 in Fig. 4 shows a case where the imaging mechanism has rotated from the initial position to a position of θ=45°.

[0061] 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°).

[0062] It should be noted that the imaging mechanism may be fixed and the drug may be rotated to capture images of the drug from multiple directions.

[0063] (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.

[0064] 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.

[0065] 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.

[0066] [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.

[0067] 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.

[0068] 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. 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 represented by the marking or print (e.g., identification code) or identification information indicating the manufacturer (identification information for identifying the medicine), and expiration date are extracted as the characteristics of the medicine. In the case of the ultraviolet light image, the representative color of the medicine in the image is also extracted as the characteristics of the medicine. The discrimination unit 64 stores the extracted information indicating the characteristics of each medicine in the storage unit 80 by linking it to the captured image 82 of the medicine. The extraction of the characteristics of the medicine may be performed by a known technique.

[0069] The extracted features of the medicine include the representative color of the medicine in the image as described above. Hereinafter, data indicating this representative color will be referred to as color data (data indicating the color of the medicine). Color data includes data generated from a visible light image and data generated from an ultraviolet light image. In the following description, unless otherwise specified, the term "color data" refers to both color data generated from a visible light image and color data generated from an ultraviolet light image. The color data is data indicating the color of a predetermined area (at least a part of the area in which the medicine is shown, typically an area with an inscription or print) in an image of the medicine. For example, the average value of the RGB values ​​of each pixel included in the area may be used as the color data.

[0070] The discrimination unit 64 discriminates the type of drug by comparing the characteristics of each drug with the drug database 81. For example, the discrimination unit 64 ranks candidates for drug data related to the imaged drug from the drug database 81 based on the color data. After that, the discrimination unit 64 discriminates the type based on other characteristics according to the above ranking.

[0071] The discrimination unit 64 may also narrow down candidates for drug data related to the captured drug from the drug database 81 using pattern matching or the like based on the extracted drug features. 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 drug from the candidates using pattern matching or the like. The discrimination unit 64 may also rank the candidates based on the degree of agreement between the extracted drug features and the drug features included in the drug database 81.

[0072] Furthermore, even if the drug features (target features) extracted using pattern matching or the like are not in the drug database 81, when the drug is estimated to be a drug (tablet or capsule) based on at least a part of the target features, the discrimination unit 64 determines the type of drug as a suspected drug. In this case, the suspected drug can also be sorted into the second container 14 or the waiting tray 15. In this embodiment, the suspected drug may first be temporarily placed on the waiting tray 15.

[0073] In this manner, the discrimination unit 64 determines whether or not there is drug data corresponding to the image 82 captured by the first camera 131 in the drug data (drug database 81) relating to a plurality of types of drugs registered in advance.

[0074] 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 captured image 82 of the medicine.

[0075] When the discrimination unit 64 discriminates the type of medicine as a suspected medicine, it outputs the characteristics of the medicine (the characteristics of the object presumed to be a suspected medicine) as the discrimination result. On the other hand, when the discrimination unit 64 discriminates that the medicine is registered in the medicine database 81 as a medicine to be discarded, or 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 fact that the medicine is not to be sorted as the discrimination result.

[0076] [Medicine sorting process] Next, the medicine sorting process based on the result of the above-mentioned discrimination process will be described with reference to Fig. 1. The medicine sorting process is mainly performed by the transport / sorting unit 12 and the sorting control unit 62.

[0077] 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.

[0078] 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.

[0079] 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 (e.g., estimated drug) 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 store a drug (the sorting cup 141 that has not been determined as the sorting position) is determined as the sorting position. When drugs are stored in all of the sorting cups 141, the waiting tray 15 is determined as the sorting position. Note that, for the estimated drug, the sorting control unit 62 may determine any of the sorting cups 141 included in a predetermined area of ​​the second storage unit 14 as the sorting position instead of the waiting tray 15.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] Furthermore, 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.

[0087] The second RFID reader / writer unit 18 writes various data to the RFID tag or reads various data stored in the 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 the medicine every time the medicine is stored in the sorting cup 141. The second RFID reader / writer unit 18 is provided below the second storage unit 14. Specifically, 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 the medicine stored in the RFID tag of each sorting cup 141.

[0088] [Embodiment 1] In this embodiment, a configuration for improving the efficiency of drug extraction will be described mainly with reference to FIGS.

[0089] As shown in Fig. 1, the control unit 60a of this embodiment includes a drug adsorption control unit 72. The drug adsorption control unit 72 controls the operation of an adsorption mechanism 122a (drug adsorption unit, drug adsorption device) (see Fig. 6) included in the adsorption / shutter mechanism 122 of the transport / sorting unit 12. The drug adsorption control unit 72 lowers the adsorption mechanism 122a in a direction in which the suction pad 122c (surface in contact with the drug) approaches the drug to be adsorbed, which is stored in the first storage unit 11. In other words, the drug adsorption control unit 72 lowers the adsorption mechanism 122a when approaching and re-approaching the drug, which will be described later.

[0090] As described above, the transport / sorting unit 12 functions as a medicine transport section that transports the medicine removed from the first storage section 11 to the first camera 131 (specifically, the receiving area Ar1), or transports the medicine to and stores it in the second storage section 14 based on the discrimination result by the discrimination section 64. The suction mechanism 122a moves to the first storage section 11 or the second storage section 14, thereby suctioning the medicine stored in the first storage section 11 or the second storage section 14.

[0091] The first storage unit 11 and the second storage unit 14 (sorting cup 141) are an example of a storage unit that stores medicines. The storage unit may be a waiting tray 15 or a medicine placement stand 133a. In other words, the storage unit may be any member that stores (including temporarily stores (places)) medicines to be adsorbed by the adsorption mechanism 122a. In the following description of this embodiment, the storage unit will be described as being the first storage unit 11 (or the medicine placement stand 133a).

[0092] Furthermore, the medicine adsorption control unit 72 may be realized as a function of the transport control unit 61, the sorting control unit 62, or the packaging control unit 71. At least the adsorption mechanism 122a and the medicine adsorption control unit 72 realize the basic configuration of the medicine removal device that removes medicines from the storage unit.

[0093] The drug adsorption control unit 72 controls the approach of the adsorption mechanism 122a to the drug when adsorbing the drug contained in the first container 11, and also controls the re-approach of the adsorption mechanism 122a to the drug when adsorption of the drug fails. In other words, when the adsorption mechanism 122a fails to adsorb the drug (pick up the drug), the drug adsorption control unit 72 executes a retry process of adsorbing the drug again by causing the adsorption mechanism 122a to re-approach the drug. When the adsorption fails a preset upper limit number of times in succession, for example, the drug adsorption control unit 72 stops the adsorption process of the drug.

[0094] Here, the drug adsorption control unit 72, while sucking in outside air from the suction pad 122c (see FIG. 6) of the suction mechanism 122a, lowers the suction mechanism 122a at an initial speed (described later) toward the drug identified as the target to be adsorbed based on the image captured by the second camera 121. Thereafter, when the suction pad 122c reaches a first predetermined position (described later), the speed is changed to a first speed (described later) that is slower than the initial speed, and the suction mechanism 122a is lowered to the drug. When the suction pad 122c comes into contact with the drug, the drug adsorption control unit 72 determines whether the drug can be adsorbed to the suction pad 122c based on a change in the flow rate detected by a flow rate sensor (not shown). The flow rate sensor detects the flow rate of air flowing through the air tube 122b (see FIG. 6) of the suction mechanism 122a. When the detected flow rate becomes equal to or less than a predetermined amount, the drug adsorption control unit 72 determines that the drug has been adsorbed to the suction pad 122c. In addition, if a pressure sensor for detecting the pressure inside the air tube 122b is provided, the drug adsorption control unit 72 may determine whether or not the drug is adsorbed based on a change in the detected pressure. When the drug adsorption control unit 72 determines that the drug is adsorbed to the suction pad 122c, it stops the descent of the adsorption mechanism 122a.

[0095] However, when the suction mechanism 122a is lowered, the suction position (approximate center position of the suction pad 122c facing the drug) where the suction mechanism 122a suctions the drug may be shifted from the center of the drug. This position shift of the suction position occurs due to, for example, the influence of the stopping accuracy when the suction mechanism 122a is lowered into the first container 11, or the accuracy of image analysis of the captured image acquired by the second camera 121 (accuracy of extracting the image of the drug). In addition, the position shift may also occur when the drug to be adsorbed by the suction mechanism 122a comes into contact with another drug different from the drug when the suction mechanism 122a is lowered.

[0096] When the above-mentioned positional deviation occurs, the drug cannot be adsorbed, and adsorption of the drug may fail. In particular, when adsorbing a relatively small plain tablet or sugar-coated tablet, adsorption of the drug is likely to fail due to the above-mentioned positional deviation, and even if a retry process is performed, the drug may not be adsorbed.

[0097] Here, air pipe 122b extends in the direction in which suction mechanism 122a descends. In addition, a filter (not shown) is provided at a location where outside air passes (e.g., suction pad 122c, inside air pipe 122b) to prevent the intake of dust. Therefore, due to the configuration of air pipe 122b or the influence of the filter, it takes time from when the medicine is adsorbed to suction pad 122c until the flow rate or pressure inside air pipe 122b reaches a threshold value at which it can be determined that the medicine has been adsorbed.

[0098] When the descent speed of the adsorption mechanism 122a when approaching the drug is relatively fast (when it is a first speed described later), and when the adsorption position substantially coincides with the center position of the drug, the flow rate or pressure reaches the threshold value within a predetermined time. Therefore, the drug adsorption control unit 72 can determine that the drug has been adsorbed and stop the descent of the adsorption mechanism 122a. During the time from contact with the drug to drug adsorption determination, the adsorption mechanism 122a continues to push the drug due to its descent, but since the adsorption position substantially coincides with the center position of the drug, it is unlikely that the position of the drug will be shifted due to the pushing.

[0099] On the other hand, if the adsorption position is shifted from the center position of the drug, the flow rate or pressure does not reach the threshold value within a predetermined time. Therefore, even though the adsorption mechanism 122a is in contact with the drug, the adsorption mechanism 122a descends and continues to push the drug, so that the position of the drug further shifts from the adsorption position. In some cases, the drug may be repelled by the adsorption mechanism 122a. Therefore, even if a retry process is performed, the drug may not be adsorbed.

[0100] Therefore, in the drug adsorption control unit 72 of this embodiment, in the case where adsorption of the drug fails and the adsorption mechanism 122a is caused to reapproach the drug to adsorb again (at the time of reapproach), the speed immediately before the adsorption mechanism 122a comes into contact with the drug to be adsorbed can be changed to a second speed which is slower than the first speed (first speed at the time of approach) when the adsorption mechanism 122a was caused to approach the drug before the failure.

[0101] In this embodiment, specifically, the drug adsorption control unit 72 controls the movement of the adsorption mechanism 122a to the drug within a predetermined range from the bottom of the first container 11 as follows: The suction mechanism 122a is moved from the first predetermined position to the second predetermined position within the above-mentioned predetermined range at a first speed that is smaller than the initial speed at which the suction mechanism 122a is moved from the initial position to the first predetermined position, From the second predetermined position to the drug, the suction mechanism 122a is moved at a speed changed from the first speed to a second speed.

[0102] That is, in this embodiment, the drug adsorption control unit 72 sets the speed of the adsorption mechanism 122a at the time of re-approach to two stages: the immediately preceding speed (second speed) in the movement from the second predetermined position to the drug, and the previous stage speed (first speed) in the movement from the first predetermined position, which is the previous stage, to the second predetermined position. In this embodiment, the above speed is set to three stages, that is, changing from the initial speed to the first speed, and then changing from the first speed to the second speed. This setting may be four or more stages. However, attention should be paid to (1) setting the number of stages, or (2) limiting the number of times that the change in the descent speed is performed in three or more stages, so as not to delay the overall processing (sorting processing or packaging processing) in the drug sorting device 1.

[0103] Here, the initial position is the position when the drug adsorption control unit 72 comes above the first container 11 (the position when adsorption of the drug to be adsorbed is started; the uppermost position). The first predetermined position is a position closer to the drug to be adsorbed than the initial position, for example, a position just before the suction pad 122c is inserted into the first container 11. The second predetermined position is a position even closer to the drug to be adsorbed than the first predetermined position, for example, a position several mm just before the drug to be adsorbed. In other words, the immediately preceding speed refers to the moving speed of the adsorption mechanism 122a from the second predetermined position to just before it comes into contact with the drug. The distance between the suction pad 122c and the drug to be adsorbed can be measured, for example, by a distance measuring sensor (not shown).

[0104] Moreover, the predetermined range refers to a position below the first predetermined position (a position up to the bottom of the first storage section 11). The predetermined distance refers to a distance from the first predetermined position to the second predetermined position.

[0105] From the second predetermined position after descending a predetermined distance within the predetermined range, the drug adsorption control unit 72 changes the immediately preceding speed from the first speed to the second speed (second speed<first speed) to bring the adsorption mechanism 122a closer to the drug. Therefore, compared with the case where the adsorption mechanism 122a is moved to the drug at the first speed within the predetermined range (i.e., from the first predetermined position), the movement time from before the adsorption pad 122c contacts the drug (near the drug) to when it contacts the drug (i.e., the movement time from the second predetermined position) can be made longer. Therefore, the suction force on the drug can be exerted for a longer time than in the case of the first speed.

[0106] Therefore, even if the adsorption position is somewhat displaced from the center of the drug (for example, about 1 / 2 the diameter of the drug), the drug is more likely to be attracted to the vicinity of the adsorption position by the suction force applied to the drug for a long time compared to the first speed. When the drug is attracted to the vicinity of the adsorption position, the adsorption mechanism 122a can adsorb the drug, and as a result, the descent of the adsorption mechanism 122a can be stopped. In addition, since the descent of the adsorption mechanism 122a in the vicinity of the drug can be slowed down, the adsorption mechanism 122a can be prevented from pushing the drug into the drug, and the drug adsorption control unit 72 can secure time to determine that the drug has been adsorbed.

[0107] In particular, relatively small drugs (relatively light drugs) are easily attracted. Therefore, even for relatively small plain tablets or sugar-coated tablets, the success rate of adsorption (efficiency of drug extraction) can be improved.

[0108] The initial speed may be set to a speed at which the medicine sorting process can be performed efficiently. The first speed may be set to a speed lower than the initial speed (e.g., about 1 / 2 the initial speed; low speed) at which the medicine can be adsorbed when the suction pad 122c approaches the medicine. The second speed may be set to a speed lower than the first speed (e.g., about 1 / 4 the first speed; very low speed) at which even a relatively small plain tablet or sugar-coated tablet can be adsorbed. The initial speed, the first speed, and the second speed are set by experiments, etc.

[0109] The descent of the suction mechanism 122a may be stopped by the pushing detection unit 126 (see FIG. 8) detecting the contact of the suction pad 122c with the medicine. Even if the pushing detection unit 126 detects the contact of the suction pad 122c with the medicine and the suction mechanism 122a stops, if the above-mentioned positional deviation occurs, the medicine may not be adsorbed within a predetermined time, and the adsorption of the medicine may fail. Even in this case, by changing the speed from the first speed to the second speed as described above and lowering the suction mechanism 122a, the medicine is attracted to the vicinity of the adsorption position before the contact with the medicine, so that the suction mechanism 122a can push in the vicinity of the center of the medicine. Therefore, when the medicine is adsorbed, the pushing detection unit 126 can detect the contact of the suction pad 122c with the medicine, and as a result, the medicine adsorption control unit 72 can stop the descent of the suction mechanism 122a.

[0110] In this way, when performing a retry process, the take-out efficiency can be improved by simply changing the previous speed from the first speed to the second speed. Therefore, the take-out efficiency can be improved without relying too much on image recognition (analysis) processing or hardware performance.

[0111] However, when the moving speed in the above-mentioned predetermined range is set to the second speed, the efficiency of taking out the medicines can be improved, but the medicine taking-out speed is reduced. Therefore, if the suction mechanism 122a is lowered at the second speed in the above-mentioned predetermined range when taking out all the medicines in order to improve the efficiency of taking out all the medicines, the overall processing speed of the medicine sorting device 1 is reduced too much. In other words, when the moving speed in the above-mentioned predetermined range is set to the second speed, the take-out time (picking time) increases, and the overall processing time of the medicine sorting device 1 may increase.

[0112] Therefore, in this embodiment, the drug adsorption control unit 72 changes the immediately preceding speed from the first speed to the second speed when the number of times that the adsorption mechanism 122a is unable to adsorb the drug from the first container 11 (the number of times adsorption of the drug fails) reaches a predetermined number. In this case, since the moving speed is reduced when the adsorption failure continues a predetermined number of times, adsorption of the drug can be performed with the moving speed in the predetermined range kept as the first speed for drugs other than the relatively small drugs as described above. Moreover, regardless of the size of the drug, when the number of adsorption failures is less than the predetermined number, adsorption of the drug can be performed with the moving speed in the predetermined range kept as the first speed.

[0113] In this way, the speed is changed to the second predetermined position only in the case of a drug that is difficult for the adsorption mechanism 122a to remove (a drug for which adsorption has failed a predetermined number of times), thereby increasing the success rate of the adsorption while suppressing an increase in the overall processing time of the drug sorting device 1.

