Medicine sorting device

Abstract

To automatically recognize the orientation, posture, shape, size, kind, use period and other properties of a medicine and stores the medicine with a high degree of freedom.SOLUTION: A medicine supply device 1 comprises a recognition unit 300 and a storage unit 500. According to a size included in the properties of a medicine recognized by the recognition unit 300, a storage area is set at the time of storage. Medicines are stored in the storage unit 500 with association between identification information of the medicines and their storage areas. In addition, the medicine supply device 1 has a determination processing unit which can determine whether a medicine can be handled on the basis of the properties of the medicine recognized by the recognition unit 300.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] The department that manages drug prescriptions within a medical institution where drugs prescribed to patients are changed due to prescription changes, etc. In some cases, drugs are returned to the hospital (returned drugs). And to prevent human error in this process, the system automatically recognizes and stores returned medications. The present invention discloses a returned medicine sorting device. [Prior art documents] [Patent documents]

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

[0004] Generally, returned medicines vary in type, shape, size, expiration date, and other characteristics. Conventional returned medicine sorting devices, including the one disclosed in Patent Document 1, are used to sort returned medicines with various different properties. To store products and medicines with a high degree of freedom, taking into consideration factors such as the efficiency of subsequent dispensing operations. More specifically, the nature of returned medicines, which have various different properties, has not been taken into consideration. For example, a high degree of freedom is ensured so that drugs can be freely dispensed according to prescription information. No special consideration has been given to the payment of

[0005] In addition, the returned medicine sorting device of Patent Document 1 takes an image of the returned medicine and analyzes its contour. The position of the returned medicine is detected by the above-mentioned method. Then, the returned medicine is sucked up based on the detected position. However, the location of the returned medicine to be transported must be confirmed. When identifying returned drugs, if they are touching or partially overlapping, their outlines must be checked. The location of a single drug may not be accurately detected.

[0006] Furthermore, the device of Patent Document 1 is provided with a returned medicine storage unit for storing returned medicines. The medicine storage section has a plurality of storage cassettes divided according to the type of returned medicine, The returned medicines are sorted and stored in a storage cassette that is pulled out from the For this reason, the device of Patent Document 1 requires a storage cassette for each type of returned medicine. In addition, the number of storage cassettes required for storing returned medicines is also increased. This requires space to pull the returned medicines out of the returned medicine storage area. On the other hand, the storage section of the conventional ampoule dispensing device has a dedicated cassette for each drug type. The bottles are prepared and then taken out by pharmacists, who open the lids and store them one by one. For this reason, each cassette is equipped with a container, a lid, and an ejection mechanism, so The set has been enlarged and is now even larger because it contains multiple types of equipment.

[0007] Therefore, the present invention Division The subject is, Efficiently dispense returned medications The object of the present invention is to provide a medicine sorting device. [Means for solving the problem]

[0008] The above The present invention to solve the problem attitude Dear Mr. / Mrs. A storage tray for storing medicines; A transfer unit that transfers the medicine to the storage tray; A control device that controls the transfer unit to place the medicine in the storage tray; Equipped with The storage tray has a linear arrangement groove for arranging the medicine in a lying position, The drug can be placed in the placement groove in a direction in which the placement groove extends, A barcode reader for reading a barcode of the medicine is provided. The control device determines that the barcode is facing upward because the barcode reader can read the barcode, The control device controls the transport unit to hold the medicine by the transport unit while maintaining a posture in which the barcode displayed on the medicine faces upward, and to place the medicine in the placement groove. A drug dispensing device is provided.

[0009] The medication is a returned medication that has been prescribed and returned.

[0010] The agent has a circular cross-section.

[0011] The placement groove is capable of housing the medicines in multiple rows. Effect of the Invention

[0012] The present invention attitude According to The control device determines that the barcode is facing upwards when the barcode reader reads the barcode, and places the medicine in the placement groove while the transfer unit holds it with the barcode facing upwards. This allows the returned medicine to be dispensed efficiently, and since the medicine is placed in the placement groove with the barcode displayed on it facing upwards, the recognition work for the medicine can be performed quickly even when the barcode is facing upwards. . [Brief description of the drawings]

[0013] [Figure 1] FIG. 2 is a schematic front view of a returned medicine dispensing device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a schematic diagram showing the layout of the returned medicine dispensing device as seen from line II-II in FIG. [Diagram 3] FIG. 3 is a schematic diagram showing the layout of the returned medicine dispensing device as seen from line III-III in FIG. [Figure 4] FIG. 1 is a perspective view showing the appearance of a returned medicine dispensing device according to an embodiment of the present invention. [Diagram 5] FIG. 2 is a perspective view showing the returned medicine dispensing device with an exterior panel removed. [Figure 6] FIG. 2 is a front view of the returned medicine dispensing device with the exterior panel removed. [Figure 7] FIG. [Figure 8] FIG. 4 is a schematic plan view of a return tray. [Figure 9] FIG. [Figure 10] FIG. [Figure 11] FIG. 2 is a schematic front view of an Cartesian robot. [Figure 12A] FIG. [Figure 12B] FIG. 4 is a side view showing a part of an orthogonal robot. [Figure 12C] 12B , a cross-sectional view taken along line XII'-XII'. [Figure 12D] 12B is a cross-sectional view taken along line XII-XII in FIG. 12A. [Figure 13] Schematic plan view of the recognition section and non-stored drug placement section. [Figure 14] FIG. 2 is a schematic plan view of a label reading unit. [Figure 15] FIG. 1 is a schematic plan view of a SCARA type robot and a support tray. [Figure 16] FIG. 2 is a schematic side view of a SCARA robot and support tray. [Figure 17A] FIG. 2 is a front view showing a part of a SCARA type robot. [Figure 17B] FIG. 2 is a side view showing a part of a SCARA type robot. [Figure 17C] 17B , a cross-sectional view taken along line XVII-XVII in FIG. 17B . [Figure 17D] 17B is a cross-sectional view taken along line XVII'-XVII' in FIG. 17A. [Figure 18A] FIG. [Figure 18B] FIG. [Figure 19A] FIG. 13 is a front view showing the state in which a small-diameter returned drug is adsorbed by the suction pad. [Figure 19B] FIG. 13 is a side view showing the state in which a small-sized returned drug is adsorbed by the suction pad. [Figure 20A] FIG. 13 is a front view showing a part of a SCARA type robot equipped with a suction pad of another type. [Figure 20B] FIG. 13 is a side view showing a part of a SCARA type robot equipped with a suction pad of another type. [Figure 21] FIG. [Figure 22]FIG. [Figure 23A] FIG. 13 is a perspective view of the storage tray (S size). [Figure 23B] FIG. 13 is a perspective view of the storage tray (medium size). [Figure 23C] FIG. 13 is a perspective view of the storage tray (L size). [Figure 24A] FIG. 23B is a schematic enlarged partial cross-sectional view of FIG. 23A. [Figure 24B] FIG. 23C is a schematic enlarged partial cross-sectional view of FIG. 23B. [Figure 24C] FIG. 23D is a schematic enlarged partial cross-sectional view of FIG. 23C. [Diagram 25] FIG. 4 is a schematic plan view of a storage tray. [Figure 26A] FIG. 13 is a diagram showing the operation of a SCARA robot transferring returned medicines to a return tray. [Figure 26B] 26B is a diagram showing the state in which returned medications are contained in a return tray, taken from FIG. 26A. FIG. [Figure 27] FIG. 13 is a diagram showing the scanning operation of a storage tray by a SCARA type robot. [Figure 28A] FIG. 13 shows a camera image after binarization showing a returned drug to be handled. [Figure 28B] FIG. 13 shows a camera image after binarization showing a returned drug that is not eligible for handling. [Figure 29] FIG. 2 is a perspective view of an example of a resin ampule. [Diagram 30] FIG. 13 is a diagram for explaining a method for measuring the size of returned medicines. [Diagram 31] FIG. 13 is a further diagram illustrating how the size of the returned drug is measured. [Diagram 32] FIG. [Diagram 33] FIG. 13 is a plan view of the temporary placement section showing a state in which the returned medicines are outside the analysis range. [Diagram 34] FIG. 13 is an explanatory diagram showing a method for moving a returned medicine into an analysis range using a transport unit. [Diagram 35] FIG. 11 is a flowchart showing a process of determining whether or not a returned medicine is positioned in a temporary placement section, and repositioning the returned medicine if it is not positioned. [Diagram 36] FIG. 1 is a schematic diagram showing the concept of an adsorption position. [Figure 37] 13 is a conceptual diagram showing a method for determining an adsorption position when the convexity value is low. [Figure 38] 13 is a conceptual diagram showing a method for determining an adsorption position when the convexity value is high. [Figure 39] Schematic diagram of the recognition unit. [Figure 40A] FIG. 4 is a schematic diagram showing an original image for explaining binarization processing. [Figure 40B] FIG. 4 is a schematic diagram showing a binarized image for explaining binarization processing. [Figure 41A] FIG. 13 is an explanatory diagram of a method for knocking down returned medicines using a transfer section. [Figure 41B] FIG. 13 is an explanatory diagram of a method for knocking down returned medicines using a transfer section. [Diagram 42] FIG. 41C is a diagram showing the direction in which the returned medicine is knocked over in the action of FIG. 41B. [Diagram 43] 4 is a flowchart showing a part of the processing in a recognition unit 300. [Diagram 44] FIG. [Figure 45A] 13 is a cross-sectional view of the label reading unit when the returned medicine is in contact with the stopper. [Figure 45B] FIG. 11 is a cross-sectional view of the label reading unit in a comparative example in a state where a returned medicine is in contact with a stopper. [Diagram 46] 5A and 5B are diagrams for explaining a method for determining a laser irradiation direction of a label reading device in a label reading unit. [Figure 47] 10A to 10C are diagrams showing examples of different laser irradiation directions of a label reading device. [Figure 48] FIG. 13 is a diagram for explaining a method of organizing multiple non-stored medications. [Figure 49A] A flowchart showing the first half of the process from the temporary storage section of the recognition unit to the placement of returned medicines in the storage section or non-stored medicine placement section. [Figure 49B] A flowchart showing the latter half of the process from when a returned medicine is moved from the temporary storage section of the recognition unit to when it is placed in the storage section or non-stored medicine placement section. [Figure 50] FIG. 13 is a schematic partial perspective view of an alternative storage section; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] (Device Overview) Hereinafter, a returned medicine supplying device 1 that sorts and stores returned medicines will be used as an example of one embodiment of the present invention. 1 to 6 show a returned medicine supplying device (medicine sorting and preparation device) according to an embodiment of the present invention. The returned medicine supplying device 1 includes a receiving unit 100, a lifting unit 200, a recognition unit 300, and a non-returning unit 310. The system includes a stored medicine placement section 400, a storage section 500, and a dispensing section 600. The apparatus 1 includes an orthogonal robot 700, a scalar robot 800, and a support tray 90. 0 (transport container). Furthermore, the returned medicine supplying device 1 includes a control device as shown in FIG. The control device 1000 includes a control panel 1001 (display Based on input from the input device (1002), input from a sensor or a camera, etc., It controls the overall operation of the feeding device 1.