[0114] The above-mentioned predetermined number of times may be set by experiment or the like, taking this point into consideration. For example, the above-mentioned predetermined number of times when adsorbing a drug on the drug placement table 133a is set to three times. That is, if the drug adsorption control unit 72 fails to adsorb the drug three times, it changes the previous speed to the second speed at the second predetermined position. Thereafter, when the number of times when the drug could not be adsorbed (number of times of drug non-adsorption) reaches the upper limit number (e.g., nine times), the drug adsorption control unit 72 stops the adsorption process for the drug to be adsorbed.

[0115] On the other hand, for example, the predetermined number of times in the case of the first container 11, the second container 14 (sorting cup 141) and the waiting tray 15 is set to 5 times. In this case, when the number of times of non-adsorption of the drug reaches 5 times, the drug adsorption control unit 72 changes the immediately preceding speed to the second speed. If the drug cannot be adsorbed at the second speed, the drug adsorption control unit 72 changes the immediately preceding speed to the first speed again. That is, the adsorption mechanism 122a moves from the first predetermined position to the drug at the first speed. Thereafter, if the drug cannot be adsorbed five times again, the immediately preceding speed is changed to the second speed. That is, in this case, if the drug cannot be adsorbed, the drug adsorption control unit 72 executes the adsorption process at the second speed once in five times.

[0116] [Processing example] Fig. 5 is a flow chart showing an example of a drug adsorption process by the drug adsorption control unit 72. As shown in Fig. 5, when the adsorption mechanism 122a is lowered onto the drug placement stand 133a, the drug adsorption control unit 72 judges whether or not the number of drug non-adsorptions (number of adsorption failures) is equal to or less than the upper limit (e.g., 9 times) (S1). If the number of drug non-adsorptions exceeds the upper limit (NO in S1), the drug adsorption control unit 72 stops the adsorption process of the drug currently being adsorbed.

[0117] If the number of times of non-adsorption of the drug is equal to or less than the upper limit number (YES in S1), the drug adsorption control unit 72 judges whether the number of times of non-adsorption of the drug is equal to or greater than a predetermined number (e.g., 3 times). If the number of times of non-adsorption of the drug reaches the predetermined number (YES in S2), the drug adsorption control unit 72 lowers the adsorption mechanism 122a at the initial speed from the initial position to the first predetermined position (S3). Thereafter, the drug adsorption control unit 72 changes the initial speed to the first speed (<initial speed) at the first predetermined position, and lowers the adsorption mechanism 122a at the first speed while performing the suction process from the first predetermined position to the second predetermined position (S4). Thereafter, the drug adsorption control unit 72 changes the immediately preceding speed from the first speed to the second speed (<second speed) at the second predetermined position, and lowers the adsorption mechanism 122a at the second speed while performing the suction process from the second predetermined position to the drug to be adsorbed (S5).

[0118] On the other hand, if the number of times the drug has not been adsorbed has not reached the predetermined number (NO in S2), the adsorption mechanism 122a is lowered from the initial position to the first predetermined position at the initial speed (S6). After that, the drug adsorption control unit 72 changes the initial speed to the first speed at the first predetermined position, and lowers the adsorption mechanism 122a at the first speed from the first predetermined position to the drug to be adsorbed while performing the suction process (S7). That is, in this case, the above-mentioned previous speed is the first speed.

[0119] In the case of the first container 11, etc., the processes of S3 to S5 are performed only when the number of times of drug non-adsorption reaches a predetermined number (e.g., 5 times) as described above. That is, in this case, the process of S1 is not performed, and when the drug adsorption control unit 72 determines in S2 that the number of times of drug non-adsorption is the predetermined number (e.g., 5 times) (YES in S2), it proceeds to the process of S3 and resets the number of times of drug non-adsorption. On the other hand, when it determines that the number of times of drug non-adsorption has not reached the predetermined number (NO in S2) (e.g., when the number of times of drug non-adsorption is 1 to 4 times), it proceeds to the process of S4.

[0120] After the process of S5 or S7, the drug adsorption control unit 72 determines whether the drug has been adsorbed (S8). If the drug adsorption control unit 72 determines that the drug has been adsorbed (YES in S8), the transport control unit 61 transports the drug to the next processing position (S9). On the other hand, if the drug adsorption control unit 72 determines that the drug has not been adsorbed (NO in S6), the process returns to S1 (or S2).

[0121] [Variation 1] In this embodiment, the drug adsorption control unit 72 changes the moving speed of the adsorption mechanism 122a at the time of reapproach from the initial speed to the first speed, and then from the first speed to the second speed. Without being limited to this, the drug adsorption control unit 72 may change the moving speed of the adsorption mechanism 122a at the time of reapproach from the initial speed to the second speed within a predetermined range, for example. In other words, the immediately preceding speed may be the second speed, and the preceding speed may be the initial speed.

[0122] [Modification 2] The condition for changing the immediately preceding speed from the first speed to the second speed may be, instead of the number of times of non-adsorption of the drug, the following condition.

[0123] For example, the speed may be changed to the second speed within the above-mentioned predetermined range when it is determined that the image of the drug is smaller than a predetermined size based on the result of image recognition for the image captured by the second camera 121. Also, an image of a drug that is likely to fail adsorption may be specified (for example, by performing machine learning using an image of the drug previously captured by the second camera 121 and the result of adsorption of the drug as input), and when the second camera 121 acquires an image that is highly similar to the specified image, the speed may be changed to the second speed within the above-mentioned predetermined range.

[0124] In this case, for a relatively small drug, a change to the second speed can be performed since there is a possibility that a retry process will occur.

[0125] [Embodiment 2] In this embodiment, a configuration for improving the efficiency of drug extraction will be described mainly with reference to FIGS.

[0126] 6 is a diagram showing an example of an adsorption mechanism 122a of the present embodiment. Note that, as in the first embodiment, the description will be given assuming that the container that contains the medicine is the first container 11.

[0127] As shown by 6001 to 6003 in FIG. 6, the suction mechanism 122a of this embodiment includes an air tube 122b, a suction pad 122c, a base portion 122d, a base support portion 122e, a spacer 122f, a spring 122g, a screw 122h, and a slide portion 122i.

[0128] As shown in 6001 in Fig. 6, the air pipe 122b is a hollow portion through which air (outside air) sucked from the suction pad 122c (suction portion) for suctioning the medicine by a vacuum pump (suction pump) (not shown) passes. This allows the suction pad 122c to suction the medicine that it comes into contact with. The air pipe 122b extends in the moving direction (downward direction) of the suction mechanism 122a, and its tip is connected to the suction pad 122c.

[0129] Base portion 122d is a member that is connected to air tube 122b and supported by slide portion 122i. In other words, base portion 122d is a member for supporting air tube 122b on slide portion 122i.

[0130] The slide portion 122i is a moving mechanism that moves the suction pad 122c so that the suction pad 122c approaches the drug. Specifically, the slide portion 122i is a member that moves the suction mechanism 122a (at least the air tube 122b) between a housing capable of housing the suction mechanism 122a and the first housing unit 11 (a member that moves along the z-axis direction). As shown in 6003 in FIG. 6, the slide portion 122i is connected to the base portion 122d by a screw 122h. The slide portion 122i is slidably fitted to a rail (not shown) that is provided extending in the z-axis direction (for example, the moving direction that moves the air tube 122b to the first housing unit 11).

[0131] As shown by 6002 and 6003 in FIG. 6, the base support portion 122e supports the base portion 122d and is provided between the base portion 122d and the slide portion 122i. The base portion 122d and the base support portion 122e are provided with through holes through which the screws 122h can pass at positions facing each other. The screws 122h are passed through the through holes and fastened to the screw receiving portions 122ia provided in the slide portion 122i, and the air tube 122b is supported by the slide portion 122i via the base portion 122d by being fixed to the screw receiving portions 122ia. In other words, the screws 122h are members for supporting the air tube 122b on the slide portion 122i via the base member 122h.

[0132] A spacer 122f is provided inside the base portion 122d. The spacer 122f is capable of moving the base portion 122d along the axial direction of the spacer 122f (its own member). The spacer 122f is a hollow member, and also functions as the through hole into which the screw 122h is inserted.

[0133] 6, a movable range (gap) MAr in which the base portion 122d can move is formed between the base portion 122d and the base support portion 122e. The movable range MAr is formed by the spacer 122f extending from the inside of the base portion 122d to the base support portion 122e (the spacer 122f extending from the inside of the base portion 122d abutting against the base support portion 122e).

[0134] This allows base portion 122d (ie, air tube 122b) to move in the y direction relative to base support portion 122e (ie, slide portion 122i).

[0135] Furthermore, a gap is formed between the spacer 122f and the screw 122h such that the screw 122h can move in the radial direction of the spacer 122f. In other words, the inner diameter of the spacer 122f is larger than the outer diameter of the shaft portion of the screw 122h that is inserted into the spacer 122f. By forming the gap, the base portion 122d (i.e.) the air tube 122b can move not only in the y direction but also in the x direction. In other words, the air tube 122b can move in the x direction relative to the slide portion 122i.

[0136] When an object (e.g., a drug) comes into contact with suction pad 122c provided at the tip of air tube 122b, an external force is applied to suction pad 122c. Because the movable range MAr and the above-mentioned gap are formed, air tube 122b becomes movable in a direction different from the above-mentioned moving direction (z-axis direction) when an external force is applied to suction pad 122c.

[0137] The movable range MAr is provided with a spring 122g (elastic member) connected to the base portion 122d and the base support portion 122e. This allows the base portion 122d (i.e., air tube 122b) to return to its original position (position 6003 in FIG. 6) when the external force is no longer applied, even if the air tube 122b (i.e., base portion 122d) is moved by the external force. In other words, by providing the spring 122g in the movable range MAr, the air tube 122b can be moved according to the magnitude of the external force.

[0138] In this embodiment, four springs 122g are provided near each of the four corners of the surfaces of base portion 122d and base support portion 122e facing each other. This makes it easier to move air tube 122b according to the magnitude of the external force. However, the springs 122g only need to be provided so that air tube 122b can be moved according to the magnitude of the external force, and the arrangement positions and number of springs 122g can be set arbitrarily. Any elastic member that can move air tube 122b according to the magnitude of the external force is not limited to springs 122g.

[0139] In this embodiment, the suction mechanism 122a includes the base portion 122d, the spacer 122f, and the spring 122g, and forms a retraction mechanism that allows the suction pad 122c to retract in a direction different from the moving direction when the suction pad 122c comes into contact with the drug due to a reaction force received by the suction pad 122c when the suction pad 122c moves and comes into contact with the drug. Note that the above-mentioned moving direction refers to the downward direction in which the suction pad 122c approaches the drug.

[0140] In this embodiment, the base portion 122d is supported by the slide portion 122i via the base support portion 122e, but the present invention is not limited to this and the base portion 122d may be directly supported by the slide portion 122i. In this case, the spacer 122f extends from the inside of the base portion 122d to the slide portion 122i (the spacer 122f abuts against the slide portion 122i), thereby forming a movable range MAr between the base portion 122d and the slide portion 122i. The spring 122g is connected to the base portion 122d and the slide portion 122i.

[0141] In this embodiment, the medicine to be adsorbed by the adsorption mechanism 122a may be mainly a tablet. The size of the suction port of the adsorption pad 122c may be, for example, 1 mm or more and 2.5 mm or less in diameter, and may be preferably 1.5 mm. In general, the minimum thickness of a tablet is about 1.5 mm. Therefore, by designing the size of the suction port to be within the above numerical range, even if the tablet stands sideways, the decrease in suction force can be suppressed, and the tablet standing sideways can be adsorbed. The tablet standing sideways means that the side of the tablet stands facing the placement surface (the tablet stands so that the wide surface does not face the placement surface and is approximately horizontal with the placement surface).

[0142] [Example of operation] FIG. 7 is a diagram for explaining an operation example of the adsorption mechanism 122a of this embodiment. 7001 in FIG. 7 shows an operation example of the adsorption mechanism 122a in which the movable range MAr is not formed (referred to as the adsorption mechanism 122a1 in the description of FIG. 7). In the adsorption mechanism 122a1, the base part 122d and the base support part 122e (i.e., the slide part 122i) are directly fixed by the screw 122h. That is, even if an object comes into contact with the adsorption pad 122c, the adsorption mechanism 122a1 does not move in a direction different from the moving direction (z-axis direction). On the other hand, 7002 in FIG. 7 shows an operation example of the adsorption mechanism 122a of this embodiment (the adsorption mechanism 122a in which the movable range MAr is formed; referred to as the adsorption mechanism 122a2 in the description of FIG. 7).

[0143] 7, it is assumed that the suction mechanism 122a1 is moved (lowered) to the first container 11 and the suction pad 122c comes into contact with the drug M. When the suction pad 122c comes into contact with the vicinity of the center of the drug M, the control unit 60a can stop the descent of the suction mechanism 122a1.

[0144] The control unit 60a lowers the suction mechanism 122a1 while monitoring the flow rate of air passing through the air pipe 122b, for example. As described in the first embodiment, the control unit 60a determines that the medicine has been adsorbed when the suction pad 122c comes into contact with the vicinity of the center of the medicine M and the flow rate becomes equal to or less than a predetermined amount. The control unit 60a also stops the descent of the suction mechanism 122a1 when the suction pad 122c comes into contact with the medicine M and a push-in detection unit 126 (see FIG. 8) described later detects the pushing of the suction mechanism 122a1 toward the transport / sorting unit 12 side (the housing side). The same applies to the suction mechanism 122a2.

[0145] As shown in 7001 of FIG. 7, when the suction pad 122c comes into contact with the vicinity of the end of the drug M, the suction port of the suction pad 122c is not blocked by the drug M, and therefore the suction mechanism 122a1 cannot suction the drug M. In addition, the suction mechanism 122a1 presses down on the vicinity of the end of the drug M while descending, so that a diagonal force is applied to the suction pad 122c. Therefore, even if the suction mechanism 122a1 comes into contact with the drug M, the suction mechanism 122a1 is not pushed back sufficiently by the horizontal component of the force generated on the suction pad 122c, and the pushing detection unit 126 cannot detect the pushing. As a result, the suction mechanism 122a1 continues to press down on the vicinity of the end of the drug M due to the descent of the suction mechanism 122a1, and the drug M may be repelled.

[0146] In the suction mechanism 122a2 of this embodiment, when the above-mentioned external force is applied to the suction pad 122c, the air tube 122b moves in a direction (e.g., horizontal direction) different from the moving direction of the suction mechanism 122a2 toward the first container 11. Therefore, even if the suction mechanism 122a2 comes into contact with the vicinity of the end of the medicine M, is unable to suction the medicine M, and the push-in detection unit 126 is unable to detect the push-in and the suction mechanism 122a2 continues to move downward, the suction pad 122c moves in the direction opposite to the medicine M, with the base portion 122d as a fulcrum. In other words, the force applied to the medicine M by the descent of the suction mechanism 122a2 escapes in the direction opposite to the medicine M.

[0147] Therefore, it is possible to prevent the medicine M from being blown away by the suction mechanism 122a2 being continuously pressed down. That is, it is possible to improve the efficiency of taking out the medicine M. However, if the medicine M being blown away is not a consideration, the suction mechanism 122a1 may be adopted as the suction mechanism 122a.

[0148] The suction pad 122c only needs to be able to move horizontally to an extent (e.g., about several mm) that will not cause the drug M to be thrown away when the suction mechanism 122a2 presses down on the vicinity of the end of the drug M. Therefore, the width of the movable range MAr (the gap between the base portion 122d and the base support portion 122e) and the gap formed between the spacer 122f and the screw 122h only need to be large enough to realize the horizontal movement.

[0149] As described above, the control unit 60a may stop the descent of the suction mechanism 122a when it is determined that the drug has been adsorbed. Even in this case, as shown in 7001 in FIG. 7, when the suction pad 122c comes into contact with the vicinity of the end of the drug M, the suction mechanism 122a1 cannot adsorb the drug M and continues to descend, so that the drug M may be thrown away. On the other hand, in the suction mechanism 122a2 of this embodiment, when the suction pad 122c comes into contact with the vicinity of the end of the drug M, it moves in the direction opposite to the drug M, using the base portion 122d as a fulcrum. Therefore, even in this case, even if the drug cannot be adsorbed, the drug M can be prevented from being thrown away.

[0150] [Embodiment 3] In this embodiment, a configuration for suppressing the stop of the medicine sorting process will be described mainly with reference to FIGS.

[0151] As described above, the medicine sorting device 1 includes a waiting tray 15 for temporarily placing medicines that cannot be accommodated in the second storage section 14. The transport / sorting unit 12 accommodates the medicine in the second storage section 14 (sorting cup 141) or the waiting tray 15 based on the discrimination result by the discrimination section 64 or the storage status of the medicine in the second storage section 14. For example, when the type of medicine is discriminated, the medicine is accommodated in the sorting cup 141. On the other hand, when the medicine is determined to be a suspected medicine, or when the type of medicine is discriminated but the sorting cup 141 that accommodates the type of medicine contains a preset upper limit number of medicines and there is no free space in the sorting cup 141, the medicine is accommodated in the waiting tray 15. A suspected medicine may be accommodated in the sorting cup 141.

[0152] In this way, medicines are also stored in the standby tray 15, but when the standby tray 15 is full and an attempt is made to store more medicines, the release of the medicines fails due to the suction mechanism 122a stopping suction. When this "medicine release failure error" occurs, the control unit 60a stops the processing by the medicine sorting device 1.

[0153] The medicine sorting device 1 is often operated unmanned in the middle of the night. Therefore, the medicine sorting device 1 is required to avoid stopping when the standby tray 15 becomes full, and to sort all of the medicines stored in the first storage unit 11.

[0154] Here, if the control unit 60a determines that medicines are stored in the standby tray 15 after the sorting of the medicines stored in the first storage unit 11 is completed, it is also possible to automatically package the medicines in the sorting cup 141 and then continue to sort the medicines in the standby tray 15. When this specification is set, if it can detect that the standby tray 15 is full, it is possible to resume sorting the medicines in the standby tray 15 after automatically packaging the medicines in the sorting cup 141.

[0155] The packaging mechanism 6 of this embodiment packages the medicines sorted into the second container 14 when the standby tray 15 is full of medicines. That is, the packaging process can be performed according to the medicine storage status in the standby tray 15. Therefore, all of the medicines stored in the first container 11 can be sorted without stopping the medicine sorting device 1.

[0156] Methods for realizing such packaging processing include, for example, (1) a process for determining whether the waiting tray 15 is full using the push-in detection unit 126, and (2) a process for determining whether the waiting tray 15 is full by counting the number of medicines.

[0157] [Processing for Determining the Full State of the Waiting Tray Using the Push-in Detection Unit] Here, a detailed description will be given of a process for determining whether the standby tray 15 is full using the push-in detection unit 126. First, as a premise for explaining this process, an example of the operation of the push-in detection unit 126 will be described. FIG. 8 is a diagram for explaining an example of the operation of the push-in detection unit 126.

[0158] <Push detection unit> As shown in 8001 in FIG. 8, the medicine delivery mechanism 120 (see 8003 in FIG. 8 and FIG. 15) including at least the second camera 121 and the suction / shutter mechanism 122 attached to the housing includes a push-in detection unit 126. The push-in detection unit 126 detects that the suction mechanism 122a is pushed in the opposite direction to the extending direction when the suction mechanism 122a is extended from the medicine delivery mechanism 120 toward the base 19. In other words, the push-in detection unit 126 detects the pushing of the tip of the conveying / sorting unit 12 (specifically, the suction mechanism 122a) toward the conveying / sorting unit 12. In this embodiment, the push-in detection unit 126 is substantially C-shaped, and the light source 126a and the sensor 126b are provided on the inside thereof so as to face each other. The push-in detection unit 126 is provided above the suction mechanism 122a so that the suction mechanism 122a can pass through the inside thereof.

[0159] The push-in detection unit 126 moves in conjunction with the extending operation of the suction mechanism 122a, as indicated by 8001 in Fig. 8. When the suction pad 122c comes into contact with an object, as indicated by 8002 in Fig. 8, the suction mechanism 122a is pushed up by the force of a spring (not shown) provided in the medicine transport mechanism 120. As a result, the sensor 126b is no longer able to receive the light emitted from the light source 126a. The control unit 60a (e.g., the sorting control unit 62) determines that the tip of the suction mechanism 122a has come into contact with the object when the sensor 126b is no longer able to receive the light.

[0160] When storing medicines in the waiting tray 15, the sorting control unit 62 lowers the suction mechanism 122a a predetermined distance at a position facing the waiting tray 15, and then stops the descent of the suction mechanism 122a. Then, the suction is released to release the medicines adsorbed to the suction pad 122c. As a result, the medicines are stored in the waiting tray 15. The predetermined distance is set by experiment or the like to a distance that allows the medicines to be reliably stored in the waiting tray 15 and does not collide with the waiting tray 15.

[0161] When the standby tray 15 is full, there is a possibility that the suction pad 122c may come into contact with a drug located at the top of the standby tray 15 while the suction mechanism 122a is being lowered to a predetermined distance. In this case, the drug prevents the suction mechanism 122a from lowering, resulting in a state shown in 8002 in Fig. 8, and the pushing detection unit 126 detects the pushing of the suction mechanism 122a.

[0162] <Processing example> 9001 in Fig. 9 is a flowchart showing an example of a process for determining whether the standby tray 15 is full by the sorting control unit 62. As shown in 9001 in Fig. 9, the sorting control unit 62 controls the transport / sorting unit 12 to transport medicines from the receiving area Ar1 to the standby tray 15 (S11), and then lowers the suction mechanism 122a a predetermined distance (S12).

[0163] The sorting control unit 62 judges whether or not the push-in detection unit 126 has detected the push-in of the suction mechanism 122a while the suction mechanism 122a is lowered (S13). When the push-in detection unit 126 has detected the push-in of the suction mechanism 122a (YES in S13), the sorting control unit 62 judges that the waiting tray 15 is full (S14). In response to this judgment result, the packaging control unit 71 executes packaging processing of the medicines contained in the sorting cups 141 (S15). That is, the packaging control unit 71 controls the transport / sorting unit 12 to feed the medicines contained in the sorting cups 141 into the medicine input port 17, and controls the packaging mechanism 6 to package a predetermined number of the input medicines. The packaging control unit 71 repeats this processing until packaging of the medicines contained in all the sorting cups 141 is completed.

[0164] On the other hand, if the push-in detection unit 126 does not detect the pushing of the suction mechanism 122a (NO in S13), the sorting control unit 62 lowers the suction mechanism 122a a predetermined distance and then stops suction in the suction mechanism 122a, thereby storing the medicine in the waiting tray 15 (S16).

[0165] In this way, when the suction pad 122c is moved to the waiting tray 15 while holding the medicine in order to store the medicine in the waiting tray 15, if the push-in detection unit 126 detects the push-in, the sorting control unit 62 functions as a state determination unit that determines that the waiting tray 15 is full of medicines. Then, if it is determined that the waiting tray 15 is full, the packaging control unit 71 controls the packaging mechanism 6 to package the medicines stored in the second storage unit 14. This makes it possible to sort the medicines in the waiting tray 15 into the second storage unit 14, thereby avoiding the medicine sorting device 1 from stopping processing due to failure to release the medicine. Therefore, all of the medicines stored in the first storage unit 11 can be sorted without stopping the medicine sorting device 1.

[0166] Moreover, by using the push-in detection unit 126, it is possible to physically determine whether the standby tray 15 is full. Furthermore, the number of medicines that make the standby tray 15 full varies depending on the size or stacking of medicines stored in the standby tray 15. Therefore, as described below, in the case of a process for determining whether the standby tray 15 is full by counting the number of medicines or integrating the volume of medicines, an upper limit is set taking this into consideration, but in this process, it is not necessary to set such an upper limit.

[0167] [Determining whether the waiting tray is full by counting medicines] Next, a process of determining whether the standby tray 15 is full by counting the number of medicines will be described in detail. 9002 in Fig. 9 is a flow chart showing another example of the process of determining whether the standby tray 15 is full by the sorting control unit 62.

[0168] 9, the sorting control unit 62 controls the transport / sorting unit 12 to store medicines in the waiting tray 15 (S21). Every time the sorting control unit 62 stores medicines in the waiting tray 15, it counts the number of medicines stored in the waiting tray 15 (S22). The sorting control unit 62 counts the number of times that medicines held by the suction pad 122c in the waiting tray 15 are released (the number of times suction is released), for example, to count the number of medicines stored in the waiting tray 15.

[0169] Next, the sorting control unit 62 determines whether the number of medicines accommodated in the waiting tray 15 has reached the upper limit (upper limit of storage capacity, a predetermined number) (S23). When the sorting control unit 62 determines that the number of medicines accommodated in the waiting tray 15 has reached the upper limit of storage capacity (YES in S23), it determines that the waiting tray 15 is full (S24). In response to this determination result, the packaging control unit 71 executes packaging processing of the medicines accommodated in the sorting cup 141 (S25). On the other hand, when the sorting control unit 62 determines that the number of medicines accommodated in the waiting tray 15 has not reached the upper limit of storage capacity (NO in S23), it ends the processing of storing medicines in the waiting tray 15.

[0170] In this way, the sorting control unit 62 counts the medicines stored in the waiting tray 15 by the transport / sorting unit 12, and functions as a state determination unit that determines that the waiting tray 15 is full of medicines when the counted number of medicines reaches the upper storage capacity limit. In this case as well, when it is determined that the waiting tray 15 is full, the packaging control unit 71 controls the packaging mechanism 6 to package the medicines stored in the second storage unit 14. Therefore, all of the medicines stored in the first storage unit 11 can be sorted without stopping the medicine sorting device 1.

[0171] Moreover, it is possible to determine whether the standby tray 15 is full without providing hardware such as the push-in detection unit 126. Also, it is possible to suppress the possibility that the suction pad 122c is buried in the medicines stored in the standby tray 15, the push-in detection unit 126 cannot detect the push-in of the suction mechanism 122a, and the medicines overflow from the standby tray 15.

[0172] The upper limit of the storage capacity may be set to a number that does not cause the "medicine release failure error" through experiments, etc. However, as described above, the number of drugs that make the standby tray 15 full varies depending on the size of the drugs stored in the standby tray 15. It is preferable that the upper limit of the storage capacity is set to a value with a margin so that the "medicine release failure error" does not occur when a large drug is stored.

[0173] For example, in the case of a user who handles a lot of relatively large medicines, if the upper limit value is set relatively high, the container may actually be full before reaching the upper limit value. On the other hand, in the case of a user who handles a lot of relatively small medicines, if the upper limit value is set relatively low, it may be determined that the upper limit value has been reached even if the container is not actually full. Therefore, it is preferable that the upper limit value is set in consideration of the medicines that the user handles. The upper limit value can be changed as appropriate.

[0174] [Processing for determining whether the waiting tray is full by accumulating the drug volume] Next, the details of the process of judging whether the standby tray 15 is full by accumulating the volume of medicines will be described. As in the process of judging whether the standby tray is full by counting the number of medicines described above, the sorting control unit 62 stores medicines in the standby tray 15 by controlling the transport / sorting unit 12. Each time a medicine is stored in the standby tray 15, the sorting control unit 62 calculates the accumulated value of the volume of the medicines stored in the standby tray 15 by adding a volume calculated from the size of the medicine stored in the standby tray 15. Here, the volume of the medicine is calculated as an approximate value by multiplying the length and width of the medicine recorded in the medicine database 81 by a thickness set uniformly for all medicines recorded in the memory unit 80.

[0175] Next, the sorting control unit 62 judges whether or not the accumulated value of the volume of the medicines stored in the waiting tray 15 has reached an upper limit (accumulated upper limit, predetermined value) that is determined based on the volume of the waiting tray. When the sorting control unit 62 judges that the accumulated value of the volume of the medicines stored in the waiting tray 15 has reached the accumulated upper limit, it judges that the waiting tray 15 is full. In response to this judgment result, the packaging control unit 71 executes packaging processing of the medicines stored in the sorting cup 141. On the other hand, when the sorting control unit 62 judges that the accumulated value of the volume of the medicines stored in the waiting tray 15 has not reached the accumulated upper limit, it ends the processing of storing medicines in the waiting tray 15.

[0176] In this way, the sorting control unit 62 functions as a state determination unit that calculates an integrated value of the volume of the medicines stored in the waiting tray 15 every time the conveying / sorting unit 12 stores medicines in the waiting tray 15, and determines that the waiting tray 15 is full of medicines when the integrated value reaches an integrated upper limit value. In this case as well, when it is determined that the waiting tray 15 is full, the packaging control unit 71 packages the medicines stored in the second storage unit 14 by controlling the packaging mechanism 6. Therefore, all of the medicines stored in the first storage unit 11 can be sorted without stopping the medicine sorting device 1.

[0177] Moreover, it is possible to determine whether the standby tray 15 is full without providing hardware such as the push-in detection unit 126. Also, it is possible to suppress the possibility that the suction pad 122c is buried in the medicines stored in the standby tray 15, the push-in detection unit 126 cannot detect the push-in of the suction mechanism 122a, and the medicines overflow from the standby tray 15.

[0178] The cumulative upper limit value may be set to a volume (e.g., the volume of the waiting tray 15) that does not cause the "medicine release failure error" through experiments, etc. However, as described above, the thickness of the medicine is not an accurate value for each medicine, so the calculated volume of the medicine is an approximate value. Therefore, depending on how the medicines are stacked in the waiting tray 15, the cumulative value of the actual volume of the medicines contained in the waiting tray 15 may not match the calculated cumulative value (approximate value) of the medicine volume. In view of such a situation, it is preferable to set the cumulative upper limit value to a value with a margin. The cumulative upper limit value can be appropriately changed.

[0179] [Processing when multiple fullness process determinations are used in combination] The sorting control unit 62 may perform the processes of determining the full state using the push-in detection unit 126, determining the full state by counting the number of medicines, and determining the full state by integrating the volume of medicines, in parallel. In this case, when the sorting control unit 62 determines that the sorting cup 141 is full by any of the processes, it performs packaging processing of the medicines contained in the sorting cup 141 at that time.

[0180] [Embodiment 4] The process of determining whether the standby tray 15 is full may be executed by a method other than that described in the embodiment 3. Reference numeral 8003 in Fig. 8 is a diagram showing an example of the configuration of the medicine delivery mechanism 120 for implementing this process.

[0181] 8, the medicine conveying mechanism 120 of this embodiment includes a second camera 121, a suction mechanism 122a, and a distance measurement sensor 127. The second camera 121 and the distance measurement sensor 127 may be provided inside the medicine conveying mechanism 120. The distance measurement sensor 127 measures a distance H1 to a target object (e.g., medicines piled up on the waiting tray 15).

[0182] In this embodiment, the sorting control unit 62 determines whether the waiting tray 15 is full of medicines based on the distance H1 to the medicines on the waiting tray 15 measured by the distance measuring sensor 127.

[0183] Specifically, the sorting control unit 62 controls the distance measuring sensor 127 to measure the distance H1 every time one tablet of medicine is accommodated in the waiting tray 15. In addition, the sorting control unit 62 calculates the distance average (moving average) for a predetermined number of accommodations.

[0184] The predetermined number of times of storage may be set to a value that is determined by experiment or the like to be a number of times that does not cause the above-mentioned "medicine release failure error" and that allows calculation of a distance average that can be regarded as the actual distance to the medicine located at the top of the waiting tray 15. That is, the predetermined number of times of storage is determined in consideration of the performance of the distance measuring sensor 127. In this embodiment, the predetermined number of times of storage is set to, for example, 30 times.

[0185] The sorting control unit 62 stores medicines in the waiting tray 15 until the number of storage times reaches 30. When the number of storage times reaches 30, the sorting control unit 62 calculates the average value (distance average) of the distances H1 measured in the first to 30th storage times. When the number of storage times reaches 31, the sorting control unit 62 calculates the average value of the distances H1 measured in the second to 31st storage times. When the number of storage times reaches 32, the sorting control unit 62 calculates the average value of the distances H1 measured in the third to 32nd storage times.

[0186] That is, the sorting control unit 62 judges whether the average value calculated using the distance H1 measured at the most recent storage and the distance H1 calculated from the storage time going back a predetermined number of storage times to the storage time one storage time before the most recent storage reaches a predetermined distance. The predetermined distance may be set to a distance that does not cause the "medicine release failure error." The predetermined distance is set to, for example, 11.5 cm.

[0187] The sorting control unit 62 compares the calculated average value with a preset predetermined distance, and when it is determined that the average value reaches the predetermined distance, it determines that the waiting tray 15 is full. Then, as described in the third embodiment, when it is determined that the waiting tray 15 is full, the packaging process is performed by the packaging mechanism 6, so that all of the medicines contained in the first container 11 can be sorted without stopping the medicine sorting device 1.

[0188] In addition, by using the average value of the distance H1 for the predetermined number of times of storage to determine whether the predetermined distance has been reached, the determination can be made with high accuracy even if the measurement accuracy of the distance measuring sensor 127 is relatively low. By improving the measurement accuracy of the distance measuring sensor 127, it is also possible to set the predetermined number of times of storage to a small value, and the distance H1 for each drug storage in the waiting tray 15 can be used for the above determination, instead of the average value of the distance H1.

[0189] In addition, in the case of this embodiment, the possibility of malfunctions occurring when performing a process of determining whether the waiting tray 15 is full using the push-in detection unit 126, or a process of determining whether the waiting tray 15 is full by counting the number of drugs, can be eliminated.

[0190] [Embodiment 5] In this embodiment, a configuration for improving the accuracy of discrimination of the type of medicine will be described mainly with reference to Fig. 1 and Fig. 10. Specifically, in this embodiment, an image processing unit 73 that performs pre-discrimination image processing (to be described later) on an image 82 captured by the first camera 131 (image 82 from which an image of the medicine is extracted) before the discrimination unit 64 analyzes the image 82 will be described. As shown in Fig. 1, the control unit 60a in this embodiment includes the image processing unit 73. Note that the function of the image processing unit 73 may be provided in the imaging control unit 63 or the discrimination unit 64.

[0191] As the pre-discrimination image processing, the image processing unit 73 performs pixel value smoothing processing to equalize the pixel values ​​of a plurality of pixels included in the captured image 82. This can improve the contrast of the captured image 82, making it easier to recognize symbols (e.g., characters) or patterns (e.g., secant lines) indicated by the engraved information or printed information included in the captured image 82.

[0192] Furthermore, the image processing unit 73 performs a filter process to reduce noise while suppressing blurring of the outline of the symbol or pattern, etc. This makes it possible to more accurately recognize the symbol or pattern, etc.

[0193] Specifically, the image processing unit 73 performs adaptive histogram equalization (CLAHE) processing, as an example of the pixel value smoothing processing, on the captured image 82 captured by the first camera 131 to create a first processed image 84. After that, the image processing unit 73 applies a bilateral filter, as an example of the filtering processing, to create a second processed image 85. The discrimination unit 64 discriminates the type of drug using the second processed image 85.