[0015] The main functions of the returned medicine supply device 1 are as follows. For example, the returned drug 2 (see Figure 8) is made up of an ampoule 2A, a vial 2B, and a resin ampoule 2C. It recognizes properties such as shape, size (length L1 and diameter or width W), type, and expiry date. In this embodiment, the returned medicine 2 is marked with text information and bar information including information on the type, expiration date, etc. The returned medicine supply device 1 has a label 3 with a code printed on it. The displayed information is read. The returned medicine supply device 1 also reads the returned medicine 2 after recognition. The returned drug 2 is associated with its identification information (unique information given to each returned drug 2). The prescription data (for example, an electronic medical record system) is stored temporarily in a linked manner. (HIS: Hospital Information System).) and disbursements are made based on the information. When storing, a storage area is set according to the size of the returned medicine 2 to be stored. The storage of the drugs is arranged in a set storage area, and individual returned drugs 2 can be taken out when dispensing. Furthermore, the returned medicine supplying device 1 is configured to supply the returned medicine 2 that has passed its expiration date. is discharged.

[0016] In this specification, the term "medicine" refers to a drug contained in a container as shown in FIG. Therefore, "the shape and size of the medicine" means the shape and size of the container, and "Information on type, expiration date, etc." refers to information on the type of drug contained in the container, expiration date, etc. In practice, the term "expiration date" is used instead of the term "use by date." However, these terms are essentially synonymous. To avoid confusion, we do not use "expiration date", only "use by".

[0017] (Acceptance Department) As shown in FIG. 1 to FIG. 3, the receiving section 100 is located at the upper left when the returned medicine supplying device 1 is viewed from the front. It is placed at the front.

[0018] 7, the receiving portions 100 are arranged opposite each other in the horizontal direction (the X direction in the figure). The rack member 101 has a plurality of return A plurality of pairs of rail grooves 101 for holding trays (receiving containers) 4 in a multi-tiered arrangement a, 101a are provided.

[0019] 8 and 9, the return tray 4 is a tray body 4 that is open at the top in the figures. a and a flange-like portion 4b provided on the upper edge of the tray body 4a. As shown in FIG. 1, the returned drugs 2 (e.g., ampoules 2A, vials 2B, Resin ampoules 2C) are classified according to their properties such as shape, size (length L1 and width W), type, and expiration date. In addition, the orientation and posture of the returned medicines 2 stored in the return tray 4 are not uniform. In other words, the returned medicines 2 contained in the returned tray 4 are non-standard. The orientation of the returned medicine 2 is the same as the length of the returned medicine 2 on the XY plane in the figure. The direction in which the hand direction (axis A of the returned drug 2) extends. The term refers to the direction in which the axis A of the returned drug 2 extends, as well as the direction in which the tip 2a and base end 2b of the returned drug 2 extend. However, the shape of the returned medicines 2 contained in the return tray 4 may include the direction in which the medicines are The properties such as size, type, and expiration date may be unified. The orientation and posture of the returned medicines 2 stored therein may be uniform. The pharmaceutical products 2 may partially overlap each other.

[0020] As shown in FIG. 7, rail grooves 101a, 101a are provided in a rack member 101. The flange-shaped portion 4b of the return tray 4 is supported by the rail grooves 101a, 101a. In the drawing of the rack member 101, the Y-direction end face is set to penetrate from the front end face to the rear end face. Therefore, a worker such as a medical worker can insert the returned medicine supply device 1 from the front side. The return tray 4 can be inserted into and removed from the rail grooves 101a, 101a. The lifting unit 200 lifts the returned tray 4 from the rear side of the returned medicine supplying device 1 along the rail grooves 101a, It can be inserted and removed from 101a.

[0021] The receiving unit 100 is provided with an operation preparation button 1 provided on the rack member 101 on the right side in FIG. The operation preparation button 102 is provided for each return tray 4 to be stored. After the worker places the return tray 4 in the receiving section 100, he or she presses the corresponding operation preparation button 10. 2, the control device 1000 controls the lifting unit 200 to In other words, the return tray 4 corresponding to the return tray 102 can be pulled out. Even when the product tray 4 is stored in the receiving section 100, the operation preparation button 102 is not pressed. Therefore, the lifting section 200 does not transport the corresponding return tray 4 from the receiving section 100. A sensor is provided to automatically detect when the return tray 4 is stored in the receiving section 100. The sensor may be, for example, a weight sensor. Based on the output of this sensor, the lifting section 200 is instructed to pull out the return tray 4. It can be started.

[0022] (Lifting section) As shown in FIG. 1 to FIG. 3, the lifting unit 200 is disposed at the rear left side when the returned medicine supply device 1 is viewed from the front. are located at.

[0023] Referring also to FIG. 10, the lifting unit 200 includes a fixed linear guide 201 extending in the Z direction. A carriage 202 that moves up and down along a linear guide 201, and a The table 203 has a bottom 203a and a pair of and a bottom portion 203a provided on the rear side (the rear side in the Y direction) of the side portions 203b, 203b. The table 203 has an open front side (front side in the Y direction). The side portions 203b, 203b are provided with rail grooves 204, 204. 04, 204 supports the flange-like portion 4b of the return tray 4, thereby The return tray 4 is held in the holder 203 .

[0024] Continuing to refer to FIG. 10, the bottom portion 203a has a depth direction (Y direction) of the returned medicine supplying device 1. A fixed linear guide 205 is provided, which extends in the direction of the axis of the shaft. The base end side of a hook 207 is fixed to a carriage 206 that moves horizontally along the carriage 206 .

[0025] The lifting section 200 takes out one return tray 4 from the receiving section 100 and places it in the recognition section 200, which will be described later. 300 (conceptually indicated by the symbol H in FIG. 1). The lifting unit 200 can be raised to the same height position H Then, the return tray 4 can be returned to the receiving section 100 (return tray returning operation).

[0026] The operation of removing the returned tray will be described below. First, the table 203 (carriage 202) However, the rail grooves 101a, 101b of the receiving section 100 in which the return tray 4 to be removed is held Then, the hook 207 (carriage 206) rises to a position slightly lower than that of the carriage 01a. The end 203c of the table 203 moves forward (toward the front in the Y direction). As a result, the flange-like portion 4b (in the drawing, the rear portion) of the return tray 4 is The hook 207 enters the gap between the side portion of the tray 4 and the tray body 4a. 207 moves backward (toward the rear in the Y direction) to the end 203c of the table 203. As the lock 207 moves backward, the flange portion 4b is pulled into the rail groove 204, and the return track The tray 4 is transferred from the receiving section 100 to the table 203. Finally, the table 203 (the tray The ridge 202) descends to a position indicated by the reference character H (FIG. 1).

[0027] The return tray returning operation will be described below. First, the table 203 (carriage 202) The rail grooves 101a, 101a (return tray 4) are inserted into the return tray 4 from the height position indicated by the symbol H. Then, the hook 207 ( The carriage 206) moves forward (to the front side in the Y direction) from the end 203c side of the table 203. As a result, the flange-like portion 4b of the return tray 4 pushed by the hook 207 The rail grooves 204, 204 are pulled out and the rail grooves 101a, 101a of the receiving portion 10 ...204, 204 of the receiving portion 100 are pulled out and the rail grooves 101a, 101a of the receiving portion 100 are pulled out and the rail grooves Then, the table 203 is lowered slightly, which allows the hook 207 to From the gap between the flange-shaped portion 4b of the tray 4 (the portion at the back in the figure) and the tray body 4a Finally, the hook 207 moves backward toward the end 203c of the table 203. do.

[0028] (Cartesian type robot) 11 to 12D, the orthogonal robot 700 (first suction unit) is The returned drug is sucked in by a vacuum provided through a suction tube 713 (FIGS. 12A-12D) from a vacuum source. The nozzle 701 is provided with a suction nozzle 701 for releasably suctioning the agent 2. 1 to 3, the suction pad 702 is attached to the The nozzle 701 sucks and holds the returned medicine 2, or releases the sucked and held returned medicine 2. The range in which the return tray 4 can be separated is the lifting unit 200 (the return tray 4 at the height position H described above). The Cartesian robot 7 is arranged to include the entire range of the recognition unit 300 and the non-storage drug placement unit 400. 00 is configured.

[0029] The Cartesian robot 700 (suction nozzle 701) is attached to the table 203 (height The returned medicine 2 is sucked and held from the returned tray 4 held at position H, and is taken out by the recognition unit 30 The robot 7 can be transferred to a temporary placement unit (first recognition unit) 301, which will be described later, provided in the robot 7. 00 picks up the returned medicine 2 from the temporary storage section 301 by suction and holding it, and the recognition section 300 The orthogonal robot 700 can be transferred to the label reading unit (second recognition unit) 302 described above. The returned medicine 2 is sucked and held by the label reading unit 302 and taken out, and the medicine is placed in the non-stored medicine placement unit 400. can be transferred to.

[0030] The orthogonal robot 700 is located below the receiving unit 100 and in the depth direction of the returned medicine supply device 1. A fixed Y-axis beam 703 extends in the Y direction, and a movable element moves along the Y-axis beam 703. The carriage 704 has a width direction ( An X-axis beam 705 extending in the X direction is fixed. A carriage 706 is provided for carrying the ink jet head 706, and a head 707 is mounted on the carriage 706. The head 707 is provided with a lift rod 708 that moves up and down by a ball screw mechanism. When the lift rod 708 rotates around the Z axis, the suction nozzle 701 also rotates around the Z axis. It can be rotated.

[0031] 12A to 12D, there are two gaps between the bracket 709 and the suction nozzle 701. Springs 710 are interposed between the two springs, and a shaft rod 711 is disposed at the center of each spring 710. The bracket 709 has three through holes 712 arranged side by side at its lower end. The shaft rod 711 passes through two of the three through holes 712 at both ends, and is attached to the bracket. The suction pipe 713 is arranged to be slidable relative to the mat 709. The shaft 711 is disposed so as to be slidable relative to the bracket 709. A stopper plate 714 is disposed above the three through holes 712. 1 is fixed at its lower end to the suction nozzle 701 and at its upper end to the retaining plate 714. As a result, the suction nozzle 701 can elastically rise relative to the bracket 709 .

[0032] The end side (lower side in the figure) of the suction pipe 713 extends through the suction nozzle 701 and It opens in the pad 702, and the base end side (upper side in the figure) communicates with a vacuum source (not shown). Therefore, the object below the suction pad 702 can be sucked (adsorbed). The nozzle 700 is provided with a pressure sensor (not shown) for measuring the pressure inside the suction nozzle 701. In addition, the carriage 706 has a bracket 709 and a suction nozzle 701. A position sensor (not shown) is mounted to detect the relative height position (position in the Z direction). There are.

[0033] The returned medicine 2 sucked and held by the suction nozzle 701 is moved in the X direction by the linear motion of the carriage 706. The carriage 704 moves in the Y direction, and the lift rod 708 moves up and down. The returned medicine 2 held by the suction nozzle 701 moves in the Z direction. Rotation of head 708 around the Z axis causes suction nozzle 701 to rotate around its axis (Z axis).

[0034] (Recognition section and non-stored drug placement section) 1 to 3, the recognition unit 300 includes a light 303 and a camera 304 (first image capture unit). The lighting 303 and the camera 304 are located above the lifting unit 200. The recognition unit 300, together with the camera 304, constitutes an example of a first recognition unit in the present invention. The temporary placement section includes a label reading section 301 and a label reading section (an example of the second recognition section in the present invention) 302. 301 and the label reading unit 302 (label reading device) are as follows when the returned medicine supply device 1 is viewed from the front. It is located on the lower left front side, below the receiving section 100.