[0194] FIG. 10 is a diagram for explaining an example of pre-discrimination image processing by the image processing unit 73. In FIG. 10, 1001b shows pre-discrimination image processing by the image processing unit 73 and a processed image when the captured image 82 has a relatively large brightness difference (when a portion with a relatively low pixel value (e.g., a portion corresponding to a shadow) is included). 1002b shows pre-discrimination image processing by the image processing unit 73 and a processed image when a medicine with a faint marking is captured. Note that 1001a and 1002a show a processing example when pre-discrimination image processing by the image processing unit 73 is not performed. Moreover, the captured images 82 to be processed by 1001a and 1001b are the same, and the captured images 82 to be processed by 1002a and 1002b are also the same.

[0195] As shown in 1001b of FIG. 10, the image processing unit 73 first performs adaptive histogram equalization processing on the captured image 82 having a relatively large brightness difference. In this processing, a predetermined number of adjacent pixels are cut into a rectangle (tile), and a histogram smoothing processing is performed for each tile. Then, the image processing unit 73 generates a processed first image 84 by performing bilinear interpolation between neighboring tiles. This makes it possible to enhance the contrast of local regions of the captured image 82, and as a result, it is possible to improve the visibility of details. Furthermore, the image processing unit 73 applies a bilateral filter to the processed first image 84 to generate a processed second image 85 with reduced noise.

[0196] As a result of the discrimination unit 64 performing image analysis processing on the processed second image 85 obtained by performing pre-discrimination image processing by the image processing unit 73 on the captured image 82, the medicine could be correctly identified 5 times out of 7 times (sorting accuracy 5 / 7). On the other hand, in the case of 1001a in Fig. 10 where pre-discrimination image processing by the image processing unit 73 was not performed, the discrimination unit 64 could correctly identify the medicine only 1 time out of 7 times (sorting accuracy 1 / 7).

[0197] In addition, in 1002b in Fig. 10, adaptive histogram equalization processing and bilateral filter application processing are performed on captured image 82, which is an image of a drug with a faint marking, and discrimination unit 64 performs image analysis processing on processed second image 85. As a result, discrimination unit 64 was able to correctly discriminate the drug 9 times out of 22 times (sorting accuracy 9 / 22). On the other hand, in the case of 1002a in Fig. 10, where pre-discrimination image processing by image processing unit 73 is not performed, discrimination unit 64 was able to correctly discriminate the drug 2 times out of 22 times (sorting accuracy 2 / 22).

[0198] For example, when there is a difference in brightness between the captured image 82 itself and the image of the drug (master image) included in the drug database 81, if the captured image 82 is used for discrimination as is, there is a possibility that the type of drug cannot be discriminated. The same applies when a drug with a faint marking is imaged.

[0199] The pre-discrimination image processing by the image processing unit 73 can reduce the influence of differences in the imaging environment (e.g., luminance difference between the master image and the captured image 82, or luminance difference on the captured image 82), or the shading of the mark. In addition, by applying a bilateral filter to the captured image 82 (specifically, the first processed image 84), the accuracy of the mark discrimination for each character inscribed on the medicine can be improved. Therefore, even if the medicine has a manufacturer's mark over its entire surface, the mark discrimination can be performed uniformly.

[0200] In this way, the accuracy of discrimination of the type of medicine can be improved by the pre-discrimination image processing of the image processing unit 73. Furthermore, when the registration unit 70 registers a master image in the medicine database 81, by registering the second processed image 85 that has been subjected to the pre-discrimination image processing of the image processing unit 73, an image that is easy for the discrimination unit 64 to analyze can be used as the master image. Therefore, in this case as well, the accuracy of discrimination of the type of medicine can be improved.

[0201] [Embodiment 6] In this embodiment, an example of drug data (master data) included in the drug database 81 will be described. In this embodiment, the drug data for each drug included in the drug database 81 (drug data transmitted to a data management device described below) includes model identification information for identifying (specifying) the drug sorting device 1 used to image the drug. The model identification information is linked to the drug data, for example, when the registration unit 70 registers the drug in the drug database 81 or transmits it to the data management device. The model identification information includes, for example, at least any of the following information: The serial number of the first camera 131 used to image the medicine for registration in the medicine database 81 or for transmission to the data management device. -The equipment serial number of the medicine sorting device 1 equipped with the first camera 131. The user name of the medicine sorting device 1 (or the user name of the person who captured the image of the medicine). Date and time of creation of the drug data based on the captured image 82.

[0202] After the user starts using the medicine sorting device 1, a phenomenon such as a position shift or focus shift of the first camera 131 in the imaging unit 13, or deterioration of the medicine placement table 133a to be imaged may occur. Due to such a phenomenon, even if a certain medicine is imaged in the same imaging environment, there is a possibility that a minute difference in brightness occurs between the acquired captured images 82, or a difference occurs in extraction of various areas (e.g., the outline and marking of the medicine). In this case, the captured image 82 has low reliability as a data to be registered as master data of the medicine.

[0203] In general, the drug data registered in drug database 81 by registration unit 70 is transmitted to a data management device (not shown) that can be communicatively connected to drug sorting device 1 and comprehensively manages multiple types of drugs in a centralized manner. The data management device registers the drug data in a comprehensive drug database that manages drug data related to multiple types of drugs. The comprehensive drug database includes drug data related to all drugs that can be handled by drug sorting devices 1 used in various locations (hospitals, wards, pharmacies, etc.) and devices other than drug sorting device 1 (e.g., packaging machines).

[0204] The data management device collects drug data from a plurality of drug sorting devices 1. Therefore, even if the above-mentioned brightness difference or extraction difference occurs in a certain drug sorting device 1 and drug data including a captured image 82 with low reliability is provided from that drug sorting device 1, the data management device cannot identify which drug sorting device 1 created the drug data and when.

[0205] In this embodiment, as described above, the drug data is linked to the model discrimination information. Therefore, the data management device can identify the drug sorting device 1 that created the drug data by referring to the model discrimination information. Therefore, for example, it is possible to easily infer that the reliability of drug data regarding another type of drug transmitted by a drug sorting device 1 that has transmitted drug data determined to have a low reliability (defect) for a certain drug will be low.

[0206] Furthermore, if the model discrimination information includes the creation date and time, the data management device can identify the time when the drug data with low reliability was created in the drug sorting device 1 that created the drug data with low reliability. Therefore, it is possible to easily estimate that other types of drug data created around the time when the drug data with low reliability was created will likely have low reliability. Instead of the creation date and time, for example, the image capture date and time of the captured image 82 or the transmission date and time of the drug data to the data management device may be included in the model discrimination information as long as the information is capable of roughly identifying the creation date and time.

[0207] [Embodiment 7] In this embodiment, the medicine contained in the first container 11 is sorted into the second container 14 etc. and then packaged by the packaging mechanism 6. The configuration and processing when the medicine packaged in this manner is repackaged will be described mainly with reference to Figs. 1 and 11.

[0208] 1, the medicine sorting device 1 of this embodiment includes at least a touch panel 3, a packaging mechanism 6, and a barcode reader 7. In addition to the functional blocks described in the basic configuration, the control unit 60a includes at least an operation input unit 66, a display control unit 67, a packaging control unit 71, and a sorting position designation unit 74. The sorting position designation unit 74 designates the sorting position of the medicine when repackaging is performed.

[0209] As described above, the packaging mechanism 6 packages the medicines in the sorting cup 141, which have been sorted by the same medicine type, into one packet or multiple packets. The medicine packets are stored in a paper receiving box (not shown) in the order in which they were created, in a continuous band state (as a continuous group of medicine packets). If the packaging process by the packaging mechanism 6 is performed over multiple days, for example, multiple medicine packets containing small amounts of the same type of medicine will be present in separate positions in the paper receiving box as part of a continuous group of medicine packets.

[0210] Therefore, the control unit 60a of this embodiment reads the medicine data attached to each medicine package, determines the sorting position so that medicines of the same type are sorted to the same sorting position, and presents the sorting position to the user. When the control unit 60a receives a user input indicating that the medicines have been stored in the determined sorting positions, it starts the packaging process. This allows the same type of medicine that has been packaged in small amounts separately on different dates and times to be packaged together in the same or adjacent medicine packages. This makes it easier to manage the medicine packages.

[0211] 11 is a flowchart showing an example of the repackaging process by the control unit 60a. The operation input unit 66 accepts a user input instructing repackaging via the operation unit 31. The sorting position designation unit 74 receives this user input and enables the barcode reader 7 to read.

[0212] In this state, the sorting position designation unit 74 judges whether or not the barcode reader 7 has read the barcode (medicine data) attached to the medicine package that contains the medicine to be repackaged (medicine to be repackaged) (S31). If the sorting position designation unit 74 judges that the barcode reader 7 has read the barcode (YES in S31), it judges whether or not the medicine to be repackaged is a medicine for which a sorting position has already been designated (S32). On the other hand, if the barcode reader 7 has not read the barcode for a certain period of time (NO in S31), the sorting position designation unit 74 ends this process.

[0213] When the sorting position designation unit 74 determines that the medicine to be repackaged is a medicine for which a sorting position has already been designated (YES in S32), it designates the sorting position as the sorting position of the medicine to be repackaged (S33). On the other hand, when the sorting position designation unit 74 determines that the medicine to be repackaged is not a medicine for which a sorting position has already been designated (NO in S32), it designates a new sorting position (undesignated sorting position) as the sorting position of the medicine to be repackaged (S34). The display control unit 67 causes the display unit 32 to display the sorting position designated by the sorting position designation unit 74 in the process of S33 or S34 as the sorting position of the medicine to be repackaged. The user puts the medicine to be repackaged into the sorting cup 141 corresponding to the sorting position displayed on the display unit 32.

[0214] Furthermore, the operation input unit 66 determines whether or not a user input to start packaging has been received via the operation unit 31 (S35). The operation input unit 66 repeats the processes of S31 to S34 until the user input is received (if NO in S35).

[0215] When all of the drugs to be repackaged have been poured into the sorting cup 141, the user performs a user input to start packaging via the operation unit 31. At this time, if the operation input unit 66 determines that the user input to start packaging has been received (YES in S35), the packaging control unit 71 controls the transport / sorting unit 12 and the packaging mechanism 6 to repackage the drugs to be repackaged (S36).

[0216] The number of drugs that can be packaged in one package when repackaging can be set arbitrarily. The number of drugs may be set to a number that makes it easy to perform the next task (e.g., returning the drugs to the drug shelf or packaging machine) after packaging. In this case, the next task can be performed efficiently. Taking this into consideration, the number of drugs may be set to, for example, a multiple of 7 or a multiple of 10.

[0217] [Embodiment 8] In this embodiment, a configuration for efficiently carrying out the packaging process will be described mainly with reference to FIGS. 1, 12 and 13. FIG.

[0218] As described above, the sorting control unit 62 determines the sorting position (in which sorting cup 141 the medicine is to be stored) in the second storage unit 14 for each medicine identified by the discrimination unit 64. The sorting control unit 62 determines the sorting position so that medicines of the same type are stored in the same sorting cup 141 and medicines of different types are stored in different sorting cups 141. In addition, when the sorting cup 141 reaches the maximum amount of medicines that can be stored in the sorting cup 141, the sorting control unit 62 determines the sorting position so that medicines of the same type are stored in different sorting cups 141. However, for medicines of the same type, the sorting position is determined so that the medicines are stored in the same sorting positions as close as possible. Then, the sorting control unit 62 associates the determined sorting position with the medicine data stored in the sorting cup 141 arranged at the sorting position, and stores the sorting position in the storage unit 80.

[0219] After sorting of all medicines contained in the first container 11 into the second container 14, etc. is completed, the control unit 60a can also execute packaging processing for the medicines contained in the second container 14. In this case, the packaging control unit 71 selects sorting cups 141 in a predetermined selection order and controls the transport / sorting unit 12 to remove the medicines from the selected sorting cup 141 and transport them to the medicine input port 17. After transporting all the medicines from the selected sorting cup 141 to the medicine input port 17, the packaging control unit 71 selects the next sorting cup 141 and performs the same process.

[0220] FIG. 12 is a schematic plan view of the second container 14. As shown in FIG. 12, the positions (sorting positions) where the sorting cups 141 are arranged are each assigned with a symbol indicating the sorting position. In the example of FIG. 12, the sorting positions are assigned with symbols A-1, A-2, ..., A-5, B-1, ..., B-7, C-1, ..., C-7, D-1, ..., D-7, E-1, ..., E-7, F-1, ..., F-7. The order in which the packaging control unit 71 selects the sorting cups 141 when performing packaging processing is determined in advance as, for example, F-7 → F-6 → F-5 → ... E-7 → E-6 → E-5 → ... A-3 → A-2 → A-1. In this case, the packaging control unit 71 takes out all the medicines from the sorting cup 141 of F-7, and then takes out the medicines from the sorting cup 141 of F-6. This process is performed in the above order. However, if no medicines are contained in the sorting cup 141, the packaging control unit 71 skips that sorting cup 141 and takes out medicines from the next sorting cup 141.

[0221] As described above, the packaging mechanism 6 successively stores the medicine packets in which medicines are packaged in the paper receiving box. Therefore, since the medicines taken out from the sorting cups 141 located at different positions on the second storage unit 14 are packaged at different times, the medicines are packaged in medicine packets located at different positions in the continuous medicine packet group in the paper receiving box. In other words, multiple medicine packets in which the same type of medicine is packaged are present randomly in the paper receiving box. The further apart the positions of the sorting cups 141 are on the second storage unit 14, the more apart the medicine packets taken out from these sorting cups 141 are packaged in medicine packets located at different positions in the continuous medicine packet group.

[0222] Here, consider a case where medicines of the same type are contained in different sorting cups 141 during packaging processing, and the positions of these sorting cups 141 are separate. When the sorting cups 141 are selected in a predetermined selection order, after the medicines in one sorting cup 141 are packaged, the medicines in the other sorting cup 141 are packaged a short time later. Therefore, as described above, the position of the medicine package in which the medicines in one sorting cup 141 are packaged and the position of the medicine package in which the medicines in the other sorting cup 141 are packaged are separate in the consecutive medicine package groups.

[0223] Therefore, in this embodiment, even if the same type of medicine is contained in different sorting cups 141, packaging processing is performed so that the medicines taken out from these sorting cups 141 are packaged in medicine packages located close to each other in a continuous group of medicine packages. Specifically, for example, there are (1) a method of changing the selection order of the sorting cups 141 and (2) a method of re-sorting.

[0224] [How to change the selection order of sorting cups] In the above case of (1), the packaging control unit 71 determines the selection order of the sorting cups 141 according to the medicine sorting results by the sorting control unit 62. Specifically, by referring to the memory unit 80, when the same type of medicine is contained in different sorting cups 141 (sorting positions), the packaging control unit 71 determines the selection order of the sorting cups 141 so that the same type of medicine is taken out consecutively.

[0225] For example, in the second storage section 14 shown in Fig. 12, it is assumed that the sorting cup 141 located at the position F-7 and the sorting cup 141 located at the position F-1 store medicines of type K1. It is also assumed that the sorting cup 141 located at the position F-5 and the sorting cup 141 located at the position E-5 store medicines of type K2. It is also assumed that the sorting cups 141 located at the other sorting positions store medicines of different types.

[0226] In this case, the packaging control unit 71 determines the selection order of the sorting cups 141 as, for example, F-7 → F-1 → F-5 → E-5. For E-5 and onwards, the selection order of the sorting cups 141 is determined in a predetermined selection order (F-7 → ... → A-1) and so as to skip the sorting positions that have already been determined (in this example, F-7, F-1, F-5 and E-5). In other words, the selection order of the sorting cups 141 from E-5 onwards is determined as (E-5 →) F-6 → F-4 → F-3 → F-2 → E-7 → E-6 → E-4 → E-3 → ... → A-1.

[0227] That is, the selection order of the sorting cups 141 is determined so that a group of sorting cups 141 containing the same type of medicine is selected consecutively. As a result, even if the same type of medicine is contained in different sorting cups 141, each of the medicines contained in these sorting cups 141 can be packaged consecutively in the packaging mechanism 6. This makes it possible to prevent a plurality of medicine packages containing the same type of medicine from becoming disorganized in the paper receiving box.

[0228] Furthermore, when there are multiple sorting cups 141 containing the same type of medicine, consecutive packaging of the same type of medicine can be realized simply by determining the selection order of the sorting cups 141. The process of determining the selection order can be performed in a relatively short time. Therefore, even if this process is performed, it has almost no effect on the overall processing time of the medicine sorting process and packaging process.

[0229] [Processing example] 13 is a flowchart showing an example of packaging processing by the packaging control unit 71. As shown in 1301 of FIG. 13, when the medicine sorting processing by the assortment control unit 62 is completed, the packaging control unit 71 judges whether or not the same kind of medicine is contained in different sorting cups 141 (S41). When the same kind of medicine is contained in different sorting cups 141 (YES in S41), the packaging control unit 71 determines the selection order of the sorting cups 141 so that the same kind of medicine is taken out consecutively, as described above (S42). The packaging control unit 71 selects the sorting cups 141 in the determined selection order (S43). On the other hand, when the same kind of medicine is not contained in different sorting cups 141 (NO in S41), the packaging control unit 71 selects the sorting cups 141 in a predetermined selection order (S44).