[0035] 13, the temporary placement section 301 includes a semi-transparent plate 30 on which the returned medicine 2 is placed. 5 (medicine placement plate), a light 306 arranged below the translucent plate 305, and a light 306 arranged below the translucent plate 305. The device is equipped with a camera 307 (second image capture unit) located above the sensor 305.

[0036] Referring also to FIG. 14, the label reading unit 302 includes an endless belt 308 that is rotated. and a roller 309 disposed on the endless belt 308. The rotation of the belt 308 and roller 309 causes the belt 308 to rotate about its own longitudinal axis A. The label reading unit 302 includes a light 310 and a camera 311 (shown only in FIG. 1) (the present invention). The label reading unit 302 is equipped with a barcode reader. The printer is equipped with a first barcode reader 312.

[0037] Referring to FIG. 13, the non-stored medicine placement unit 400 is a medicine supply device for returning medicine, which will be described in detail later. 1, a returned drug 2 that is not to be handled, i.e., is not to be stored in the storage unit 500 in principle. A medicine storage section for storing returned medicines 2 (non-stored medicines 2') is adjacent to the temporary storage section 301. The non-storage medicine storage box 401 and the non-storage medicine storage box 402 are arranged. 401 and 402 are non-stored drugs 2' similar to the arrangement grooves of the storage tray (storage container) 5 described later. It has a placement groove for holding the

[0038] (Operation until recognition of returned medicine is completed) Here, the orientation and posture of the returned medicine 2 accommodated in the return tray 4 of the receiving unit 100 The returned drug supply equipment will be kept in a safe place until the drug is identified for its type, shape, size, expiry date, and other characteristics. The operation of the device 1 will now be described.

[0039] First, the return tray 4 is transferred from the receiving section 100 to the table 203 of the lifting section 200 . After the return tray 4 is transferred, the table 203 is lowered to the height position H (see FIG. 1). After the bull 203 descends to the height position H, the recognition unit 300 starts recognition. The lighting 303 illuminates the return tray 4 on the table 203 from above (highly directional). The camera 304 then captures the image while irradiating the object with light (preferably bright light). Based on the image captured by the camera 304, the position of the returned medicine 2 in the returned tray 4 is recognized. The details of this recognition process will be described later. Then, the suction nozzle 701 of the Cartesian robot 700 picks up the returned medicines 2 in the return tray 4 one by one. The sample is then sucked and held, and transferred onto the semi-transparent plate 305 of the temporary placement section 301 (see FIG. 13). The nozzle 701 rotates around its own axis (Z axis) to adsorb and hold the returned drug 2. Adjust the orientation.

[0040] In the temporary placement section 301, the returned medicine 2 is placed on a semi-transparent plate 305. A light source 306 arranged below the translucent plate 305 irradiates light toward the translucent plate 305. The illumination light is preferably high-intensity light. 07 takes a picture of the returned drug 2 on the translucent plate 305. The image taken by the camera 307 As a result, the shape, size, and orientation (axis on the XY plane) of the returned drug 2 are determined, as described later in detail. The direction in which the line A extends (including the direction in which the distal end 2a and the proximal end 2b are pointing) is recognized. In addition, the image captured by the camera 307 is used to determine the pickup position of the returned drug 2 (orthogonal robot). The robot is picked up by the suction nozzle 701 of the robot 700 and the suction nozzle 801 of the SCARA type robot 800. The calculation of the adsorption position of the returned medicine 2 will be described later in detail. Based on the recognition result from the captured image, the suction nozzle 701 of the Cartesian robot 700 The returned medicine 2 on the translucent plate 305 is adsorbed and held, and transferred to the label reading unit 302. The suction nozzle 701 rotates around its own axis (Z axis) to pick up and hold the returned medicine. Adjust the direction of 2.

[0041] In the label reading unit 302, the rotation of an endless belt 308 and a roller 309 is performed. This causes the returned drug 2 to rotate around its own axis A (see FIG. 14). The drug product 2 is irradiated with illumination light from the illumination 310 while being read by a label reader (camera 311 and The camera 311 captures the image of the returned medicine 2. The captured image confirmed the text information on the expiration date, etc., displayed on the label 3 of the returned drug 2. The position of the returned medicine 2 around the axis A is also recognized. In addition to taking a picture of the label 3, the barcode included in the label 3 is read by the barcode reader 312. The image captured by the camera 311 and the barcode read by the barcode reader 312 are The drug type and expiry date of the returned drug are identified by the drug code. The recognition is performed by reading the image captured by the camera 311 and the barcode by the barcode reader 312. For example, the label 3 of the returned drug 2 may be If the code contains the type and expiration date of the returned drug 2, the camera 311 is not installed and the bar Only the code reader 312 is provided, and the barcode is read by the barcode reader 312. Therefore, the type and expiration date of the returned drug 2 can be recognized. After the recognition is completed, the label 3 faces upward (Z The endless belt 3 is rotated so that the rotation of the returned drug 2 around the axis A is stopped in the orientation of the returned drug 2 (direction of rotation). The rotation of the roller 309 and the label 308 stops. The camera 311 It can be confirmed based on the captured image. When there is an area of ​​the returned medicine 2 where the suction nozzle 801 cannot be sucked (for example, as shown in FIG. 29 ), In areas where there are burrs, such as the side of the resin ampoule 2C, or where the label may peel off due to adhesion, If an area exists in the returned drug 2, the return drug 2 is rotated so that the area does not face upward. It is preferable that the drug-associated non-adsorbable region is prevented from adsorbing the drug. The information is registered (pre-stored) in the medicine master, which will be described later.

[0042] In the label reading unit 302, instead of a pair of rollers, an endless belt 308 and a roller 309 are used. The rotation rotates the returned medicine 2 around the axis A. The combination is a pair of rollers, which can rotate the return drug 2 shape, large There is a wide range of sizes and varieties.

[0043] Suppose the label reading unit 302 is configured to rotate the returned medicine 2 by a pair of rollers. In this case, due to the relative inclination or deviation between the rotation axes of the pair of rollers, the returned drug 2 may be The return drug may move in one of two directions along the axis of rotation of the pair of rollers. In order to limit the moving direction of the agent 2 to one direction, the relative inclination or the like between the rotation axes of the pair of rollers is In this case, the return drug 2 is placed against the pair of rollers. Due to the fact that the returned medicine 2 is supplied in an inclined position, the returned medicine 2 is inclined along the rotation axis of the pair of rollers. It may move in one of two directions.

[0044] In contrast, in this embodiment, as most clearly shown in FIG. The rotation center line Rc of the roller 309 is inclined with respect to the traveling direction F (i.e., The direction of rotation of the endless belt 308 is perpendicular to the direction of rotation of the center line Rc. The rollers 309 are arranged to move the returned medicines 2 in the width direction of the endless belt 308 in a uniform direction. As a result, the return light from the label reader 302 can be restricted to the direction (downward in FIG. 14). The position of the product 2 can be aligned. In addition, the traveling direction F of the endless belt 308 is The direction in which the returned medicine 2 placed on the roller 309 approaches the roller 309. The rotation direction is the X direction of the endless belt 308 in the opposing region to the endless belt 308. The rotation direction is such that the peripheral speed is opposite to the directional component. Returned medicines 2 may get caught between the roller 309 and the roller 309, especially if the returned medicines 2 are small in diameter. In addition, it is possible to prevent the return of medicines 2 whose labels 3 are partially peeled off. In this case, it is possible to prevent the part of the label 3 that has been partially peeled off from being bitten. In addition, the returned medicine 2 is brought into contact with the rotating endless belt 308 and roller 309. Since the barcode reader 312 rotates at a constant rotation speed while being positioned, the barcode reader 312 is stable. The barcode of the returned drug 2 can be read with high accuracy.

[0045] For example, if the expiration date recognized by the label reading unit 302 has already passed, or If the expiration date cannot be recognized by the label reading unit 302, the returned medicine 2 is classified as a non-stored medicine 2. ', the non-stored drug is sucked and held by the suction nozzle 701 of the Cartesian robot 700. The medicine is transferred to the non-stored medicine storage boxes 401 and 402 of the storage unit 400. Any one of the product trays 4 (for example, the bottom return tray 4) is placed in the non-stored medicine placement section 400. A tray for non-stored drugs 2' which functions as part of the non-stored drug return tray 4 The non-stored medication 2' in the non-stored medication placement boxes 401 and 402 is returned.

[0046] (Scalar robot and support tray) Referring to FIGS. 15, 16, and 17A to 17D, a SCARA type robot 800 ( The second picking unit has a central suction pipe 813 and a side suction pipe 814 that are connected to a vacuum source (not shown). The returned drug 2 is releasably adsorbed by a suction nozzle 801 supplied with a vacuum through the nozzle. A rubber suction pad 802 (first suction pad) is attached to the tip of the suction nozzle 801. The suction nozzle 801 suction-holds the returned medicine 2, or the suction-holding returned medicine The range in which the label reading unit 302 of the recognition unit 300 and the label 2 can be separated by releasing the suction is The entire range of all the storage trays 5 included in the storage unit 500 and the payout trays arranged at the payout position described later The SCARA robot 800 is configured to include the entire area of ​​the output tray 8 .

[0047] The scalar robot 800 (suction nozzle 801) reads the label from the label reading unit 30 of the recognition unit 300. 2, the returned medicine 2 is sucked and held, taken out, and placed in a storage tray 5, which will be described later, provided in the storage unit 500. The scalar robot 800 can also pick up and store the returned medicine 2 from the storage tray 5. The bill can be picked up and transported to a dispensing tray 8 of the dispensing section 600, which will be described later.

[0048] 1 to 3, the SCARA robot 800 is a returned medicine supplying device 1. A pair of fixed linear guides 803, 803 extending in the height direction (Z direction) of the The carriage 804 is movable on the guide 803. , 804, the X-axis beam 805 extending in the width direction (X direction) of the returned medicine supply device 1 The end of the base 806 is supported by the X-axis beam 805. The base end side of the first arm 807 connected to the 6 rotates around the Z axis, and the tip end of the first arm 807 The base end of the second arm 808 connected to the side also rotates around the Z axis. A head 809 is attached to the end of the head 809 so as to be rotatable around the Z axis. The suction nozzle 801 is held by a bracket 810. 5. A barcode reader 812 (second barcode reader) and a returned drug 2 are detected. The barcode reader 812 is equipped with a presence / absence detection sensor 820. It is mounted at a position offset to the side of 801 and is located below the suction nozzle 801. The barcode on the label 3 attached to the returned drug 2 is read from diagonally above. In other words, the barcode reader 812 reads the returned medicine 2 in the label reading unit 302. In the same manner as the positional relationship of the barcode reader 312 to the When the drug 2 is located above the drug 2, the drug 2 faces the bar code on the label 3 attached to the returned drug 2. The panels are arranged so that

[0049] In this embodiment, the presence / absence detection sensor 820 is a reflective photoelectric sensor. By emitting light toward the area below 801 and receiving the reflected light, the suction nozzle 80 1 detects the presence or absence of returned medication 2 in the lower area of ​​the container 1.

[0050] The returned medicine 2 that is sucked and held by the suction nozzle 801 is moved by the X-axis beam 805 (carriage 80 4) moves in the Z direction by linear motion, and moves in the X direction by rotation of the first arm 807 and the second arm 808. The returned medicine 2 that is sucked by the suction nozzle 801 moves on the Y plane. The head 809 rotates around the tip of the nozzle 808, and the nozzle 801 rotates around the axis (Z-axis). Rotate.

[0051] As shown in FIGS. 17A to 17D, between the bracket 810 and the suction nozzle 801 Two springs 811, 811 are interposed, and a shaft rod 815 is provided at the center of each spring 811. The bracket 810 has three through holes 816 arranged in a row at the bottom end. The two shaft rods 815 are inserted through the two through holes at both ends of the three through holes 816. The central suction pipe 8 passes through a hole 816 and is disposed so as to be slidable relative to the bracket 810. 13 passes through the central through hole 816 and slides against the bracket 810 in the same manner as the shaft rod 815. A stopper plate 817 is disposed above the three through holes 816. The two shaft rods 815, 815 are attached at their lower ends to the suction nozzle 801 and at their upper ends to the retention plate. The suction nozzle 801 is fixed to the base 817 by the spring 811. The bracket 810 can be elastically lifted relative to the bracket 810 while being biased by the force of the spring 814.

[0052] The central suction pipe 813 extends through the suction nozzle 801 and into the suction pad 802. A small suction pad 818 (second suction pad) is provided on the distal end side (lower side in the figure). The base end side (upper side in the figure) of the central suction pipe 813 is in communication with a vacuum source (not shown). The suction nozzle 801 has a through hole 821 on the side. A side suction pipe 814 is connected. The base end side (upper side in the figure) of the side suction pipe 814 is The suction nozzle 801 is connected to a vacuum source (not shown). A sensor (not shown) is provided.

[0053] As shown in FIG. 18A and FIG. 18B, the suction pad 802 is hollow and has an upper attachment portion. 802a, the lower suction part 802c, and a snake that connects the mounting part 802a and the suction part 802c. 17C, the mounting portion 802a is thick-walled. 816 of the suction nozzle 801. The bellows portion 802b is connected to the side suction pipe 814. The bellows portion 802b and the suction portion 802 are arranged to be contracted upward by being sucked. The thickness of the joint 802d with the joint 802c is made thinner than the other parts. As a result, when the bonding portion 802 is attached, the bonding portion 802d is first deformed. By deforming the suction pad 802, the shape of the suction pad 802 can be maintained and the suction pad 802 can be satisfactorily suctioned. In addition, the suction pad 802 has a larger suction surface area than the small suction pad 818. The suction power is stronger than that of the small suction pad 818, and the suction power is larger than that of the small suction pad 818. It can be adsorbed and transported at high speed.

[0054] The suction portion 802c is substantially elliptical in shape and has a suction pipe 814 in communication with the side suction pipe 814 at the center. The suction portion 802c has an opening 802e. The suction portion 802c has a longitudinal arc portion 802f. In this way, the rigidity of the thick portion 802g in the longitudinal direction is reduced. The arcuate portion 802f is reinforced to prevent deformation of the adsorption surface caused by the deformation of the arcuate portion 802f during adsorption. In addition, a protrusion 802h is integrally formed on the adsorption surface side of the arcuate portion 802f. The protrusion 802h is formed so that a minute amount of air is generated so as not to cause a poor suction during suction. The height is designed to allow for leakage, so that the suction performance is maintained while When the suction is released, the suction can be released quickly due to air leakage from the protrusion 802h.

[0055] In addition, referring to FIG. 19A and FIG. 19B, the suction portion 802c has a substantially elliptical shape when viewed from below. In comparison with the case where the adsorption portion 802c is formed in a rectangular shape (shown by the dashed lines in FIGS. 19A and 19B), The body of the returned medicine 2 when the small suction pad 818 suctions and holds the returned medicine 2 This reduces the amount of the suction part 802c that gets caught in the storage tray 5. When the adsorption is released on the arrangement groove 7 of A and the drug is withdrawn, the returned drug 2 is rotated by the above-mentioned entanglement. This can prevent the device from being damaged or moved.

[0056] 18A and 18B, the small suction pad 818 is hollow. The center axis (Z-axis direction) of the suction pad 802 is approximately aligned with that of the suction pad 802. The upper attachment portion 818a and the lower suction portion 818c are connected to each other. The mounting portion 818a is a bellows portion 818b that connects the central suction pipe 813 to the bellows portion 818c. The bellows portion 818b is connected to the lower portion of the central suction pipe 813 so that the air can be communicated therethrough. The suction portion 818c is configured to be contracted upward by being sucked. The central portion has an opening 818d communicating with the central suction pipe 813. Since the portion 818c is substantially circular, it easily conforms to the cylindrical portion of the returned medicine, and air leakage is prevented. This makes it difficult for defects to occur and allows for good adsorption.

[0057] Also, as shown by the solid line in FIG. 17C, when the suction nozzle 801 is not in a suction state, The lower end of the small suction pad 802 is located lower than the lower end of the small suction pad 818. 17C, the suction nozzle 801 is in the suction state (central suction pipe 813, side When the small suction pad 818' is in the suction tube 814, the lower end of the small suction pad 818' The lower end of the contact pad 802' is located below the lower end of the contact pad 802'. The suction pad 802 does not block the suction of the small suction pad 818. The attachment pad 818 provides good adhesion.

[0058] In this embodiment, the control device 1000 detects the object based on an image captured by the camera 307. Alternatively, the label reading unit 302 may recognize the shape, size, type, etc. of the returned medicine 2 and may determine whether the medicine is to be returned or not. For example, the suction pad for absorbing the returned drug 2 is set to the position of the body of the returned drug 2. If the diameter is 28 mm or more, both the central suction pipe 813 and the side suction pipe 814 are used for suction. The drug is adsorbed by both the small adsorption pad 818 and the adsorption pad 802. If the diameter of the tube is less than 28 mm, only the central suction pipe 813 is used for suction, i.e., the small suction pipe The suction is performed only by the attachment pad 818. 02 and then release the returned drug 2. It is preferable to stop the suction of the suction pad 802 at the same time. This can speed up the recovery of the shape of the object (compared to stopping suction at the same time).

[0059] If the diameter of the returned drug 2 is 28 mm or more, it is sucked using only the side suction pipe 814. That is, the suction may be performed only by the suction pad 802. If the label 3 attached to the object is sucked, it may come off. This may be prevented by setting a region where suction is possible or a region where suction is not possible in advance. If the non-absorbable area is narrow, the small suction pad 818 may be used even if the diameter of the returned drug 2 is 28 mm or more. Alternatively, the returned medicine 2 may be adsorbed by the adsorption pad 802 alone. When the drug 2 is detected to have been removed from the suction pad 802 and the small suction pad 818, Alternatively, the returned drug 2 that has not been adsorbed may be adsorbed.

[0060] Referring to FIG. 1, FIG. 15, and FIG. 16, the support tray 900 is a SCARA type robot. The base 806 of the base 800 is fixed to the lower end of a rod 901 that moves up and down. In configuration, the support tray 900 holds returned medications 2 similar to the storage tray 5 described below. As shown in FIG. 16, the rod 901 moves up and down to move the support tray. 900 is a height position where the nozzle approaches the returned drug 2 held by the suction nozzle 801, and The nozzle 801 moves up and down to a height position away from the returned drug 2 adsorbed and held by the nozzle 801.

[0061] When the suction nozzle 801 picks up and transfers the returned drug 2, the SCARA robot 800 The suction nozzle 801 is moved horizontally by the first arm 807 and the second arm 808. Then, the returned medicine 2 is placed above the support tray 900. The head 809 is rotated so as to match the orientation of the arrangement groove of the tray 900. By raising the rod 901, the support tray 900 is moved to a high position away from the returned medicine 2. The returned drug 2 is moved from the lower position to a height position approaching the returned drug 2. When the agent 2 is removed from the adsorbent pad 802 and / or the small adsorbent pad 818 to which it is adsorbed, Even if the object is removed, the support tray 900 prevents the object from falling below the suction nozzle 801. This allows the returned drug 2 to be returned at a higher speed while preventing damage to the returned drug 2 due to loss of adsorption. Product 2 can be transported.

[0062] In addition, the returned medicine 2 that has fallen onto the support tray 900 is sucked up again by the suction nozzle 801. At this time, a pressure sensor (not shown) provided on the suction nozzle 801 The release of the adsorption may be detected by the detection of the release of the adsorption. The wafer is transferred with its orientation aligned with the arrangement groove on the support tray 900. When the suction by 801 is released, the direction and posture of the object do not change, and the object moves to the position directly below the suction nozzle 801. As a result, the returned medicine 2 is placed directly under the suction nozzle 801. Therefore, the returned drug 2 is re-adsorbed by the suction nozzle 801. It can increase the success rate.

[0063] Depending on the size and shape of the returned medicine 2 handled by the returned medicine supply device 1, When the suction pad 802 suction-holds the suction pad 82, the suction pad 82 contracts as shown in FIG. The bellows portion 802b of the bellows 02 may come into contact with the mounting portion 802a. This contact may occur repeatedly. This may result in damage to bellows portion 802b.

[0064] 20A and 20B show a suction pad 1 capable of suppressing contact between the attachment portion and the bellows portion. The suction nozzle 801 is shown with the suction nozzle 802 attached. When the bellows portion 1802b is contracted, the attachment portion 1802a of the suction pad 1802 is A recess 1802j is formed to avoid contact with the bellows portion 1802b. The bellows portion 1802b is provided with a slanted portion extending obliquely upward from the joint between the mounting portion 1802a and the bellows portion 1802b. As a slope, the recess 1802j is formed in the mounting portion 1802a. 1802j is provided on the mounting portion 1802a, so that the mounting portion 1802a and the contracted bellows portion 1 Contact with 802b can be suppressed.

[0065] (Storage section) As shown in FIG. 1 to FIG. 3, the storage section 500 is located at the right rear when the returned medicine supply device 1 is viewed from the front. are located at.

[0066] 21 and 22, the storage section 500 includes a linear guide 50 extending in the Z direction. The linear guide 501 holds a storage tray 5 (storage container) so that the storage tray 5 can be removed. The holding frame 502 is held so as to be movable up and down. The holding frames 502 are arranged in multiple stages. On both sides of the storage trays 5 arranged in multiple stages, linear guides 503, 504 extending in the Z direction are provided. The carriage 50 moves up and down on these linear guides 503, 503. The carriage 504 has a retracted position shown in FIG. 21 and a retracted position shown in FIG. A lift mechanism 505 (space forming mechanism) that can move to the protruding position shown in FIG. The lift mechanism 505 is also arranged in the depth direction in the figure. It may be placed.

[0067] As shown in FIG. 21, when the lift mechanism 505 is in the retracted position, one holding frame 502 is supported. Next, the lift mechanism 505 moves to a position shown in FIG. In this state, the carriage 50 moves to the protruding position as shown in FIG. When the lift mechanism 505 is lifted, the frame 502 and the frame above it are lifted. As a result, the holding frame 502 is lifted upward. A gap G is formed between the holding frame 502 and the holding frame 502 one stage below it. The suction nozzle 801 of the SCARA robot 800 is inserted through the lift mechanism 505. The tray 5 held by the holder frame 502 one level below the holder frame 502 can be accessed. In other words, by providing this gap G, the suction of the SCARA robot 800 The landing nozzle 801 transfers the returned medicine 2 to the storage tray 5 for all storage trays 5. and an operation of sucking and holding the returned medicine 2 and taking it out of the storage tray 5 (dispensing operation). operation) is possible.