[0230] Thereafter, the packaging control unit 71 controls the transport / sorting unit 12 to remove the medicines from the selected sorting cup 141, and controls the packaging mechanism 6 to package the medicines (S45). When the packaging process has been completed for all the medicines contained in that sorting cup 141, the next sorting cup 141 is selected in accordance with the selection order, and packaging process is performed for all the medicines contained in that sorting cup 141. The packaging control unit 71 performs the packaging process up to the last sorting cup 141 in accordance with the selection order.

[0231] [How to re-sort] 1302 in Fig. 13 is a flowchart showing an example of medicine sorting processing by the sorting control unit 62. As shown in 1302 in Fig. 13, in the case of (2) above, when the type of medicine is discriminated by the discrimination unit 64 (S51), the sorting control unit 62 stores the medicine in the waiting tray 15 or the first storage unit 11 (S52) without sorting it into the second storage unit 14. However, when storing the medicine in the first storage unit 11, it is stored in an area of ​​the first storage unit 11 different from the medicine whose type has not been discriminated. The processing of S51 and S52 is performed for all medicines stored in the first storage unit 11.

[0232] The sorting control unit 62 determines the types of all medicines contained in the first storage unit 11, and stores the medicines in the waiting tray 15 or the first storage unit 11. Then, based on the determination result by the determination unit 64, the sorting position is determined so that medicines of the same type are sorted into nearby sorting positions (S53).

[0233] When the discrimination unit 64 discriminates the type of medicine, the discrimination unit 64 associates the type with medicine data and stores it in the memory unit 80. Therefore, the sorting control unit 62 can determine whether or not the same type of medicine is present among the medicines stored in the waiting tray 15 or the first storage unit 11 by referring to the storage unit 80. When the sorting control unit 62 determines that the same type of medicine is present, it specifies a sorting cup 141 (sorting position) that contains the same type of medicine.

[0234] The discrimination unit 64 also stores the number of medicines of each type in the storage unit 80. Therefore, when the sorting control unit 62 determines based on the above-mentioned number that medicines of the same type cannot be accommodated in the same sorting cup 141 (for example, there are more medicines of the same type than the maximum number that can be accommodated in the sorting cup 141), the sorting control unit 62 determines the sorting cup 141 that will accommodate the medicines so that the medicines of the same type are accommodated in adjacent sorting cups 141 in the above-mentioned predetermined selection order. In other words, the sorting control unit 62 assigns the medicines that have been subjected to the discrimination process again to the sorting cups 141 so that the packaging process can be performed efficiently.

[0235] When the sorting control unit 62 determines the sorting position for the medicines, it stores all the medicines in the sorting cups 141 located at the determined sorting position (S54). Specifically, the transport control unit 61 controls the transport / sorting unit 12 to take out the medicines from the waiting tray 15 or the first storage unit 11 and transport them to the imaging unit 13. The imaging control unit 63 controls the imaging unit 13 to capture an image of the medicine, and then the discrimination unit 64 discriminates the type of the medicine. The sorting control unit 62 controls the transport / sorting unit 12 to store the medicines in the sorting cups 141 located at the sorting position determined in the process of S53, which corresponds to the type of medicine discriminated by the discrimination unit 64.

[0236] When the medicine sorting process by the sorting control unit 62 is completed, the packaging control unit 71 packages the medicines contained in the second container 14 (S55). Specifically, the packaging control unit 71 selects a sorting cup 141 in a predetermined selection order, and packages the medicines contained in that sorting cup 141. When the packaging process for all the medicines contained in that sorting cup 141 is completed, the packaging process for the medicines contained in the next sorting cup 141 in the selection order is performed. This process is performed for all the sorting cups 141.

[0237] In this way, the sorting control unit 62 determines the sorting position of each medicine based on the discrimination result of the type of medicine so that medicines of the same type are continuously taken out from the sorting cup 141. Therefore, since medicines of the same type can be continuously packaged in this process, it is possible to prevent multiple medicine packages containing medicines of the same type from becoming disorganized in the paper receiving box.

[0238] In the case of this process, the types of all medicines stored in the first storage unit 11 are determined once again before the medicine sorting process. Therefore, it takes more time to complete the medicine sorting process and the packaging process compared to when this process is not performed. However, the process in the medicine sorting device 1 is performed without the need to accept user operation, for example, in the middle of the night. Therefore, it is acceptable that it takes a certain amount of time. On the other hand, after the packaging process is completed, multiple medicine packets containing the same type of medicine are grouped together in the paper receiving box, so that the user's effort in returning the medicines packaged in the medicine packets to the medicine shelf or packaging machine can be significantly reduced.

[0239] In addition, in the case of the above-mentioned method of changing the selection order of the sorting cups 141, there is a possibility that a plurality of medicine packages each containing medicines of the same kind may become scattered in the paper receiving box under certain circumstances. An example of the certain circumstances is a situation in which the number of medicines of the same kind exceeds the maximum number for one sorting cup 141 and there is no empty sorting cup 141.

[0240] Medicines that cannot be sorted into the sorting cups 141 are transported to the waiting tray 15. Then, after the packaging process of all the medicines contained in the sorting cups 141 is completed, the medicines are contained in the sorting cups 141 and then packaged. Therefore, the above-mentioned possibility occurs.

[0241] In this process, the sorting position of the medicine can be determined preferentially so that the medicines of the same type are packaged consecutively, and therefore, it is possible to reliably prevent a plurality of medicine packages containing the same type of medicine from becoming disorganized in the paper receiving box.

[0242] [Embodiment 9] In this embodiment, a configuration for efficiently performing a process for discriminating the type of medicine will be described mainly with reference to FIGS.

[0243] As described above, the discrimination unit 64 analyzes the captured image 82 and performs discrimination processing. For example, when the image of the medicine included in the captured image 82 is not registered in the medicine database 81, If the image of the drug included in the captured image 82 is an image of a drug that is not a discrimination target, When the image of the object included in the captured image 82 is an image of an object other than a drug (e.g., a broken piece of a PTP sheet), or If the captured image 82 is difficult to distinguish even after image analysis (e.g., the image of the drug is blurred), The type of drug cannot be determined or is difficult to distinguish.

[0244] Even in such a case, the discrimination unit 64 performs image analysis on the captured image 82 again and attempts to discriminate the type of medicine (discrimination retry process) until a predetermined upper limit number of times (e.g., 3 times) is reached or a timeout occurs. However, one discrimination process takes several tens of seconds (e.g., about 25 seconds).

[0245] Therefore, in this embodiment, when the discrimination unit 64 performs discrimination retry processing, if a predetermined condition is not satisfied, the discrimination unit 64 does not perform the next discrimination retry processing even if the upper limit number of times has not been reached. In this case, the medicine that was the discrimination target is transported to the collection tray 16. As a result, by not performing the next discrimination retry processing even if the upper limit number of times has not been reached if a predetermined condition is not satisfied, even if the medicines stored in the first storage unit 11 contain objects such as those described above (e.g., medicines not registered in the medicine database 81 (e.g., new medicines), medicines that are not the discrimination target), unnecessary image analysis is not performed on the medicines. Therefore, it is possible to sort the medicines efficiently.

[0246] The case where the above-mentioned predetermined condition is not satisfied is, for example, at least one of the following cases.

[0247] (Condition 1) The result of comparing the color and shape of the drug image in the captured image 82 with the colors and shapes of each drug registered in the drug database 81 (the result of narrowing down based on color and shape) is 0.

[0248] (Condition 2) When matching is performed between the entire captured image 82 (image of the extracted drug) and the entire image of each drug registered in the drug database 81, there are zero cases where the degree of match exceeds a predetermined threshold.

[0249] [Processing example] Fig. 14 is a flowchart showing an example of the discrimination process by the discrimination unit 64. As shown in Fig. 14, the discrimination unit 64 determines whether the number of times the discrimination process has been performed on one medicine (discrimination count) is equal to or less than the upper limit count (S61).

[0250] When it is determined that the number of times is equal to or less than the upper limit number of times (YES in S61), the determination unit 64 determines whether or not the above condition 1 is satisfied (S62). When it is determined that the above condition 1 is satisfied (YES in S62), the determination unit 64 determines whether or not the above condition 2 is satisfied (S63).

[0251] When the discrimination unit 64 determines that the above conditions 1 and 2 are satisfied (YES in S63), it stops the discrimination retry process (S64). Also, when the discrimination unit 64 determines that the discrimination retry count has reached the upper limit count (NO in S61), it stops the discrimination retry process (S64). In this case, the transport control unit 61 controls the transport / sorting unit 12 to transport the medicine that was the subject of discrimination from the imaging unit 13 side to the collection tray 16.

[0252] On the other hand, when the discrimination unit 64 determines that the above condition 1 is not satisfied (NO in S62) or when the discrimination unit 64 determines that the above condition 2 is not satisfied (NO in S63), it performs discrimination processing (S65). When the discrimination unit 64 determines the type of drug (YES in S65), it ends this processing, but when the discrimination unit 64 does not determine the type of drug (NO in S65), it returns to the processing of S61 and attempts to execute discrimination retry processing.

[0253] The determination of whether or not the above conditions 1 and 2 are satisfied may be performed in the reverse order, or may be performed in parallel. In this process, the determination retry process is stopped when the above conditions 1 and 2 are satisfied, but this is not limiting, and the determination retry process may be stopped when either the above conditions 1 or 2 are satisfied.

[0254] The contents and number of the above-mentioned predetermined conditions can be appropriately changed. The predetermined conditions can be set to any conditions as long as they can identify a medicine whose type is highly likely to be unidentifiable even if the identification process is performed multiple times (e.g., a medicine that is not registered in the medicine database 81, a medicine that is not subject to identification).

[0255] [Embodiment 10] In this embodiment, a configuration for efficiently performing a process for determining the type of medicine will be described.

[0256] A polarizing filter (PL filter) (not shown) is provided in front of the lens of the first camera 131. This polarizing filter removes, for example, light that is unnecessary for imaging (e.g., reflected light from the medicine placement stand 133a, and a perpendicular component of visible light emitted from the first irradiating unit 134a (bar illumination)) from the light traveling toward the first camera 131. However, it is difficult for the polarizing filter to remove the circular component of visible light emitted from the second irradiating unit 134b (ring illumination).

[0257] Therefore, when the first camera 131 captures an image of the medicine, an image of the visible light emitted from the second irradiating unit 134b (e.g., an arc-shaped image) may be reflected in the captured image 82. In this case, the discrimination unit 64 may erroneously identify the visible light image as a symbol (e.g., the letter "C," "O," "Q," or "0 (zero)") or the like. In particular, for medicines that are transparent, the image of the visible light from the second irradiating unit 134b is likely to be reflected.

[0258] Therefore, in this embodiment, the threshold value used when performing the comparison using the marking information is set to a different value when the marking information registered in the medicine database 81 indicates one character and when the marking information indicates two or more characters. Specifically, the threshold value used when performing the comparison using the marking information indicating one character is set to a higher value than the threshold value used when performing the comparison using the marking information indicating two or more characters. This can reduce the possibility of misidentification based on the visible light image from the second irradiation unit 134b for medicines with marking information indicating one character. Note that the marking information indicating two or more characters will not be misidentified by the visible light image.

[0259] The threshold value is a comparison target for the degree of coincidence between the imprint information extracted from the captured image 82 and the imprint information registered in the drug database 81, which is calculated by the discrimination unit 64, and may be set to a value that allows accurate identification of the imprint information through experiments, etc. When the discrimination unit 64 determines that the threshold value is exceeded, it selects the drug having the imprint information registered in the drug database 81 as one of the candidates for the discrimination result.

[0260] [Embodiment 11] In this embodiment, a configuration for efficiently performing drug adsorption processing will be described mainly with reference to Fig. 1 and Fig. 15. Fig. 15 is a diagram for explaining an example of drug delivery mechanism 120 of this embodiment. 1501 in Fig. 15 shows a schematic structural example of drug delivery mechanism 120a, which is an example of drug delivery mechanism 120, and an example of its operation. Meanwhile, 1502 in Fig. 15 shows a schematic structural example of drug delivery mechanism 120b, which is an example of drug delivery mechanism 120, of this embodiment, and an example of its operation.

[0261] As shown in 1501 of Fig. 15, the medicine delivery mechanism 120a includes a second camera 121 and an adsorption mechanism 122a. In 1501 of Fig. 15, the second camera 121 is provided on the outside of the housing of the medicine delivery mechanism 120a, but it may be attached inside the housing.

[0262] When the adsorption mechanism 122a adsorbs the drug M, the control unit 60a (specifically, the transport control unit 61, the sorting control unit 62, or the packaging control unit 71) controls the transport / sorting unit 12 to move the drug transport mechanism 120a so that the second camera 121 is positioned above the area containing the drug M. The imaging control unit 63 captures an image of that area. The imaging control unit 63 analyzes the captured image including that area to identify the drug M as the target to be adsorbed.

[0263] Thereafter, the control unit 60a moves the medicine delivery mechanism 120a so that the suction mechanism 122a is positioned above the medicine M, and then causes the suction mechanism 122a to adsorb the medicine M. In 1501 of Fig. 15, the movement distance of the medicine delivery mechanism 120a from when the medicine M is imaged to when it is adsorbed is indicated by d1.

[0264] On the other hand, as shown in 1502 of Fig. 15, medicine delivery mechanism 120b includes second camera 121, suction mechanism 122a, and mirror 128. In 1502 of Fig. 15, second camera 121 and mirror 128 are provided on the outside of the housing of medicine delivery mechanism 120a, but they may be attached inside it.

[0265] The second camera 121 is disposed so that the imaging direction of the second camera 121 is approximately horizontal to the moving direction of the medicine delivery mechanism 120b (a direction approximately perpendicular to the direction in which the adsorption mechanism 122a moves (descends) when adsorbing the medicine M). To achieve this arrangement, the second camera 121 is connected to the medicine delivery mechanism 120b and is supported by a support 121a extending in the above-mentioned moving direction.

[0266] The mirror 128 reflects an image of the drug M located below the drug delivery mechanism 120b toward the second camera 121. In other words, the imaging direction of the second camera 121 is changed from the above-mentioned moving direction to below the drug delivery mechanism 120b. This allows the second camera 121 to image the drug M located below the drug delivery mechanism 120b via the mirror 128.

[0267] The mirror 128 is operably connected to the drug delivery mechanism 120b. Specifically, one end of the mirror 128 is connected to the drug delivery mechanism 120b, and the mirror 128 opens and closes with the one end as a fulcrum. The control unit 60a also operates the mirror 128 in conjunction with the extension operation of the suction mechanism 122a or the movement operation of the drug delivery mechanism 120b.

[0268] The mirror 128 is arranged, for example, at an initial position when the imaging direction of the second camera 121 faces downward of the medicine delivery mechanism 120b. On the other hand, after identifying the medicine to be adsorbed (medicine M), the mirror 128 moves to a position where it does not interfere with the extension operation of the adsorption mechanism 122a when the medicine delivery mechanism 120b moves or when the adsorption mechanism 122a extends toward the medicine M. In this embodiment, the mirror 128 moves toward the second camera 121 side with the one end as a fulcrum.

[0269] The operation of the mirror 128 does not necessarily need to be controlled by the control unit 60a. For example, the mirror 128 may be moved toward the second camera 121 as it is pressed down by the tip (suction pad 122c) of the suction mechanism 122a during the extension operation of the suction mechanism 122a. The mirror 128 may be returned to the initial position as the suction mechanism 122a returns to the medicine delivery mechanism 120b.

[0270] When the adsorption mechanism 122a adsorbs the drug M, the control unit 60a controls the transporting and sorting unit 12 to move the drug transport mechanism 120b so that the mirror 128 is positioned above the area including the drug M. The imaging control unit 63 captures an image of the area via the mirror 128. The imaging control unit 63 analyzes the captured image including the area to identify the drug M as the adsorption target.

[0271] Thereafter, the control unit 60a moves the medicine delivery mechanism 120b so that the suction mechanism 122a is positioned above the medicine M, and then causes the suction mechanism 122a to adsorb the medicine M. When the control unit 60a moves the medicine delivery mechanism 120b or when the suction mechanism 122a extends toward the medicine M, the control unit 60a moves the mirror 128 to a position that does not interfere with the extension action of the suction mechanism 122a. In 1502 of FIG. 15, the movement distance of the medicine delivery mechanism 120b from the time when the medicine M is imaged to the time when it is adsorbed is indicated by d2.

[0272] 15, the medicine transport mechanism 120b equipped with the mirror 128 can reduce the travel distance from when the medicine is imaged to when it is adsorbed (d1>d2) compared to the medicine transport mechanism 120a. Therefore, the time from when the medicine is imaged to when it is adsorbed can be reduced, and the overall processing time of the medicine sorting process can be reduced.

[0273] [Embodiment 12] In this embodiment, mainly using Fig. 1 and Fig. 16, a process is described in the case where an abnormality occurs in various operating mechanisms (e.g., transport / sorting unit 12) or computer 60 of the medicine sorting device 1 during the medicine packaging process, causing the medicine sorting device 1 to abnormally terminate. 1601 in Fig. 16 is a diagram showing a part of the container list image displayed on the display unit 32. 1602 in Fig. 16 is a flow chart showing an example of a process in the case where the medicine sorting device 1 abnormally terminates during the medicine packaging process.