[0068] 23A to 24C, the storage tray 5 stores relatively small returned medications 2. Storage tray 5A (S size) suitable for storing returned drugs, and storage tray 2 suitable for storing medium-sized returned drugs 5B (M size) and a storage tray 5C (L size) suitable for storing relatively large returned drugs 2. The storage section 500 is provided with at least one of these three types of storage trays 5A to 5C. Each storage tray 5 (5A to 5C) is a tray body with an open top as shown in the figure. The tray body 5a has a flange-like portion 5b provided on the upper edge of the tray body 5a.

[0069] 25, the tray body 5a has a bottom portion on which the returned medicine supplying device 1 is provided. The returned medicine supply device 1 has a pair of return medicine supply members 11 extending in the Y direction and 11 in the X direction. A plurality of protrusions (protrusions) 6 are provided. Between adjacent protrusions 6, linear arrangement grooves (recesses) are formed. 24A to 24C, a groove 7 is formed in the container 1, and the returned medicine 2 is accommodated in the groove 7. As is clear from the reference, the three types of storage trays 5A to 5C have different dimensions of the protrusions 6 (height and Since the dimensions (depth and width) and pitch of the arrangement groove 7 are different, the dimensions (depth and width) of the arrangement groove 7 are different. Due to the difference in the above, the three types of storage trays 5A to 5C are suitable for storing return items. The dimensions of drug 2 are different.

[0070] The protrusion 6 has a top 6a and two adjacent portions which are spaced apart from each other as they extend downward from both side edges of the top 6a. The inclined portion 6b has a relatively large gradient, i.e., a steep When the returned medicine 2 is transferred to the placement groove 7 by the suction nozzle 801, In this case, the central axis of the returned medicine 2 may not coincide with the central position of the arrangement groove 7. Even in this case, since the inclined portion 6b is set to a steep slope, the returned medicine 2 can be easily moved along the inclined portion 6b. The returned medicine 2 is easily guided downward, and the rotation of the returned medicine 2 is suppressed. The label 3 is stored in the storage tray 5 while being kept in the upper position. The barcode of Bell 3 is maintained in a position pointing diagonally upwards, i.e., The reader 812 is positioned so as to face the reader 812. As a result, in the dispensing operation described below, It is possible to check against the prescription data of the returned medicines 2 stored in the storage tray 5. The inclination angle T of the inclined portion 6b with respect to the horizontal direction is set in the range of 50° to 80°. When the inclination angle T is smaller than 50°, the returned medicine 2 rotates due to contact with the inclined portion 6b. If the inclination angle T is greater than 80°, the arrangement groove 7 may not be able to accommodate the returned drug. In this embodiment, the inclination angle T is preferably 65 By setting the inclination angle to 65°, the returned drug that can be accommodated in the placement groove 7 can be The type of drug 2 is not limited, and the returned drug 2 can be stored while preventing rotation around the axis A. Cut.

[0071] Furthermore, by reducing the roughness of the surface of the storage tray 5, the returned medicine 2 is easily urged against the inclined portion 6b. This can further suppress the rotation of the returned medicine 2. In addition, a vibration-damping rubber is provided between the storage tray 5 and the holding frame 502, so that the storage tray 5 and the holding frame 50 2. This allows the storage tray 5 to be moved by the lift mechanism 2 without any relative displacement or vibration. Even if the returned medicine 2 on the storage tray 5 is moved up and down by the 505, the vibration caused by the up and down movement The vibration-damping rubber can be arranged on either the storage tray 5 or the holding frame 502. It may be attached to one or both.

[0072] In addition, at least the front surface side (upper part in the figure) of the storage tray 5 where the returned medicines are stored is black. This allows the returned medicine 2 to be stored even if there is no returned medicine 2 on the storage tray 5. The light emitted from the presence / absence detection sensor 820, which is a reflective photoelectric sensor, is incident on the storage tray 5. The reflection prevents the presence of returned medicine 2 from being erroneously detected. A cushioning material such as sponge may be attached to the back side of the storage tray 5 (lower side in the figure). Then, the cushioning material is pressed against the lower storage tray 5 of the storage tray 5 to which the cushioning material is attached. By attaching the device, the rotation, movement, etc. of the returned medicine 2 on the lower storage tray 5 is restricted, This makes it easy to maintain the position of the returned medications 2 with the label side facing upward.

[0073] (Payment section) The dispensing unit 600 includes a conveying mechanism 601. The conveying mechanism 601 includes an inlet 602 and an outlet 603. Move the dispensing tray 8 from 602 to the dispensing position (the position on the front side of the storage unit 500 in the drawing). After the dispensing operation is completed, the dispensing tray 8 is removed from the exit 603 shown in FIG. Remove.

[0074] (Storage and dispensing of returned drugs) The operation of storing the returned medicine 2 in the storage unit 500 after the recognition in the recognition unit 300 is completed (storage operation) The bills are then transferred from the storage unit 500 to the dispensing unit 600 and dispensed onto a dispensing tray 8 arranged at a dispensing position. The storing operation and the dispensing operation are performed by the control device 1000 (operation control The robot mainly includes a recognition unit 300, a storage unit 500, a dispensing unit 600, and a SCARA type robot. This is done by controlling and operating the 800.

[0075] First, the storing operation will be described.

[0076] The returned medicine 2 of the label reading unit 302 is picked up by the suction nozzle 801 of the SCARA robot 800. The returned medicine 2 is sucked and held by the suction nozzle 801. The storage area, i.e., the area occupied when stored, is determined according to the size of the returned drug 2 at least. The storage position (which position of which storage tray 8 the item is stored in) is set. In this embodiment, The area of ​​the storage area that the returned drug 2 occupies during storage corresponds to the length L1 and width W of the returned drug 2. The area shown at the bottom includes a margin to prevent interference with other returned medicines 2. The suction nozzle 801 is attached to any one of the arrangement grooves 7 of any one of the storage trays 5. A search is performed to see if the returned drug 2 that is being adsorbed and held by the device can be placed. The storage tray 5 in which the returned medication 2 is to be placed and the placement groove 7 (the storage position of the returned medication 2) are determined. When one storage tray 5 is looked at, as shown in FIG. 25, the arrangement groove 7 of “No. 3” is already occupied by a returned drug. When the groove 7 is filled with the agent 2, the other grooves 7 are sucked by the suction nozzle 801. This is a candidate storage location for placing the returned drug 2. For example, in the case of the "6th" groove, Drug 2 has already been placed, but the length between these return drugs 2 is too short for the return drug you are trying to store. If the drug 2 is within the range shown in the above-mentioned storage time, it is picked up by the suction nozzle 801. The retained returned medication 2 may be a candidate for placement.

[0077] As described above, when the recognition by the label reading unit 302 is completed, the returned medicine 2 is placed with the label 3 facing upward. The suction nozzle 801 of the SCARA robot 800 is in the position where the bar of the label 3 is attached. With the cord still facing upward, the returned drug 2 is absorbed and held in the corresponding storage tray. The returned medicine 2 is transferred to the corresponding arrangement groove 7 of 5, i.e., the storage area determined as described above. .

[0078] As described with reference to FIGS. 21 and 22, the storage section 500 is lifted by the lift mechanism 505. The structure is such that a gap G can be provided between the holding frames 502. The suction nozzle 801 of the SCARA robot 800 that holds the suction object 2 is arranged in multiple stages. The storage tray 5 held in any one of the frames 502 can be freely accessed and held by suction. The returned medication 2 can be placed on the container.

[0079] As described with reference to FIGS. 23A to 24C, the storage tray 5 of the storage unit 500 The storage trays 5A to 5C are of three different sizes. 000 controls the recognition unit 300, the storage unit 500, and the SCARA type robot 800. The storage space is not limited by the size of the returned drugs 2 to be stored, but can be set according to the shape, size, type, etc. The returned medicines 2 that have been recognized can be stored in the storage tray 5 set in the storage section 500 .

[0080] Regarding the returned medicines 2 stored in the storage unit 500, the control device 1000 2, the above-mentioned storage area, that is, any position of any storage tray 5, The position (the position in the arrangement groove 7 and the position on the arrangement groove 7) is stored. The control device 1000 stores the type and expiration date of each returned medicine 2 in association with the identification information of the returned medicine 2. is doing.

[0081] Next, the dispensing operation will be described.

[0082] The suction nozzle 801 of the SCARA robot 800 returns the The drug product 2 is sucked and held, and transferred to a dispensing tray 8 arranged at the dispensing position.

[0083] The dispensing operation is performed by sending a returned medicine to the return medicine supply device 1 from a higher-level system, such as an electronic medical record system. is executed based on the received prescription data. The type and expiration date of the returned medicine 2 are stored in association with the identification information, and each returned medicine The location of the supply device 1 in the storage unit 500 is also stored in association with the identification information. Specifically, the control device 1000 detects the type of the returned medicine 2 stored in the storage unit 500, A medicine master is provided which stores the expiration date, storage area, and identification information in association with each other. Moreover, as described above, the gap G can be provided between the storage trays 5 arranged in multiple stages. The suction nozzle 801 is arranged to pick up the returned medicine 2 stored in any one of the storage trays 5 arranged in multiple stages. Therefore, even if the medicine is not in the medicine master, it can be freely adsorbed and held as necessary. It can be confirmed that the medicine included in the method data is the returned medicine 2 stored in the storage unit 500. If this is possible, prescription data can be used without restrictions. This allows for efficient dispensing based on prescription data, for example by dispensing items with the nearest expiration date first. Furthermore, as a result of referring to the medicine master, the medicine included in the prescription data is stored in the storage unit 500. If it is confirmed that the control panel 1001 is not in use, the necessary display is displayed on the display 1002 of the control panel 1001. It is possible to execute processing such as displaying the

[0084] The operation of the dispensing operation will be specifically described. Through this, the suction nozzle 801 of the SCARA robot 800 picks up the returned medicine to be dispensed (hereinafter, In the explanation of the dispensing operation, the dispensed drug is accessed. The reader 812 detects the label of the dispensed medicine 2, and the control device 1000 It is confirmed that the drug is the drug 2 to be dispensed. Then, the medicine 2 is sucked by the suction nozzle 801 and taken out from the storage tray 5. At this time, the medicines 2 to be dispensed are stored in the storage section 500. If there are several medicines, the control device 1000 selects the medicine 2 with the shortest expiration date as the medicine to be dispensed. The drug 2 to be dispensed is determined as the target drug 2, and control is performed so that the drug 2 to be dispensed is dispensed.

[0085] On the other hand, the control device 1000 determines that the dispensed medicine 2 is not the dispensed medicine 2 to be dispensed. If the label 3 (bar code) cannot be recognized, the control device 1000 is a suction nozzle 801 that picks up the dispensed medicine 2 and detects the label of the recognition unit 300. The label reading unit 302 reads the label of the dispensed medicine 2. When the drug dispenser 3 is recognized, the dispensed drug 2 is transferred to the storage unit 5 by the SCARA robot 800. 00. Meanwhile, the label 3 of the dispensed medicine 2 is recognized by the label reading unit 302. If the medicine 2 is not recognized, the medicine 2 is transferred to the non-stored medicine arrangement section by the orthogonal robot 700. 400 (non-storage medicine placement boxes 401, 402). If the drug matches the drug 2 to be dispensed, the SCARA robot 800 Alternatively, the chips may be transferred to the dispensing tray 8 as they are.

[0086] The control device 1000 controls the dispenser operation to take precedence over the storage operation. This allows for quick dispensing. In addition, when multiple medicines 2 are dispensed, In addition to transferring the dispensed medicine 2 from the storage unit 500 to the dispensing unit 600, the support tray 900 is In other words, multiple payments to be paid can be transferred together by using the The medicine 2 is temporarily placed on the support tray 900 from the storage section 500. The container 500 may be transferred from the tray 900 to the dispensing unit 600. The SCARA robot 800 does not have to move back and forth between the delivery section 600 and the delivery section 600 for the number of times the delivery is required. This allows the dispensing operation to be completed in a short time. When the work is stopped, the support tray 900 can be used as a buffer to stop the work. This eliminates the need to worry about the need to pay for the items, allowing for efficient dispensing operations.

[0087] In addition, when large bottles or other medicines are already placed on the dispensing tray 8, the scalar type The bot 800 is controlled by the control device 1000 to decelerate and approach the delivery tray 8. The control device 1000 detects that a medicine such as a large bottle is placed on the dispensing tray 8. The presence or absence of the medicine may be detected by a medicine presence / absence detection sensor (not shown), or may be detected by, for example, an electronic medical record. The returned medicine supply device 1 detects the returned medicine from the prescription data received from the upper system, which is the system. This allows the medicine to be loosely packed in a large bottle, as shown in Figures 26A and 26B. The medicine 2 being dispensed from the suction nozzle 801 is removed due to the contact. Even if the medicine 2 is dispensed, it can be stored on the dispense tray 8. When the nozzle 801 is moved toward the delivery tray 8 without decelerating, the nozzle 801 is attracted to a large bottle or the like. The dispensed medicine 2 is forced into the dispensed trough by strong contact with the dispensed medicine 2 held by suction on the nozzle 801. This prevents the ball from flying out of Race 8.

[0088] (Scan operation) Next, the scan operation will be described. The scan operation is, for example, when a user scans a storage tray. 5 is directly accessed, and the returned medicine (or dispensed medicine) 2 is placed on the storage tray 5. This is an operation to confirm that the user does not directly access the storage tray 5. In this case, in addition to the dispensing operation based on the prescription data, the user manually returns the item from the storage tray 5. This refers to the case where the returned drug 2 is directly taken out. For example, if the returned drug 2 is damaged, When the agent 2 cannot be adsorbed by the adsorption nozzle 801 or when the expiry date has passed, the agent 2 is returned. 2, or when multiple returned drugs 2 are taken out from the storage tray 5 at once. Can be enjoyed.

[0089] In this case, the target storage tray 5 can be directly accessed by opening and closing the exterior panel shown in FIG. At this time, all returned medicines 2 on the target storage tray 5 are accessible to the user. The reason is that some of the returned drugs must be removed from the target storage tray 5 by the user. If you remove only 2, the removal will be performed because it was accessed directly by the user. The position of the returned drug 2 that was not picked or the position of the label may have changed. In this case, In the subsequent dispensing operation, the position of the returned drug 2 may change and the drug may not be picked up properly. In other words, when a user directly accesses the storage tray 5, The system is operated to remove all returned drugs 2 on the tray 5, and the scanning action is the user Ensure that all returned medications 2 have been removed from storage trays 5 that were directly accessed by In addition, the manually accessed storage tray 5 is used for scanning. The control device continues to operate until the operation is completed and it is confirmed that there are no returned drugs 2 on the storage tray 5. The device 1000 does not store new returned medicines 2 in the storage tray 5. The new returned medicine 2 is stored in the uncertain storage tray 5 where the medicine 2 may remain. This can prevent the following:

[0090] During the scanning operation, the scalar The suction nozzle 801 of the robot 800 approaches the storage tray 5 that is the target of the scanning operation. At this time, the suction nozzle 801 is irradiated with light from a presence / absence detection sensor 820. The light reflected from the storage tray 5 is scanned to detect the presence or absence of the returned medicine 2. The presence or absence of the returned medicine 2 on the storage tray 5 is detected by the light receiving sensor 820. As described above, the surface of the storage tray 5 on which the returned medicines 2 are stored is colored black. The light emitted from the presence / absence detection sensor 820 is reflected from the surface of the storage tray 5. This prevents erroneous detection of the returned drug 2 due to the exposure to light.

[0091] In addition, the scanning operation is performed separately for each arrangement groove 7 in the target storage tray 5. That is, as shown in FIG. 27, all the arrangements on the storage tray 5 are Instead of detecting all the placement grooves 7 at once, for example, the first placement groove 7 is scanned, and then the next After the dispenser or storer performs the dispense operation or the storage operation, the second arrangement groove 7 is scanned. In other words, the scan operation is performed when no dispense or store operation is performed. This allows the dispenser and the storage operation to be given priority. is.

[0092] In addition, the scanning operation in each arrangement groove is performed in a zigzag manner along the extension direction of the arrangement groove. Specifically, as shown in FIG. 27, the scanning locus D1 in the arrangement groove 7 of No. 1 is As shown in FIG. 1, the presence / absence detection sensor 820 is arranged in a zigzag pattern in the groove 7 so as to correspond roughly to the width of the returned medicine 2. For example, the scanning trajectory D1 is in a direction crossing the arrangement groove 7. While moving 20 mm in the direction in which the arrangement groove 7 extends, the positioning groove 7 is moved in such a way that the positioning groove 7 moves 15 mm in the direction in which the arrangement groove 7 extends. The tray 5 is tilted in a zigzag manner to scan each of the arrangement grooves 7. The returned drug 2 was black in color, which made it difficult to detect reflected light. Even if the label 3 is not located above, the zigzag scanning trajectory D1 For example, light is irradiated onto a label 3 that is not in the upper position, and the reflected light from this label 3 is received. In this way, the returned medicines 2 remaining on the storage tray 5 can be reliably detected.

[0093] That is, the scanning operation is linearly performed along the extending direction of the arrangement groove 7 (the scanning trajectory in the figure). The trace D2) is a black returned drug 2 with its label shifted from the top. However, when the returned medicine 2 is not detected, the presence / absence detection sensor By scanning 820 in a zigzag pattern, if the display label is not located at the top but at the side, Even if the label is misaligned, the misaligned label can be detected, so the returned drug 2 Even if the drug is black, the presence or absence of the returned drug 2 can be detected reliably.

[0094] As described above, according to the returned medicine supply device 1 of the present embodiment, the type, shape, size, and use Returned drugs 2 that have various different expiry dates and other characteristics and are supplied in an unaligned state are automatically recognized. This allows for a high degree of freedom in storing medications, and they can be dispensed freely according to prescription data.

[0095] In addition, each storage tray 5 of the storage section 500 needs to be pulled out horizontally when storing. Therefore, no space is required to pull out the storage tray 5, and as a result, the storage section 50 0 can be configured compactly. In addition, the returned medicines 2 are stored on the storage tray 5. Since the storage area and the type are associated with each other, various returned medicines 2 can be stored on each storage tray 5. This eliminates the need to prepare storage trays 5 for each type of drug. This can prevent the number of storage trays 5 from increasing. The storage section 50 is provided so that various returned medicines 2 with different properties can be taken out from the product tray 4. In addition, drugs other than the returned drugs 2, for example, drugs to be stocked, can be stored in the storage trays 5. The medicines of the same nature are stored in each storage tray 5 of the storage unit 500 so that they can be taken out. In this device, the scalar type robot 800 can store the returned medicine from the storage tray 5. 2 is inserted and removed, so that the storage tray 5 does not require a lid or ejection mechanism. By arranging the trays 5 in multiple stages, the upper storage tray 5 can function as a lid for the lower storage tray 5. The storage tray 5 is compact and its height corresponds to the radial height of the returned medicine 2. Therefore, the storage unit 500 can be made compact.

[0096] In addition, the storage tray 5 is not pulled out, and the returned medicines stored in the storage tray 5 are As a result, the returned medicines 2 stored in the storage tray 5 are not subjected to any horizontal force. Keep the orientation and position as when stored, especially the barcode on label 3, facing the barcode reader at an angle. 4. The upper position can be maintained for the purpose of preventing the return of the medicines 2 from being collated on the storage tray 5. Furthermore, when dispensing is performed based on prescription information, By checking the barcode of the medicine 2, the dispense operation can be carried out without any mistakes. Since the drug with the shortest expiration date is dispensed, efficient dispensing work can be carried out. This allows workers to store information necessary for drug management, such as drug type and expiration date, without having to worry about it. This has made it possible to do so.

[0097] From here, the recognition unit 3 of the returned medicine supplying device 1 of this embodiment will be described. The temporary placement unit 301 and the label reading unit 302 in the printer 100 will now be described in more detail.

[0098] First, the recognition unit 300 recognizes the shape, size, type, and expiration date (characteristics) of the returned medicine 2. Specifically, the shape of the returned medicine 2 is recognized in the temporary placement section 301 of the recognition section 300. The shape and size of the returned medicine 2 are recognized, and the type and size of the returned medicine 2 are recognized by the label reading unit 302. Then, based on the result of the recognition of the properties, the returned medicine 2 is fed to the returned medicine supply device 1. The control device 1000 (determination processing unit) determines whether the drug is a drug to be handled. do.

[0099] In addition, the medicines to be handled here are at least the structure of the returned medicine supply device 1. The medicine has a shape and size that can be handled in the returned medicine supply device 1. This refers to a drug whose type is predetermined by the user.

[0100] (Recognition of drug shape and size) As described above, the shape and size of the returned medicine 2 are detected in the temporary placement section 301 of the recognition section 300. The size is recognized (shape and size information is obtained). For this purpose, the returned medicine 2 is 1 and 13, the placement surface 305a (the plane on the camera 307 side) of the translucent plate 305 The semiconductor device is placed on the support 305 so that its longitudinal axis A is parallel to the support surface 305a. The returned medicine 2 placed on the transparent plate 305 is illuminated by the light 30 disposed below the translucent plate 305. With light being irradiated from below by the camera 36, ​​the camera 36 is positioned above the translucent plate 305. Photographed by 07.

[0101] The control device 1000 detects the amount of the returned medicine 2 based on the image captured by the camera 307. The control device 1000 is configured to obtain information on the shape and size of the object. A part of the recognition unit 300 for recognizing the shape and size of the returned medicine 2 (first medicine information acquisition It functions as a

[0102] The control device 1000 also controls the returned drug 2 to obtain information on the shape and size of the returned drug 2. The image of the camera 307 capturing the drug 2 is processed (including an image processing unit). As an example of image processing for the image from the camera 307, the following is performed: Edge detection processing to detect the edges of the image in step 2, and binarization to convert the image to black and white Based on the edge-detected image and the binarized image, a control is performed. The control device 1000 acquires information on the shape and size of the returned medication 2.

[0103] In addition, the control device 1000 determines whether the returned medicine 2 is in a proper state based on the acquired shape of the returned medicine 2. The shape of the medicine is determined to be the shape of the medicine to be handled by the returned medicine supply device 1. It is composed.

[0104] For example, the label reading unit 302 reads the label of the returned medicine 2 returned via the return tray 4. A medicine that is shaped to be caught between the endless belt 308 and the roller 309, a SCARA type robot 80 0, medicines of a shape that cannot be held in the storage unit 500, medicines of a shape that cannot be stored in the storage unit 500, i.e., returned medicines When the medicine supply device 1 contains a medicine of a shape that cannot be handled due to its structure. Examples include medicines stored in a bag or box, medicines that are partially missing, Medicines with partially peeled labels or medicines with partially peeled labels stuck to other medicines Such returned medicines cannot be handled by the returned medicine supply device 1 due to its structure. Therefore, they are treated as drugs that are not subject to handling (non-stored drugs).