[0274] During the packaging process of the medicine, for some reason, an abnormality may occur in the conveying / sorting unit 12, the packaging mechanism 6, or the computer 60, and the medicine sorting device 1 may terminate abnormally. In this case, medicines that are in the middle of being packaged may remain as remaining medicines in the sorting cup 141, inside the packaging mechanism 6, or in the packaging paper. If the medicine sorting device 1 is restarted with these remaining medicines as they are, various problems may occur. For example, problems may occur in which multiple types of medicines are mixed in one package or an excessive amount of medicine is supplied to one package of packaging paper due to the initialization operation of the packaging mechanism 6. If an excessive amount of medicine is supplied to one package of packaging paper, the medicines that cannot be packaged may overflow into the packaging mechanism 6.

[0275] In this embodiment, if the medicine sorting device 1 abnormally terminates during the medicine packaging process, the packaging control unit 71 causes the packaging mechanism 6 to execute a collecting and packaging operation for the purpose of collecting remaining medicines in the packaging mechanism 6 when the medicine sorting device 1 is restarted. As a result, even if there are remaining medicines in the packaging mechanism 6 after the medicine sorting device 1 abnormally terminates, the medicine sorting device 1 can automatically package the remaining medicines and discharge them from the packaging mechanism 6. Therefore, the possibility of the above-mentioned problems occurring when the medicine sorting device 1 is restarted can be reduced.

[0276] Specifically, when the medicine sorting device 1 is restarted after an abnormal termination, the packaging control unit 71 controls the packaging mechanism 6 to execute a paper feed operation for several packets (e.g., three packets) to prevent the remaining medicine from entering the printed packaging paper. The packaging control unit 71 packages the remaining medicine into the packaging paper that will become the next package after the paper feed operation. As a result, even if there is remaining medicine in the packaging mechanism 6, a package containing only the remaining medicine can be created and discharged from the packaging mechanism 6.

[0277] Furthermore, normally, when the packaging process of the medicines contained in any sorting cup 141 is completed, the packaging control unit 71 rewrites the information stored in the RFID tag of the sorting cup 141. For example, the packaging control unit 71 rewrites the number of medicines contained in the sorting cup 141 to 0. However, if the medicine sorting device 1 abnormally terminates during the packaging process of the medicines, the packaging process of the medicines that were to be packaged at that time is not completed. Therefore, the above-mentioned rewriting is not performed on the RFID tag of the sorting cup 141 that contains the medicine. Therefore, when the medicine sorting device 1 is restarted after the abnormal termination, the number of medicines contained in the sorting cup 141 is not reflected in the information of the RFID tag, and a different number from the actual number may be displayed on the display unit 32.

[0278] Therefore, in this embodiment, when an abnormality occurs in the medicine sorting device 1, the display control unit 67 (notification control unit) notifies the user of the sorting cup 141 (the storage position in the second storage unit) that contains the medicine that was to be packaged when the abnormality occurred. This prevents the medicine sorting device 1 from erroneously notifying the number of medicines stored in the sorting cup 141 when the medicine sorting device 1 is restarted, even if the above-mentioned rewriting is not completed. In addition, the user can recognize the sorting cup 141 that was to be packaged when the medicine sorting device 1 ended abnormally. The sorting cup 141 is also called the abnormality target cup.

[0279] Specifically, the display control unit 67 does not display a specific number of containers at a position corresponding to the sorting cup 141 in the container list image displayed on the display unit 32 when the medicine sorting device 1 is restarted, but displays, for example, "medicine remaining" (see 1601 in FIG. 16). The container list image is an image that diagrammatically represents the multiple sorting cups 141 arranged in the second storage unit 14, and is an image that reflects the storage status of medicines in each sorting cup 141. Note that as long as the presence of the sorting cup 141 can be notified to the user, the notification method is not limited to the above display, and may be a notification by sound output via a speaker, or the like.

[0280] In this embodiment, the RFID control unit 68 rewrites the information stored in the RFID tag of the sorting cup 141 to information indicating that the sorting cup 141 was a packaging target when the medicine sorting device 1 abnormally ended (information indicating that the sorting cup 141 is a target cup when an abnormality occurred). The information stored in the RFID tag of the sorting cup 141 is rewritten to information indicating that the sorting cup 141 is an "invalid cup" in the packaging process after the medicine sorting device 1 is restarted, for example. This allows the user to recognize the sorting cup 141 as a sorting cup 141 in which the packaging process has not been completed due to the medicine sorting device 1 abnormally ending and in which the remaining medicine may still be contained. In addition, when the medicine sorting device 1 is restarted, the display control unit 67 can be prevented from erroneously notifying the number of medicines contained in the sorting cup 141 based on the information of the RFID tag.

[0281] The above-mentioned "medicine remaining" display may be displayed until the user confirms that there is no medicine remaining in the sorting cup 141 and the information in the RFID tag is initialized. The initialization of the information is performed, for example, as follows.

[0282] After confirming that there is no medicine remaining in the sorting cup 141, the user places the sorting cup 141 on the first RFID reader / writer unit 5 and causes the first RFID reader / writer unit 5 to read the information of the RFID tag of the sorting cup 141. After that, the control unit 60a initializes the information of the RFID tag based on the user input via the operation unit 31. The user may also cause the control unit 60a to execute a remaining medicine confirmation function via the operation unit 31. In this case, the control unit 60a causes the second camera 121 to capture images of all the sorting cups 141 and displays the images on the display unit 32. After confirming based on the images that there is no medicine contained in the sorting cup 141, the user causes the control unit 60a to execute initialization of the information of the RFID tags of all the sorting cups 141 via the operation unit 31.

[0283] <Processing example> During the packaging process, the packaging control unit 71 stores in a first area of ​​the memory unit 80 the sorting cup identification information of the sorting cup (sorting cup to be packaged) 141 containing the medicine being packaged.

[0284] If an abnormality occurs in the packaging mechanism 6 or the like for some reason during the packaging process, the packaging control unit 71 stores, in a second area of ​​the storage unit 80, abnormality occurrence information indicating that an abnormality has occurred in the medicine sorting device 1 during the packaging process (S71), as shown in 1602 in Fig. 16. Thereafter, the control unit 60a terminates the operation of the medicine sorting device 1 (S72: termination process). After the termination process, the control unit 60a executes a startup process of the medicine sorting device 1 to resume the packaging process, either automatically or by receiving a user input (S73).

[0285] After starting up the medicine sorting device 1, the packaging control unit 71 determines whether or not abnormality occurrence information is stored in the second area. In this example, abnormality occurrence information is stored in the second area. Therefore, the packaging control unit 71 determines that the previous termination process of the medicine sorting device 1 was performed due to the occurrence of an abnormality in the medicine sorting device 1 (S74). In addition, the packaging control unit 71 identifies the sorting cup 141 containing the medicine that was to be packaged at the time of the termination process as the abnormality target cup by referring to the sorting cup identification information stored in the first area (S75).

[0286] The display control unit 67 displays in the container list image that the sorting cup 141 identified in S75 is a cup that is subject to an abnormality (for example, displays "medicine remaining") (S76). The RFID control unit 68 controls the second RFID reader / writer unit 18 to rewrite the information of the RFID tag of the sorting cup 141 identified in S75 to information indicating that it is a cup that is subject to an abnormality (S77). In addition, the packaging control unit 71 controls the packaging mechanism 6 to perform a collecting and packaging operation (S78). After the collecting and packaging operation is completed, the packaging control unit 71 resumes the packaging process (S79). The processes of S76 to S78 may be performed in any order, or may be performed in parallel.

[0287] [Embodiment 13] In this embodiment, mainly using Fig. 1 and Fig. 17, a process when the drug falls from the suction pad 122c for some reason while the suction mechanism 122a is suctioning and transporting the drug by the suction pad 122c will be described. Specifically, in this embodiment, a configuration related to preventing the drug from falling on the shutter mechanism 122j and a process according to the timing of the drug falling from the suction pad 122c will be described. Fig. 17 is a diagram showing an example of the drug transport mechanism 120 of this embodiment. 1701 in Fig. 17 shows the open state of the shutter mechanism 122j, and 1702 in Fig. 17 shows the closed state of the shutter mechanism 122j.

[0288] <Configuration for preventing medicine from falling off the shutter mechanism 122j> 17, in this embodiment, the medicine delivery mechanism 120 includes an adsorption mechanism 122a, a shutter mechanism 122j, and a flow sensor (not shown). The adsorption mechanism 122a includes an air tube 122b, an adsorption pad 122c, and a cylindrical cover 122k.

[0289] The control unit 60a judges the state of suction of the medicine to the suction pad 122c based on the change in the flow rate of air flowing through the air tube 122b detected by the flow rate sensor. Specifically, when the flow rate detected by the flow rate sensor becomes greater than a predetermined value while the suction mechanism 122a is suctioning the medicine, the control unit 60a judges that the medicine has fallen from the suction pad 122c. In other words, the control unit 60a detects the medicine falling from the suction pad 122c in this case.

[0290] The cylindrical cover 122k, together with the shutter mechanism 122j, prevents the medicine that has fallen from the suction pad 122c from falling from above the shutter mechanism 122j. The cylindrical cover 122k is provided so as to cover the lower region of the suction pad 122c during the medicine delivery. The shape of the cylindrical cover 122k is not limited to a cylinder, and may be various shapes as long as the inside is hollow. As shown in 1702 of FIG. 17, the shutter mechanism 122j functions as a bottom cover of the opening of the cylindrical cover 122k during the medicine delivery. Therefore, when the medicine falls from the suction pad 122c onto the shutter mechanism 122j during the medicine delivery, the shutter mechanism 122j and the cylindrical cover 122k can prevent the medicine from further falling from above the shutter mechanism 122j to below it.

[0291] The medicine that has fallen onto the shutter mechanism 122j can be dropped to the destination of the medicine by opening the shutter mechanism 122j, as shown by 1701 in Fig. 17. However, if the medicine storage opening at the destination is relatively small, the medicine dropped from the shutter mechanism 122j may not enter the storage opening. For example, if the destination is a sorting cup 141, the dropped medicine may not enter the intended sorting cup 141 and may enter another sorting cup 141. If the destination is the medicine inlet 17, if the dropped medicine falls outside the medicine inlet 17, the medicine will not be able to be introduced into the packaging mechanism 6, and the medicine cannot be packaged.

[0292] In this embodiment, when a medicine falls from the suction pad 122c and the medicine receiving opening at the delivery destination is relatively small, the control unit 60a temporarily collects the medicine in a container having a relatively large receiving opening. This reduces the possibility of a mistake or erroneous insertion of the medicine into the receiving opening. Below, a specific process when a medicine falls from the suction pad 122c will be described for each medicine delivery route associated with the medicine sorting process or packaging process.

[0293] <Processing according to timing of dropping of medicine from suction pad 122c> First, when sorting the medicines stored in the first storage unit 11, the transport control unit 61 or the sorting control unit 62 (i) transports the medicines from the first storage unit 11 to the medicine placement stand 133a. Thereafter, the medicines whose types have been identified are (ii) transported from the medicine placement stand 133a to the second storage unit 14 (sorting cup 141). On the other hand, the medicines identified as suspected medicines are (iii) transported from the medicine placement stand 133a to the waiting tray 15 or the collection tray 16.

[0294] In the above cases (i) and (ii), the medicine is transported to the medicine placement table 133a or the sorting cup 141. The medicine placement table 133a and the sorting cup 141 are containers with a relatively small storage opening (opening) (e.g., a container with a storage opening equal to or smaller than the inner diameter of the cylindrical cover 122k). Therefore, when the control unit 60a detects a medicine falling from the suction pad 122c during the above cases (i) and (ii) of medicine transport, the transport control unit 61 or the sorting control unit 62 changes the destination of the medicine to the first storage unit 11 (i.e., the source of transport), whose storage opening is sufficiently larger than the inner diameter of the cylindrical cover 122k. This reduces the possibility of the medicine being inserted incorrectly or erroneously.

[0295] On the other hand, the storage openings of the waiting tray 15 and the collection tray 16 are sufficiently large relative to the inner diameter of the cylindrical cover 122k, so there is a low possibility of an error in putting medicine into the waiting tray 15 and the collection tray 16. Therefore, when a medicine has fallen from the suction pad 122c during the medicine transport in the above (iii), the sorting control unit 62 transports the medicine to the waiting tray 15 or the collection tray 16 without changing the transport destination.

[0296] Next, when sorting the medicines stored in the waiting tray 15, the transport control unit 61 or the sorting control unit 62 transports the medicines (iv) from the waiting tray 15 to the medicine placing stand 133a. Thereafter, as in the above (ii) or (iii), the medicines whose type has been identified are transported (v) from the medicine placing stand 133a to the second storage unit 14 (sorting cup 141). On the other hand, the medicines identified as suspected medicines are transported (vi) from the medicine placing stand 133a to the waiting tray 15 or the collection tray 16.

[0297] As in the above (i) to (iii), if a medicine has fallen off the suction pad 122c during the above medicine transport (iv) and (v), the transport control unit 61 or the sorting control unit 62 changes the destination of the medicine to the waiting tray 15 (i.e., the source of the medicine). On the other hand, if a medicine has fallen off the suction pad 122c during the above medicine transport (vi), the sorting control unit 62 transports the medicine to the waiting tray 15 or the collection tray 16 without changing the destination.

[0298] Furthermore, when the medicine sorting device 1 is equipped with a packaging mechanism 6, the medicines sorted into each sorting cup 141 are (vii) transported from the second storage section 14 (sorting cup 141) to the medicine insertion port 17. The opening of the medicine insertion port 17 is equal to or smaller than the inner diameter of the cylindrical cover 122k. Therefore, when a medicine has fallen from the suction pad 122c during the medicine transport of (vii) above, the packaging control section 71 changes the destination of the medicine to the first storage section 11. This reduces the possibility of a mistake in inserting the medicine into the medicine insertion port 17. Moreover, the control section 60a can re-execute packaging processing for the medicine by collecting the medicine that has fallen from the suction pad 122c in the first storage section 11.

[0299] When the medicine that has fallen from the suction pad 122c during the above-mentioned (vii) transport is collected in the first container 11, the printout control unit 69 may print in the journal the total number of medicines to be packaged and the number of medicines collected in the first container 11. In this case, the user can know the number of medicines packaged (i.e., the presence and number of medicines that have not been packaged). In other words, the control unit 60a can notify the user that a predetermined number of medicines to be packaged (the number of medicines contained in the sorting cup 141) have not been packaged.

[0300] [Embodiment 14] In this embodiment, mainly using Figures 1 and 18, a configuration is described that reduces the possibility that a drug will fly out of the sorting cup 141 for some reason and enter another sorting cup 141 during the adsorption operation of the adsorption mechanism 122a to adsorb the drug.

[0301] As shown in Fig. 18, the medicine sorting device 1 may include a storage unit lifting mechanism 142. Fig. 18 is a diagram showing a configuration example of the storage unit lifting mechanism 142 of this embodiment. 1801 in Fig. 18 shows a configuration example of the storage unit lifting mechanism 142 of this embodiment, and 1802 and 1803 in Fig. 18 are diagrams for explaining the operation of the storage unit lifting mechanism 142.

[0302] As shown in 1801 of FIG. 18, the second storage section 14 includes a tray 143 for setting the sorting cup 141. The tray 143 includes an upper plate 143a, a bottom plate 143b, and a support 143c. The upper plate 143a is formed with a hole for determining the holding position of the sorting cup 141. The bottom plate 143b is a member for holding the bottom of the sorting cup 141. The upper plate 143a and the bottom plate 143b are connected to each other via a plurality of supports 143c so that they are arranged in parallel with a predetermined interval. The shape of the tray 143 is not limited to the above-mentioned shape, and may be any shape that can hold the sorting cup 141.

[0303] The storage section lifting mechanism 142 is, for example, a solenoid, and includes a plunger 142a. The storage section lifting mechanism 142 is arranged so as to support a bottom plate 143b (bottom surface) of the tray 143. A plurality of storage section lifting mechanisms 142 may be arranged at intervals to maintain the horizontality of the tray 143. FIG. 18 shows an example in which four storage section lifting mechanisms 142 are arranged near the four corners of the tray 143, but the number and locations of the storage section lifting mechanisms 142 are not limited to the configuration in FIG. 18.

[0304] As described above, the sorting control unit 62 controls the transport / sorting unit 12 to transport the medicine transporting mechanism 120 to a predetermined sorting cup 141. At this point, as shown in 1802 of FIG. 18, a gap D exists between the medicine transporting mechanism 120 and the sorting cup 141 (specifically, between the shutter mechanism 122j and the upper end of the sorting cup 141). Next, the medicine adsorption control unit 72 lowers the adsorption mechanism 122a toward the medicine in order to adsorb the medicine contained in the sorting cup 141. If the gap D exists and the adsorption mechanism 122a fails to adsorb the medicine, the medicine may fly out of the sorting cup 141 and enter another sorting cup 141.

[0305] In this embodiment, the medicine adsorption control unit 72 controls the container lifting mechanism 142 before or at the same time as lowering the adsorption mechanism 122a toward the medicine, and moves the plunger 142a toward the tray 143, thereby lifting the tray 143. This narrows the gap D, as shown by 1803 in Fig. 18. This reduces the possibility that the medicine will jump out of the sorting cup 141 if the adsorption mechanism 122a fails to adsorb the medicine during the above-mentioned adsorption operation.

[0306] When the drug adsorption process is completed, the drug adsorption control unit 72 controls the container lifting mechanism 142 to move the plunger 142a in a direction away from the tray 143 (rearward direction), thereby lowering the tray 143.

[0307] [Embodiment 15] In this embodiment, a configuration will be described that reduces the possibility that a medicine that has been unsuccessfully picked from a sorting cup 141 will fly out and enter another sorting cup 141 and be packaged together with other medicines.