[0105] A method for determining the shape of the returned drug 2 based on an image (processed image) taken by a camera 307 An example of the method will be described.

[0106] 28A and 28B show images that have been binarized. An image of a returned drug 2 in an ampoule shape, which is the shape of the drug to be handled by the supply device 1 (blackened image) ) Im is shown in the binarized image Pic. Returned medicines in the form of medicines, i.e. ampoules with the label 3 partially peeled off 1 shows a binarized image Pic' containing an image Im' of No. 2 (blackened image).

[0107] First, the control device 1000 detects the black-painted area in the image Pic (Pic') of the camera 307. A rectangular region Sr (Sr') circumscribing the image Im (Im') is extracted. A rectangular area Sr( The center line CL (CL') of the black image Im (Im') is calculated. The control device 1000 determines whether or not the shape is symmetrical with respect to the line CL (CL').

[0108] In the case of the image Pic in FIG. 28A, the black-filled image Im is symmetrical with respect to the center line CL. Therefore, the control device 1000 determines the shape of the returned medicine 2 shown in the image Pic as the shape of the medicine to be handled. On the other hand, in the case of the image Pic' in FIG. 28B, the black-filled image Im' is determined to be in the center line C. Since the shape is asymmetric with respect to L', the control device 1000 detects the returned drug in the image Pic'. The shape of drug 2 is determined to be the shape of a drug that is not subject to handling.

[0109] Alternatively or additionally, the rectangular area Sr may be painted black on the long side Sa. The part that is not in contact with the return image Im is extracted, and its length L0 is calculated. The length of the head 2d of the rectangular region Sr is calculated by dividing the length L0 by the length of the long side Sa of the rectangular region Sr (i.e. By comparing the total length L1 of the returned drug 2 with the total length L2 of the returned drug 2, the returned drug 2 captured in the image of the camera 307 is It is possible to determine whether the shape of the drug 2 is the shape of the drug to be handled. For example, When the head length to total length ratio of the drug being handled is in the range of 0.3 to 0.4, L If the value of 0 / L1 is within the range of 0.3 to 0.4, the shape of the returned drug 2 shown in the image is acceptable. The shape of the drug in question.

[0110] In addition, the ratio of the area of ​​the black image Im to the area of ​​the rectangular region Sr is used to calculate the return rate. It is possible to determine whether the shape of the drug 2 is the shape of the drug to be handled.

[0111] Furthermore, the shape of the drug to be handled is stored as data in advance, and the shape data and The shape of the returned medicine 2 in the image is compared, and the returned medicine is determined based on the comparison result (similarity). It is also possible to determine the shape of 2.

[0112] In the case of resin ampule 2 (2C) as shown in Figure 29, the shape of the drug that cannot be handled is In other words, a circular (or elliptical or oblong) cross section may be judged to be The resin annular member has a body 2c and a rectangular thin plate-shaped (or square thin plate-shaped) head 2d. In the case of pull 2 ​​(2C), the image of the camera 307 after image processing may appear as a rectangle. Therefore, it may be difficult to distinguish them from medicines stored in rectangular boxes.

[0113] In this case, the resin ampoule 2 (2C) is transparent (or translucent) and the box is opaque. In other words, the former uses the property that light passes through, and the latter uses the property that light does not pass through. do.

[0114] Specifically, a brightness adjustment process is performed to increase the brightness of the image of the camera 307 that captures the returned drug 2. After that, the image is binarized.

[0115] When the returned drug 2 captured in the image of the camera 307 is a transparent resin ampoule 2 (2C), Due to the brightness adjustment process to increase the brightness, the central part of the image of the returned medicine 2 appears white. After that, when the image is subjected to a binarization process, only the outline of the returned drug 2 remains on the image. In other words, a frame-like image remains in the image. On the other hand, in the case of a box, even if the brightness adjustment process is performed, The image of the box remains intact without any overexposure. Even if the image is then binarized, the rectangular image remains. By performing a brightness adjustment process to reduce the brightness of the image and then performing a binarization process, Therefore, it is possible to distinguish the transparent (or semi-transparent) resin ampoule 2 (2C) from the box. be.

[0116] The shape of the returned medicine 2 placed on the semi-transparent plate 305 of the temporary placement section 301 is the shape of the medicine to be handled. After it is determined that the returned drug 2 is in a size that is larger than the size of the drug to be handled, the control device 1000 To determine whether the returned drug 2 is the same size as the drug, is measured (calculated).

[0117] For example, the label reading unit 302 reads the label of the returned medicine 2 returned via the return tray 4. A medicine of a size that can be caught between the endless belt 308 and the roller 309, a SCARA type robot 8 00, and drugs that cannot be stored in the storage unit 500, i.e. The returned medicine contains medicines that are too large for the medicine supply device 1 to handle due to its structure. Such returned medicines 2 cannot be handled by the returned medicine supply device 1 due to its structure. Therefore, they are treated as drugs that cannot be handled (non-stored drugs).

[0118] In this embodiment, in order to obtain information on the size of the returned medicine 2, first, The length of the returned drug 2 in the longitudinal direction (extension direction of the axis A) is measured (calculated). A method for measuring (calculating) the length in the longitudinal direction will be described.

[0119] 30 and 31 are diagrams for explaining a method for measuring (calculating) the size of the returned medicine 2. do.

[0120] As shown in FIG. 30, the returned drug 2 (vial 2B) placed on the translucent plate 305 When the image is captured by the upper camera 307, the image Pi of the camera 307 is taken as shown in FIG. The returned drug 2 is shown in image Pic. The longitudinal length Lm and width Based on the lengths W1 and W2, the size of the returned medicine 2 is determined as The actual length Lact of the object (current direction) is calculated. A method for calculating the actual length Lact of the drug 2 in the longitudinal direction will be described.

[0121] When a cylindrical object such as the returned drug 2 is photographed in a direction perpendicular to its axis, the extension of the axis There is an error between the size of the direction on the image and the actual size. In the image, the returned drug 2 appears larger than its actual size.

[0122] Therefore, the longitudinal direction (extension of the axis A) of the returned medicine 2 is calculated based on the image Pic of the camera 307. When calculating the size of the image of the returned drug 2 in the longitudinal direction, It is necessary to correct the size of the image. It is necessary to find the differences E1 and E2. The method for calculating the errors E1 and E2 will be explained below.

[0123] First, as shown in FIG. 31, the longitudinal direction of the returned medicine 2 in the image Pic of the camera 307 is length Lm, widthwise length (tip width) W1 at the tip 2a, and width at the base end 2b Calculate the length in the direction (base end width) W2.

[0124] The longitudinal direction of the image of the returned medicine 2 in the image Pic of the camera 307 is parallel to the translucent plate 30 5 corresponds to the longitudinal direction (extension direction of axis A) of the actual returned medicine 2 on the image P. The width direction of the image of the returned medication 2 corresponds to the radial direction of the actual returned medication 2.

[0125] More specifically, the longitudinal length of the image of the returned drug 2 in the image Pic of the camera 307 The length between the optical axis OA1 of the camera 307 and the tip 2a (tip side length) Lm1, The length between the optical axis OA1 and the base end 2b (base end side length) Lm2 is calculated. The sum of the length Lm1 and the base end length Lm2 is the longitudinal length of the image of the returned drug 2 in the image Pic. Equivalent to Lm.

[0126] The distal end length Lm1 and the proximal end length Lm2 in the image of the returned drug 2 in the image Pic of the camera 307 Based on Lm2, the distal width W1, and the proximal width W2, the length of the returned drug 2 in the image Pic The error E1, E2 between the longitudinal length Lm of the image and the actual longitudinal length Lact of the returned drug 2 2. To do this, we use geometry, specifically the similarity of triangles.

[0127] As shown in Figure 30, triangle △A (p1-p2-p3) and triangle △B (p4-p2-p 5) is similar. In addition, the length of the base of triangle △A is the length of the tip side Lm1. The height h0 is the distance between the image forming point p1 of the camera 307 and the placement surface 305a of the translucent plate 305. On the other hand, the length of the base of triangle △B is error E1 and its height is h1. The height h1 is the distance between the bottom end of the tip 2a and the placement surface of the translucent plate 305 as shown in Equation 1. 305a and the tip side width W1.

[0128]

number

[0129] In addition, the formula 1 can be obtained because the returned drug 2 is vial 2B. That is, the end surface shape of the returned drug 2 at the tip 2a and the base end 2b is a circular flat surface. It can be requested.

[0130] Therefore, based on the similarity relationship between triangles △A and △B, the following equation 2 holds true.

[0131]

number

[0132] Similarly, triangle △C(p1-p6-p3) and triangle △D(p7-p6-p8) are similar. In addition, the length of the base of triangle △C is the base end distance Lm2, and its height h 0 is the distance between the imaging point p1 of the camera 307 and the placement surface 305a of the translucent plate 305. On the other hand, triangle △D has a base length of error E2 and a height h2 of base end width W2 It is.

[0133] Therefore, based on the similarity relationship between triangles △C and △D, the following formula 3 holds.

[0134]

number

[0135] In formulas 1 to 3, the distal end distance Lm1, the proximal end distance Lm2, the distal end width W1, and the proximal end The side width W2 is calculated based on the image Pic of the camera 307 showing the returned medicine 2. The height h0 is the distance between the image forming point p1 of the camera 307 and the placement surface 305a of the translucent plate 305. Therefore, they are constant and known. By using these values ​​and Equations 1 to 3, The error E1 on the tip end 2a side and the error E2 on the base end 2b side can be calculated.

[0136] The calculated errors E1 and E2 are calculated based on the image Pic of the returned drug 2 taken by the camera 307. The actual longitudinal length of the returned drug 2 is calculated by subtracting from the longitudinal length Lm (Lm1 + Lm2). The length Lact in the direction (extension direction of axis A) can be calculated.

[0137] In this way, the actual length of the returned medicine 2 in the longitudinal direction (extension direction of the axis A) can be calculated. If possible, other parts of the returned drug 2 are extracted based on the previously obtained information on the shape of the returned drug 2. For example, if the returned drug 2 is a vial 2B, the actual size of the body 2c can be calculated. The actual outside diameter can be calculated.

[0138] The actual length of the returned drug 2 in the longitudinal direction as described above is calculated based on the tip of the returned drug 2. When the end faces of 2a and the base end 2b are circular like the vial 2B, the accuracy is high. Therefore, if the returned drug 2 is an ampoule 2A or a resin ampoule 2C, its longitudinal direction The method for calculating the actual length of the

[0139] For example, if the returned drug 2 is an ampoule 2A, its head 2d tapers toward its tip 2a. Because of the shape of the tip 2a, the tip 2a is not a plane but a point. It is not possible to calculate the tip width W1 from the image of the ampoule 2A in the above. Using the formula 1, the tip width W1, and the base width W2, the tip height of the returned drug 2 (2A) is calculated. Therefore, when the returned drug 2 is an ampoule 2A, the tip side The height h1 is defined as shown in Equation 4 using the base end width W2.