[0308] When medicines are packaged, the medicines sorted into each sorting cup 141 are sucked by the suction mechanism 122a of the transport / sorting unit 12 and removed from the sorting cup 141. The medicines removed from the sorting cup 141 are transported to the medicine inlet 17 and packaged by the packaging mechanism 6 (see FIG. 2). The medicines to be sucked may be repelled by the medicine suction action of the suction mechanism 122a, and may fly out of the sorting cup 141 in which they are contained, and may end up in another sorting cup 141. Furthermore, the medicines to be sucked may be repelled by the above suction action from the sorting cup 141, and may end up in another sorting cup 141.

[0309] In this case, the user can know that the packaging was not performed properly by, for example, checking that the journal output after packaging is complete contains information notifying the user of the packaging abnormality. However, since the above information may be overlooked, it is important to reduce the possibility that different types of medicines will be placed in the sorting cup 141 and multiple types of medicines will be packaged together.

[0310] As in the above-described embodiment, the medicine sorting device 1 of this embodiment includes a first storage section 11 that stores a plurality of types of medicines, and a second storage section 14 that stores the medicines by type in a plurality of sorting cups 141 (compartments). The medicine sorting device 1 of this embodiment also includes a packaging mechanism 6 that packages the medicines stored in the second storage section 14, and a transport / sorting unit 12 (first transport section).

[0311] In this embodiment, when at least one first drug and at least one second drug are contained in the second container 14, the transporting / sorting unit 12 transports all of the second drugs to the drug inlet 17 (inlet section) and then transports the first drug to the drug inlet 17. Here, the first drug is a drug that is identified as having a high probability of jumping out of the sorting cup 141 when the drug is removed from the sorting cup 141 (when the drug is adsorbed by the adsorption mechanism 122a). The second drug is a drug that is identified as having a low probability of jumping out of the sorting cup 141 when the drug is removed from the sorting cup 141.

[0312] Whether or not a drug is the first drug is considered to depend on, for example, the shape, size, and type of surface coating of the drug. Therefore, it is possible to determine in advance whether each drug is the first drug or the second drug. In this embodiment, each drug data included in the drug database 81 includes information indicating whether each drug is the first drug or the second drug.

[0313] Before the packaging process is performed, the user uses the touch panel 3 to visually inspect the medicines stored in each sorting cup 141 based on the captured image 82. When the visual inspection is performed, the type of medicine stored in each sorting cup 141 is uniquely identified. Information (medicine data) indicating the type of each sorting cup 141 is linked to the sorting cup identification information and stored in the memory unit 80. Therefore, the packaging control unit 71 can determine whether or not a sorting cup 141 in which a first medicine is stored exists by referring to the memory unit 80. Then, when the sorting cup 141 exists, the packaging control unit 71 controls the transport / sorting unit 12 to transport all of the second medicine to the medicine insertion port 17 in priority to the first medicine.

[0314] More specifically, the packaging control unit 71 first controls the transporting and sorting unit 12 to feed the second medicine into the medicine input port 17, and then controls the packaging mechanism 6 to package the input second medicine into a predetermined amount. The packaging control unit 71 repeats this process until packaging of all of the second medicines contained in one or more sorting cups 141 is completed. When packaging of the second medicine is completed, the packaging control unit 71 controls the transporting and sorting unit 12 to feed the first medicine into the medicine input port 17, and performs packaging processing of the first medicine in the same manner as the second medicine. The packaging control unit 71 determines the order of the sorting cups 141 that the suction mechanism 122a accesses to take out the medicine so as to realize the transport.

[0315] As described above, by packaging the second medicine first, even if the first medicine pops out when adsorbing it, the popped out first medicine will be placed in an empty sorting cup 141 that has already been packaged. In other words, the possibility that the second medicine will be packaged together with the first medicine that pops out of sorting cup 141 can be reduced.

[0316] Furthermore, the base 19 on which the first storage unit 11 and the second storage unit 14 are arranged is provided with a medicine inlet 17 (inlet unit) into which the medicine to be transported to the packaging mechanism 6 is input. When the medicine transported from the first storage unit 11 to the second storage unit 14 is the first medicine, the transporting / sorting unit 12 (second transport unit) transports the first medicine to a sorting cup 141 located away from the medicine inlet 17 in the second storage unit 14.

[0317] Specifically, for example, when the medicine whose type is identified by the discrimination unit 64 is the first medicine, the sorting control unit 62 controls the transport of the first medicine by the transport / sorting unit 12 so that the first medicine is stored in a sorting cup 141 located away from the medicine inlet 17. The sorting cup 141 located away from the medicine inlet 17 may be, for example, a sorting cup 141 located in any row other than row A in the plan view of FIG. 12. Alternatively, the first medicine may be transported preferentially to the sorting cup 141 on the row F side, with the order from row F to row A being the priority order.

[0318] With the above configuration, the first drug is contained in sorting cup 141 located away from drug inlet 17, so that even if the first drug pops out when being adsorbed, the possibility of the first drug entering drug inlet 17 can be reduced.

[0319] Furthermore, even when multiple types of first medicines are stored in the first storage section 11 as medicines to be transported to the second storage section 14, the transporting / sorting unit 12 may transport the first medicines preferentially to the sorting cups 141 on the row F side. In this case, different types of first medicines are transported to different sorting cups 141 in the second storage section 14. However, if the first medicines are transported to adjacent sorting cups 141, there is a possibility that the first medicines that pop out during adsorption may end up in the adjacent sorting cups 141.

[0320] Therefore, the transporting / sorting unit 12 (third transporting section) may transport the drugs so that different types of first drugs are stored in sorting cups 141 located at separate positions in the second storage section 14.

[0321] Specifically, for example, the sorting control unit 62 controls the transport of the first medicines by the transport / sorting unit 12 so that the multiple types of first medicines in the first storage unit 11 are contained in sorting cups 141 located at positions spaced apart from each other in the second storage unit 14. For example, if the first storage unit 11 contains three types of first medicines, the sorting control unit 62 may determine the sorting positions so that the medicines are contained in sorting cups 141 located at positions F1, F4, and F7, respectively, in the plan view of FIG.

[0322] With the above configuration, when multiple types of first drugs are stored in the second storage section 14, even if a first drug pops out during adsorption, the possibility of the popped out first drug being mixed into the sorting cup 141 storing different types of first drugs can be reduced.

[0323] In addition, although the conveying / sorting unit 12 has been described as having the functions of the first conveying section, the second conveying section, and the third conveying section, this is not limited thereto. The functions of the first conveying section, the second conveying section, and the third conveying section may be realized by separate units.

[0324] In the present embodiment, the control unit 60a may include a determination unit 75. When transporting a medicine from the second container 14 to the packaging mechanism 6, the determination unit 75 determines whether or not any medicine contained in the second container 14 remains after the transport operation for all compartments of the second container 14 is completed.

[0325] When the first medicine pops out during the transport of the first medicine from the second storage unit 14 to the packaging mechanism 6, the popped out first medicine remains in the second storage unit 14. In this embodiment, the imaging control unit 63 controls the second camera 121 (see reference numeral 8003 in FIG. 8) to sequentially capture images of all the sorting cups 141 in the second storage unit 14 in order to identify the presence or absence of medicine in the second storage unit 14. The number of medicines stored in each sorting cup 141 (the number of stored medicines) is stored in the memory unit 80 in association with the sorting position. The packaging control unit 71 counts the number of medicines (the number of input medicines) input from each sorting cup 141 to the medicine input port 17, and stores the number of medicines in the memory unit 80 in association with the sorting position. When the number of stored medicines stored in the memory unit 80 differs from the number of input medicines, the imaging control unit 63 may control the second camera 121 to sequentially capture images of all the sorting cups 141. The determination unit 75 determines whether or not medicine is present in each sorting cup 141 based on the image captured by the second camera 121.

[0326] The sorting cup 141 (cup with remaining medicine) in which the determination unit 75 has determined that medicine is present is linked to the sorting cup identification information and stored in the storage unit 80. The sorting control unit 62 transports medicine to a sorting cup 141 other than the cup with remaining medicine in the next or subsequent medicine sorting process based on the sorting cup identification information.

[0327] Furthermore, when the display control unit 67 (notification control unit) determines that medicine remains in any of the sorting cups 141 in the second container unit 14, it notifies the user of the sorting cup 141 in which the medicine remains. Specifically, when the medicine sorting device 1 is restarted, the display control unit 67 displays, for example, "Remaining medicine" at a position corresponding to the sorting cup 141 that the determination unit 75 has determined to have remaining medicine (see 1601 in FIG. 16).

[0328] The display control unit 67 may notify the user of a sorting cup 141 in which the number of stored medicines stored in the memory unit 80 differs from the number of medicines added, when the number of stored medicines differs from the number of medicines added.

[0329] As another configuration for not using a cup with remaining medicine in the next or subsequent medicine sorting process, the following configuration may be adopted. That is, the RFID control unit 68 may rewrite the information stored in the RFID tag of the sorting cup 141 in which the determination unit 75 has determined that medicine is present, to information indicating that the sorting cup is an "invalid cup" as described above (see embodiment 12). This prevents the sorting cup 141 from being used in the medicine sorting process until the user confirms that there is no remaining medicine in the sorting cup 141 and the information in the RFID tag is initialized.

[0330] In any of the above-mentioned configurations in which the cup with remaining medicine is not used in the next or subsequent medicine sorting process, the possibility that the first medicine is mixed with another medicine and packaged can be further reduced. Specifically, even if the user overlooks the information in the journal notifying the user of the packaging abnormality, the sorting cup 141 in which the protruding first medicine remains can be prevented from being used in the subsequent packaging process.

[0331] [Embodiment 16] In the present embodiment, when the packaging mechanism 6 dispenses medicine packets containing individually packed medicines in a continuous band (a series of sheets), a configuration for increasing the number of medicine packets included in the series of sheets will be described.

[0332] The packaging control unit 71 controls the packaging mechanism 6 to package the medicines input from the medicine input port 17 into a predetermined number of packages, cut them into a predetermined number of packages (e.g., two packages), and store them in a paper receiving box (not shown). Cutting two packages at a time reduces the possibility of the medicine packages coming into contact with the components constituting the medicine sorting device 1 or the bottom surface of the medicine sorting device 1, preventing the medicine packages from being discharged normally and causing packaging errors. However, when there are many medicines of the same type, the sheets may separate, which may reduce the efficiency of subsequent work by the user.

[0333] In this embodiment, by changing the shape of a part of the packaging mechanism 6, it is possible to dispense a number of medicine packages (for example, four packages) greater than the above-mentioned predetermined number as a series of sheets.

[0334] The packaging mechanism 6 includes a variable roller and a medicine package guide (both not shown). The medicine package discharged via the variable roller is guided by the medicine package guide and stored in a paper receiving box.

[0335] In a configuration for cutting two packets at a time, the medicine package guide includes a support portion, a guide portion, and an opposing guide portion. The support portion is a plate-like member having a rectangular shape extending in the traveling direction (extension direction) of the medicine package discharged from the variable roller, and supports the medicine package. The guide portion is a plate-like member standing approximately perpendicularly from one side of the support portion that is approximately parallel to the extension direction, and determines the traveling direction of the medicine package while supporting the medicine package discharged from the variable roller.

[0336] The opposing guide portion is a plate-like member that is provided in a position facing the guide portion in the support portion, stands substantially perpendicularly from the support portion, and prevents the medicine package from falling from the side of the support portion where the opposing guide portion is provided. In addition, one side of the support portion (the side where the guide portion is provided) that is substantially parallel to the above-mentioned extension direction constitutes the bottom of the medicine package guide, and the relative position of the medicine package guide with respect to the variable roller is specified so that the medicine package discharged from the variable roller moves along the bottom.

[0337] In this embodiment, the length of the support part in the extension direction is set to be shorter than the length of the guide part in the extension direction. In addition, a notch is formed near the opposing guide part on one side of the support part that is distal from the variable roller. Furthermore, the side of the support part on which the opposing guide part is provided constitutes the bottom of the medicine package guide, and the relative position of the medicine package guide with respect to the variable roller is set so that the medicine package discharged from the variable roller moves along the bottom. In other words, the notch is formed at the position of the bottom that is furthest from the variable roller. Therefore, by setting the relative position, the medicine package discharged from the variable roller can be efficiently guided to the notch.

[0338] With the above configuration, even if a series of sheets including four medicine packets are dispensed, it is possible to reduce the possibility of the medicine packets coming into contact with the components or bottom surface of the medicine sorting device 1, causing packaging abnormalities. Furthermore, by being able to dispense a series of sheets including four medicine packets, it is possible to improve the efficiency of subsequent work by the user.

[0339] [Embodiment 17] In this embodiment, an example of the operation control of the conveying / sorting unit 12 will be described.

[0340] As shown by reference numeral 2002 in FIG. 2, the conveying control unit 61 controls the movement of the conveying / sorting unit 12 in the XY direction to move the conveying / sorting unit 12 on the XY plane. Due to the positional relationship between the conveying / sorting unit 12 and the imaging unit 13, there is an area in the XY plane on which the conveying / sorting unit 12 moves where the conveying / sorting unit 12 and the imaging unit 13 interfere with each other. Therefore, in order to avoid passing through the area, the conveying / sorting unit 12 is controlled to move along a route that passes through a predetermined position (relay position) on the XY plane. When passing through a relay position, the conveying / sorting unit 12 continues moving by stopping once at the relay position and then restarting. Therefore, it takes more time than when the conveying / sorting unit 12 moves directly to the destination position. In addition, the stopping and restarting operations cause vibrations in the conveying / sorting unit 12 and the medicine sorting device 1, which may cause problems such as medicines falling during conveying or blurring of the captured image 82 when the imaging unit 13 captures the image.

[0341] When a brushless motor is used as the motor for moving the conveying and sorting unit 12, the position tracking ability for the output pulses that control the conveying and sorting unit 12 is poor, so the conveying and sorting unit 12 is moved via a relay position where interference can be reliably avoided. On the other hand, in this embodiment, a stepping motor is used as the motor for moving the conveying and sorting unit 12. This improves the tracking ability of the position control of the conveying and sorting unit 12 compared to when a brushless motor is used, so that the operation control described below can be adopted.

[0342] In one example of the operation control of this embodiment, the positional relationship between the start position of the movement of the transporting / sorting unit 12 and the destination position allows the transporting / sorting unit 12 to be moved while avoiding interference with the imaging unit 13 without having to pass through an intermediate position.

[0343] First, an arbitrary point on the XY plane is determined as a reference point. The reference point is determined in consideration of the sizes and movement ranges of the transporting / sorting unit 12 and the imaging unit 13, and is used as a reference for determining the possibility of interference between the transporting / sorting unit 12 and the imaging unit 13.

[0344] For example, the transport control unit 61 judges whether the transport / sorting unit 12 can move while avoiding the interference without passing through the relay position based on the positional relationship between the movement start position, the destination position, and the Y coordinate of the reference point. When the transport control unit 61 judges that the interference can be avoided without passing through the relay position, the transport control unit 61 moves the transport / sorting unit 12 directly to the movement position without passing through the relay position. In this case, the movement time of the transport / sorting unit 12 can be shortened. In addition, in a route that omits the relay position, the number of stops and restarts of the transport / sorting unit 12 is reduced, thereby suppressing vibration of the transport / sorting unit 12 and the entire drug sorting device 1. Therefore, the possibility of dropping of drugs and a decrease in identification accuracy due to blurring in imaging can be reduced.

[0345] In addition, when the transport control unit 61 determines that the interference cannot be avoided without passing through the relay position, the transport control unit 61 may control the movement of the transport / sorting unit 12 in the X direction and the Y direction based on the positional relationship between the movement start position, the destination position, and the X coordinate of the reference point. More specifically, in controlling the movement of the transport / sorting unit 12, the transport control unit 61 may first move the transport / sorting unit 12 only in the X direction, and then add a movement operation in the Y direction to the movement operation in the X direction from an arbitrary position. Note that, based on the positional relationship between the movement start position, the destination position, and the X coordinate of the reference point, the transport control unit 61 may control the movement of the transport / sorting unit 12 in the Y direction to precede the movement. In this case, the transport control unit 61 can also move the transport / sorting unit 12 to the destination position without passing through the relay position (without stopping once). This can shorten the movement path and the movement time.

[0346] [Embodiment 18] In this embodiment, a configuration will be described in which medicines sorted by the medicine sorting device 1 include medicines that are sensitive to heat.

[0347] Among the medicines sorted by the medicine sorting device 1, there are some that are heat-sensitive and may discolor when exposed to heat. The heat-sensitive medicines may discolor due to the heat they receive from the medicine sorting device 1 or the packaging mechanism 6 during a series of steps related to the sorting process and packaging process. For simplicity, the heat-sensitive medicines will be referred to below as "medicines that require caution when heated."

[0348] Whether or not a medicine is a medicine requiring heating is considered to depend on, for example, the type of coating on the surface of the medicine. Therefore, it is possible to determine in advance whether or not a medicine is a medicine requiring heating for each type of medicine. In this embodiment, each medicine data included in the medicine database 81 includes information indicating whether or not the medicine is a medicine requiring heating.

[0349] The packaging control unit 71 determines whether or not to transport the medicine sorted in the sorting cup 141 of the second container 14 to the medicine input port 17, depending on information indicating whether or not the medicine is a medicine that requires heating. If the packaging control unit 71 determines that the medicine sorted in the sorting cup 141 is not a medicine that requires heating, it transports the medicine in the sorting cup 141 to the medicine input port 17. If the packaging control unit 71 determines that the medicine sorted in the sorting cup 141 is a medicine that requires heating, it does not transport the medicine in the sorting cup 141 to the medicine input port 17.

[0350] The print output control unit 69 may print information about the sorting cup 141 that the packaging control unit 71 has determined not to convey to the medicine insertion port 17 in the journal. The information includes, for example, the sorting cup identification information (e.g., sorting cup number), the name of the medicine stored in the sorting cup 141, the number of medicines stored, and the reason why the medicine was not packaged (e.g., the presence of a medicine that requires heating). Furthermore, the display control unit 67 may notify the user that a medicine that requires heating remains in the sorting cup 141 by displaying information about the sorting cup 141 on the touch panel 3. Furthermore, the contents printed in the journal and the contents displayed on the screen by the display control unit 67 may include printing or display urging the user to move the medicine that requires heating remaining in the sorting cup 141 to a tablet cassette or medicine shelf of the packaging machine.

[0351] With the above configuration, by not transporting medicines requiring heating caution to the packaging mechanism 6, it is possible to reduce the possibility that the medicines requiring heating caution will be affected by heat from the heater roller during packaging processing and discolored.

[0352] [Embodiment 19] In this embodiment, a configuration for correcting the maximum distance that the suction mechanism 122a can be lowered will be described.

[0353] The medicine delivery mechanism 120 controls the approach of the suction mechanism 122a to the medicine. The maximum distance that the suction mechanism 122a can descend to approach the medicine is set according to the distance between the XY plane (predetermined reference plane) on which the medicine delivery mechanism 120 moves and the plane of the bottom plate 143b (see FIG. 18) of the tray 143 that contains the sorting cup 141. The above-mentioned distance that the suction mechanism 122a can descend is also referred to as the maximum descending distance.

[0354] If there is an inclination between the reference surface and the plane of the bottom plate 143b due to machine differences during manufacturing, an error may occur in the adsorption of medicine by the adsorption mechanism 122a when the amount of medicine in the sorting cup 141 is small. For example, consider a case where the position of the sorting cup 141 is higher than the position of the sorting cup 141 when the inclination does not occur due to the inclination between the reference surface and the plane of the bottom plate 143b. In this case, there is a possibility that the adsorption mechanism 122a may be too close to the bottom surface of the sorting cup 141 and suck up the bottom surface of the sorting cup 141. In addition, if the position of the sorting cup 141 is lower than the position of the sorting cup 141 when the inclination does not occur, if the medicine to be adsorbed is a small medicine, the medicine may not be adsorbed.

[0355] In this embodiment, the suction mechanism 122a (removal unit) removes the medicine contained in the sorting cup 141 by ascending and descending relative to the sorting cup 141, similar to the above-described embodiment. Also, in this embodiment, the control unit 60a includes a measurement unit 76 and a distance determination unit 77, as shown in FIG.

[0356] The measurement unit 76 measures the distance between the initial position of the suction mechanism 122a before it descends and the bottom surface of the sorting cup 141 for at least two sorting cups 141 arranged in the second storage unit 14. The initial position may be a position on the reference plane directly above the sorting cup 141.

[0357] The distance determination unit 77 determines the distance measured by the measurement unit 76 as the maximum descent distance of the suction mechanism 122a for each of the at least two sorting cups 141. In addition, the distance determination unit 77 calculates the maximum descent distance of the suction mechanism 122a for sorting cups 141 other than the at least two sorting cups 141 based on the measurement results of the measurement unit 76.

[0358] The suction mechanism 122a descends the distance measured by the measurement unit 76 as the maximum descending distance for each of the at least two sorting cups 141. In addition, the suction mechanism 122a descends the sorting cups 141 other than the at least two sorting cups 141 as the maximum descending distance as the distance calculated from the measurement result of the measurement unit 76.

[0359] As a specific example, the control in which the measurement unit 76 controls the push-in detection unit 126 provided in the medicine conveying mechanism 120 to measure the distance between the initial position before descent and the bottom surface of the sorting cup 141 is described with reference to Figures 8 and 12.

[0360] The drug adsorption control unit 72 lowers the suction mechanism 122a toward the bottom surfaces of the sorting cups 141 in the second storage unit 14 that are located at positions A-1, F-1, and F-7 in Fig. 12. When the suction mechanism 122a contacts the bottom surfaces of the sorting cups 141 at A-1, F-1, and F-7, respectively, the push-in detection unit 126 detects the push-in. The measurement unit 76 measures the distance by which the suction mechanism 122a has been lowered until the push-in detection unit 126 detects the push-in.

[0361] The distance determination unit 77 determines the distance measured as described above as the maximum descent distance of the suction mechanism 122a for each of the sorting cups 141 A-1, F-1, and F-7. In addition, the distance determination unit 77 calculates the maximum descent distance of the suction mechanism 122a based on the measurement results of the measurement unit 76 for the sorting cups 141 other than A-1, F-1, and F-7.

[0362] Here, A-1, F-1, and F-7 are three points near the corners of the second storage unit 14 when the second storage unit 14 is viewed in a plan view. By measuring the distance between the initial position and the bottom surface of the sorting cup 141 at these three points, the distance determination unit 77 can calculate, for example, the inclination of the second storage unit 14 (e.g., bottom plate 143b) with respect to a horizontal plane based on a reference point (e.g., A-1). By calculating this inclination, the distance between the initial position and the bottom surface of the sorting cup 141 at positions of the sorting cup 141 other than A-1, F-1, and F-7 can be calculated as the maximum descent distance.

[0363] With the above configuration, even if there is an inclination between the reference plane and the plane of the bottom plate 143b due to machine differences during manufacturing, the height of the bottom surface of each sorting cup 141 caused by the inclination can be corrected. This allows the adsorption of medicine by the adsorption mechanism 122a to be performed more stably.

[0364] Although the above describes the case where the push-in detection unit 126 is used to measure the distance to each sorting cup 141, the measurement unit 76 may also measure the distance between the suction mechanism 122a and the bottom surface of the sorting cup 141 using a distance measuring sensor 127 (see 8003 in Figure 8).

[0365] Furthermore, the above-mentioned maximum descent process determination process is performed immediately after the start of the medicine sorting device 1, but is not limited to this. For example, it may be performed before the medicines are removed from the first container 11 or after the packaging process.

[0366] [Software implementation example] The control block of the medicine sorting device 1 (particularly, each part of the control unit 60a) may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be realized by software.

[0367] In the latter case, the medicine sorting device 1 includes a computer that executes instructions of a program, which is software that realizes each function. The computer includes, for example, one or more processors, and a computer-readable recording medium that stores the program. The computer reads the program from the recording medium and executes it, thereby achieving the object of the present invention. The processor can be, for example, a CPU (Central Processing Unit). The recording medium can be a "non-transient tangible medium", such as a ROM (Read Only Memory), a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like. The device may further include a RAM (Random Access Memory) that expands the program. The program may be supplied to the computer via any transmission medium (such as a communication network or a broadcast wave) that can transmit 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.

[0368] [Problem and alternative expression according to one embodiment of the present disclosure] Patent Document 1 does not disclose a process that takes into consideration the efficiency of taking out medicines such as tablets or capsules, or a configuration for realizing the process.Furthermore, it does not disclose a process for monitoring the storage status of a temporary storage unit that temporarily stores medicines such as tablets or capsules without sorting, or a configuration for realizing the process.

[0369] An aspect of the present invention aims to realize a drug removal device or drug adsorption device capable of improving drug removal efficiency.Another aspect of the present invention aims to realize a drug sorting device capable of executing packaging processing according to the storage status of the temporary storage unit.Another aspect of the present invention aims to realize a drug sorting device capable of allowing a user to recognize the storage position in the second storage unit that contains the drug to be packaged when an abnormality occurs in the drug sorting device during packaging processing.

[0370] A drug extraction device according to one embodiment of the present invention comprises a drug adsorption unit that adsorbs a drug contained in a storage unit by moving to the storage unit that stores the drug, and a drug adsorption control unit that controls the approach of the drug adsorption unit to the drug when adsorbing the drug, and controls the drug adsorption unit to re-approach the drug when adsorption of the drug fails, and the drug adsorption control unit is capable of changing the speed just before the drug adsorption unit comes into contact with the drug to a first speed at the time of the approach and to a second speed smaller than the first speed at the time of the re-approach.

[0371] Furthermore, 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 temporary storage unit that temporarily places drugs that cannot be stored in the second storage unit, 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 an image captured by the imaging unit, a sorting unit that stores the drugs in the second storage unit or the temporary storage unit based on the discrimination result by the discrimination unit or the storage status of the drugs in the second storage unit, and a packaging mechanism that packages the drugs sorted into the second storage unit when the temporary storage unit is full of the drugs.

[0372] Furthermore, a drug adsorption device according to one embodiment of the present invention is a drug adsorption device that adsorbs a drug contained in a storage section by moving to the storage section that stores the drug, and is equipped with an adsorption section for adsorbing the drug, a moving mechanism that moves the adsorption section so that the adsorption section approaches the drug, and a retraction mechanism that allows the adsorption section to retract in a direction different from the direction of movement when coming into contact with the drug due to a reaction force that the adsorption section receives as the adsorption section moves and comes into contact with the drug.

[0373] Furthermore, a drug sorting device according to one embodiment of the present invention is a drug sorting device that sorts several types of drugs, and includes a first storage unit that stores the multiple types of drugs, a second storage unit that stores the drugs sorted by type, a packaging mechanism that packages the drugs sorted in the second storage unit, and a notification control unit that, if an abnormality occurs in the drug sorting device while the drugs are being packaged by the packaging mechanism, notifies a user of the storage position in the second storage unit that contains the drug to be packaged when the abnormality occurred.

[0374] Furthermore, 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 by type in each of multiple compartments, a packaging mechanism that packages the drugs stored in the second storage unit, an input unit that is provided on a base on which the first storage unit and the second storage unit are arranged and into which drugs to be transported to the packaging mechanism are input, and a first transport unit that, when the second storage unit contains at least one first drug identified as having a high probability of jumping out of the compartment when the drug is removed from the compartment, and at least one second drug identified as having a low probability of jumping out of the compartment, transports all of the second drugs to the input unit and then transports the first drug to the input unit.

[0375] In addition, a drug sorting device according to one embodiment of the present invention includes a first storage section that stores multiple types of drugs, a second storage section that stores the drugs by type in each of multiple compartments, an extraction section that removes the drugs stored in the compartments by raising and lowering relative to the compartments, and a measurement section that measures the distance between the initial position of the extraction section before descending and the bottom surface of the compartment in at least two of the compartments, wherein for each of the at least two compartments, the extraction section descends using the distance measured by the measurement section as a maximum descent distance, and for compartments other than the two compartments, the extraction section descends using a distance calculated from the measurement results of the measurement section as a maximum descent distance.

[0376] According to the drug extraction device or drug adsorption device of one aspect of the present invention, it is possible to improve the drug extraction efficiency.

[0377] Furthermore, according to the medicine sorting device according to one aspect of the present invention, the packaging process can be performed according to the storage status of the temporary storage unit.

[0378] In addition, a drug sorting device according to one embodiment of the present invention can allow a user to recognize the storage position in the second storage section that contains the drug to be packaged when an abnormality occurs in the drug sorting device during packaging processing.

[0379] In addition, a drug sorting device according to one embodiment of the present invention includes an adsorption mechanism that adsorbs a drug identified as a drug to be transported, a cover having an opening and covering the surrounding area of ​​the drug adsorbed by the adsorption mechanism during transport of the drug, and a shutter mechanism that functions as a bottom cover for the opening of the cover during drug transport.

[0380] In addition, a drug sorting device according to one embodiment of the present invention is a drug sorting device that sorts multiple types of drugs, and includes a first storage section that stores the multiple types of drugs, a discrimination section that discriminates the type of drug stored in the first storage section, a second storage section that stores the drugs in a sorted state by type based on the discrimination result of the discrimination section, and a storage section that stores drugs that cannot be discriminated by the discrimination section, and the drugs that cannot be discriminated include drugs that are registered in a drug database as drugs to be discarded or drugs that a user wishes to discard.

[0381] 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 transport unit that transports the drugs removed from the first storage unit, a second storage unit having multiple sorting cups that store the drugs sorted by type, and a third storage unit that stores items that cannot be sorted into the second storage unit and has an opening larger than the opening of the sorting cups, and if an item being transported falls from the transport unit, the transport unit transports the item being transported to the third storage unit.

[0382] 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 comprising a first storage section that contains multiple types of drugs, a transporting section that transports the drugs removed from the first storage section, a second storage section having multiple sorting cups that contain the drugs sorted by type, a third storage section that contains items that could not be sorted into the second storage section and has an opening larger than the opening of the sorting cups, and a control section, the control section including a determination step in which the control section determines whether an object being transported has fallen from the transporting section, and a transport step in which the transporting section transports the object being transported to the third storage section if it is determined in the determination step that the object being transported has fallen from the transporting section.

[0383] In addition, a medicine sorting device according to one embodiment of the present invention includes a first storage section that stores multiple types of medicine, a second storage section that has multiple compartments that store the medicines sorted by type, and a packaging mechanism that divides the medicines sorted by type in the second storage section into at least one medicine packet, and in a situation where medicines of the same type are packaged in medicine packets located at separate positions in a group of consecutive medicine packets, the packaging mechanism packages the same type of medicines stored in the same or different compartments into the same medicine packet in the group of medicine packets, or packages the same type of medicines into medicine packets located close to each other in the group of medicine packets.

[0384] A medicine sorting device according to one aspect of the present invention includes a first storage unit that stores a plurality of types of medicines, a second storage unit that has a plurality of compartments that store the medicines sorted by type, and a packaging mechanism that packs the medicines sorted by type in the second storage unit into at least one medicine packet, and in a situation where the packaging mechanism packs the same type of medicines sorted into the compartments across different time periods, resulting in the same type of medicines being packed into medicine packets located at distant positions in a medicine packet group in which a plurality of medicine packets are consecutive, the packaging mechanism packs the same type of medicines stored in the same or different compartments into the same medicine packet in the medicine packet group, or packs the same type of medicines stored in the same or different compartments into the same medicine packet in the medicine packet group, or packs the medicines into medicine packets located close to each other in the medicine packet group. the packaging mechanism packages the drugs contained in the second storage section and prints information indicating the type of drug on the drug package into which the drugs are packaged; (i) acquires the information printed on the drug package; and (ii) includes a control unit that specifies a sorting position for the drugs contained in the drug package from which the information was acquired based on the acquired information so that the drugs of the same type are packaged in the same compartment, and when the drugs of the same type contained in the drug package are contained in the compartment corresponding to the sorting position for the drugs specified by the control unit, the control unit packages the drugs of the same type contained in the compartment into the same drug package or into drug packages located in close proximity to each other.

[0385] In addition, in a drug sorting device according to one aspect of the present invention, the control unit displays the specified sorting position of the drug on a display unit, and the packaging mechanism, when receiving user input to start packaging after displaying on the display unit, may package drugs of the same type contained in the compartment into the same medicine packet or into medicine packets located close to each other.

[0386] [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]

[0387] 1. Drug sorting device 6 Packaging mechanism 11 First storage section (storage section) 12 Conveying and sorting unit (medicine conveying section, sorting section, first conveying section, second conveying section, third conveying section) 13 Imaging unit (imaging section) 14 Second storage section (storage section) 15 Waiting tray (temporary storage area, storage area) 17 Drug inlet (inlet section) 62 Sorting control unit (status determination unit) 64 Discrimination part 67 Display control section (notification control section) 72 Drug adsorption control unit (drug removal device) 122a Adsorption mechanism (drug adsorption section, drug adsorption device, drug removal device, removal section) 122b Air pipe (hollow section) 122c Suction pad (tip, suction part) 122d Base part (retraction mechanism) 122f Spacer (retraction mechanism) 122g Spring (elastic member, retraction mechanism) 122i Slide section (moving mechanism) 126 Push-in detection unit 133a Medicine placement table (storage section) 141 Sorting cup (container, compartment) M Drug MAr range of motion

Claims

1. A medicine sorting device that is communicably connected to a data management device that manages medicine data related to all medicines that can be handled by a plurality of medicine sorting devices, An imaging unit that images each of the plurality of types of medicines input into the medicine sorting device; A discrimination unit that discriminates the type of the medicine based on an image of the medicine captured by the imaging unit and medicine data related to the plurality of types of medicine; A sorting unit that sorts the medicines by type based on the discrimination result by the discrimination unit; A medicine sorting device comprising: a control unit that links the medicine data to model identification information for identifying the medicine sorting device.

2. The medicine sorting device according to claim 1 , wherein the control unit transmits the medicine data linked to the model identification information to the data management device.

3. The drug sorting device of claim 1 or 2, wherein when there is no drug data corresponding to the image of the drug, the control unit links the image of the drug with drug data for the drug specified by the user, and links the model discrimination information to the drug data.

4. The model identification information is The serial number of the imaging unit used when imaging the drug; The device serial number of the medicine sorting device; A user name of the medicine sorting device or a user name who captured an image of the medicine, and Creation date and time of the drug data based on the image of the drug The medicine sorting device according to claim 1 , further comprising at least one of the following:

5. A data management device communicably connected to the medicine sorting device according to any one of claims 1 to 4, A data management device that acquires drug data linked to the model discrimination information from each of the multiple drug sorting devices.

Images