[0140]

number

[0141] In Equation 4, α is a constant that is determined experimentally or empirically. For example, the constant α is 1 mm. By using Equation 4, Equation 2, and Equation 3, the return drug 2 is Even if the ampoule is 2A, the longitudinal direction of the ampoule is determined based on the image of the camera 307 that captures the ampoule A. The actual length Lact (in the direction of extension of axis A) can be calculated.

[0142] In addition, the returned drug 2 has a rectangular thin plate-shaped (or square thin plate-shaped) head 2 as shown in FIG. In the case of the resin ampoule 2C having a length d, the same method as that of the ampoule 2A is used. It is possible to calculate the actual length Lact in the direction (extension direction of axis A), and This is because, in the case of the resin ampule 2C, the placement surface 305a of the translucent plate 305 is The width W1 of the tip side on the image of the camera 307 varies depending on the inclination of the thin plate-like head 2d. Therefore, similarly to the ampoule 2A, the tip end width W1 is set in relation to the base end width W2. It is preferable to think of it as a number.

[0143] Furthermore, as described above, the resin ampule 2C has a thin plate-like head 2d that is sandwiched between the translucent plate 305. On the semi-transparent plate 305 in a state not parallel to the placement surface 305a (slightly tilted state) Taking such a case into consideration, the tree on the image of the camera 307 is The longitudinal length Lm in the image of the oil ampoule 2C (i.e., the distal end distance Lm1 and the proximal end distance Lm2) The distance Lm2) is preferably measured at the width-wise centre of the image.

[0144] Furthermore, when measuring (calculating) the actual length Lact of the returned drug 2 in the longitudinal direction, The returned drug 2 is placed on the semi-transparent plate 30 so that the optical axis OA1 of the camera 307 intersects with the returned drug 2. It is preferable that the optical axis OA1 of the camera 307 is located on the mounting surface 305a of the camera 307. The returned drug 2 is positioned relative to the translucent plate 305 so that the axis A of the returned drug 2 is perpendicular to the axis A of the translucent plate 305. It is preferable to use a 100% 150% ...

[0145] For example, FIG. 32 shows a case in which a concave-convex portion is formed as a positioning portion for positioning the returned medicine 2. FIG. 3 is a perspective view of a translucent plate (medicine placing plate) 305.

[0146] In this embodiment, the translucent plate 305 is made up of a translucent base plate 305A and a base The transparent plate 305A is provided with a placement surface 305a on which the returned medicine 2 is placed. The base plate 305A is a positioning plate 305B. The returned medicine 2 is prevented from falling off the mounting surface 305a by protruding upward from the periphery of the plate 305B. The frame 305c prevents this.

[0147] The positioning plate 305B is detachably attached to the base plate 305A. The positioning plate 305B is also placed on the optical axis OA1 of the camera 307 and the placement surface 305a. The returned drug 2 is positioned relative to the translucent plate 305 so that the axis A of the returned drug 2 is perpendicular to the translucent plate 305. A pair of linear protrusions 305b are provided for positioning. b extend parallel to each other at an interval and protrude from the placement surface 305a toward the camera 307 side. When the returned medicine 2 is placed between the pair of protrusions 305b, the outer circumferential surface of the body 2c As a result, the axis A of the returned medicine 2 is aligned with the camera 3. 07 perpendicular to the optical axis OA1, and positioned relative to the placement surface 305a of the translucent plate 305. will be done.

[0148] In addition, the positioning plate 305B (mounting surface 305a) is provided with a The analysis range AR is set to analyze the position, orientation, shape, and size of the returned drug 2. The analysis range AR is a position on the placement surface 305a that is a predetermined distance away from the frame 305c toward the center. That is, the returned medicine 2 is placed on the placement surface 305a and the protrusion portion 3 When positioned by 05b, the entirety is usually located within the analysis range AR. Meanwhile, when the returned medicine 2 is transferred from the return tray 4 to the temporary placement section 301, the returned medicine 2 is In some cases, the axis of the return roller is inclined with respect to the extension direction of the return roller. When a detection error occurs in the picking position or axial direction of the returned drug 2 in the return tray 4 In this case, referring to FIG. 33 showing a plan view of the temporary placement section 301, the returned medicine 2 is The protrusion 305b is not used to determine the position of the frame 305c. The object rolls down to the point where it is outside the analysis range AR, and the entire object is no longer within the analysis range AR. As a result, the control device 1000 cannot correctly analyze the shape and size of the returned medicine 2. stomach.

[0149] In response to this, referring to FIG. 34 showing a side cross-sectional view of the temporary placement unit 301, The returned drug 2 is moved to the center of the analysis range AR by the suction nozzle 701. At the same time, the direction of the returned medicine 2 is analyzed within the analysis range AR, so that the protrusion 3 05b. The returned medicines transferred to the temporary storage section 301 are 2 is determined to be positioned by the protrusion 305b, and the returned drug 2 When the protrusion 305b is not positioned, an example of a procedure for repositioning the protrusion 305b is as follows: The following description will be given with reference to the flow chart of FIG.

[0150] First, as shown in FIG. 35, in step S101, the control device 1000 Based on the image of 307, a medicine region is extracted as the region in which the returned medicine 2 is located.

[0151] Next, in step S102, the control device 1000 determines whether the entire drug region is within the analysis range A. If the entire drug region is located within the analysis range AR, If so, the process proceeds to step S105; if not, the process proceeds to step S103.

[0152] Next, in step S103, the control device 1000 selects an analysis range A of the drug region. An area located within R is analyzed, and the center coordinate CC of this area is calculated.

[0153] Next, in step S104, the control device 1000 controls the Cartesian robot 700. Then, the returned medicine 2 is moved so that the entirety of the medicine 2 is positioned within the analysis range AR. As shown in FIGS. 33 and 34, the returned medicine 2 is aligned with the center coordinate CC The base plate 305A is pushed from the outside toward the center by the suction nozzle 701. and move it.

[0154] On the other hand, if it is determined in step S102 that the entire medicine region is located within the analysis range AR, If so, in step S105, the control device 1000 The returned medicine 2 is positioned on the protrusion 305b, i.e., in the center of the backlight. If the returned drug 2 is located in the center of the backlight, If so, proceed to step S107; otherwise, proceed to step S106.

[0155] In step S106, the control device 1000 determines whether the return item is a The orientation of the medicine 2 is detected, and the orthogonal robot 700 is controlled to pick up the returned medicine 2 by the suction nozzle. The returned drug 2 is sucked at 701 and positioned on the protruding portion 305b. The returned medicine 2 is placed with its axis A aligned along the extending direction of the protruding portion 305b. Therefore, the returned medication 2 is positioned by the protruding portion 305b.

[0156] After the returned drug 2 is moved to the analysis range AR in step S104, and after step S After the returned medicine 2 is positioned on the protruding portion 305b in step S106, step S10 is performed again. In 1, the drug region is extracted.

[0157] Then, in step S102, it is determined that the medicine region is located within the analysis range AR. In step S105, it is determined that the returned medicine 2 is located in the center of the backlight. If so, in step S107, the control device 1000 For the returned medicine 2 positioned by the unit 305b, based on the image of the camera 307 Then, a normal shape analysis process is carried out to analyze the shape and size.

[0158] The returned medicine 2 is positioned relative to the semi-transparent plate 305 (i.e., the optical axis OA1 of the camera 307). If the positioning can be performed, the positioning portion formed on the translucent plate 305 may be a pair of the positioning portions shown in FIG. For example, a concave-convex portion for positioning the returned medicine 2 may be used. may be a groove.

[0159] The translucent plate 305 is made up of a base plate 305A and a positioning plate 305B. Instead of forming the reflective surface, it may be formed from a single translucent plate. The plate is provided with a concave and convex portion for positioning the returned drug 2. When the plate 305 is composed of a base plate 305A and a positioning plate 305B, A plurality of positioning plates having different shapes of concave and convex portions for positioning the drug 2 are prepared. This allows the returned medicine supply device 1 to handle medicines of a wider variety of shapes and sizes. can.

[0160] The returned medicine 2, whose shape and size have been recognized by the temporary placement section 301 of the recognition section 300, The shape and size of the drug to be handled are determined by the control device 1000. If so, the label reading unit 30 adjacent to the temporary placement unit 301 is 2 by an orthogonal robot 700.

[0161] On the other hand, the shape of the returned drug 2 was determined to be that of a drug that cannot be handled, or the shape was determined to be that of a drug that cannot be handled. Even if the shape of the drug is that of a drug that can be handled, the size of the drug is determined to be that of an unhandled drug. The returned medicine 2 is stored in the non-stored medicine storage unit 400 as a non-stored medicine 2'. The medicines are then transferred to boxes 401, 402 or to a return tray 4 for non-stored medicines.

[0162] (Determination of the pickup position) Next, referring to FIG. 36 to FIG. 38, the image captured by the camera 307 of the temporary placement unit 301 is Based on the image (i.e., the shape and size information of the returned drug 2 obtained as described above), Based on the above, the suction position of the returned medicine 2 (the suction nozzle 701 of the Cartesian robot 700 and the suction nozzle 702 of the Cartesian robot 700) is determined. A method for calculating the position to be picked up by the suction nozzle 801 of the robot 800 will be described. .

[0163] Referring to FIG. 36, the vial 2B has a head 2d that protrudes from a body 2c by a relatively small amount. Since the difference in diameter between the body 2c and the head 2d is also small, the center position of the length (total length L1) is picked up. If the position is set to SP, the weight balance will be good when the suction nozzles 701 and 801 pick up the object. In other words, in the case of vial 2B, the suction position SP is set to approximately the middle position of the total length L1. This allows the suction nozzles 701 and 801 to hold the substrate stably.

[0164] Continuing to refer to FIG. 36, the ampoule 2A has a head 2d that protrudes from the body 2c by a comparatively small amount. Since the difference in diameter between the body 2c and the head 2d is also large, the suction position is approximately the middle of the total length L1. If the SP is set to the SP position, the weight balance will not be good when the suction nozzles 701 and 801 pick up the object. In the case of the ampoule 2A, the suction is applied not to the overall length L1 but to the approximate center position of the length L2 of the body portion 2c. If the position is set to SP, the weight balance will be good when the suction nozzles 701 and 801 pick up the object. In other words, in the case of the ampoule 2A, the suction position SP If the setting is made as above, the suction nozzles 701 and 801 can hold the object stably. The same is true for Rule 2C.

[0165] For the above reasons, based on the image taken by the camera 307 of the temporary placement unit 301, The adsorption position SP of the returned drug 2 is calculated by the following procedure.

[0166] First, the outer contour of the image captured by the camera 307 (the image of the returned drug 2 in plan view) is Then, an envelope (or a circumscribing rectangle) 313 is set (step 1 in FIGS. 37 and 38). Also, the convexity is calculated from this envelope 313 (step 1 in FIG. 37 and FIG. 38). The surface area approaches a value of 1 as the envelope 313 can enclose the returned drug 2 in a straight line. That is, the larger the convexity value (maximum value is 1), the smaller the difference in diameter between the body 2c and the head 2d. This means that the difference in diameter between the neck connecting the body 2c and the head 2d is small. do.

[0167] The calculated convexity value is set to a preset threshold value (for example, a value in the range of 0.8 to 0.9). If the number of vials is more than 1, the returned drug 2 photographed by the camera 307 is presumably vial 2B. Therefore, the center of the total length L1 and the center of the width W are set as the pickup position SP. Set it up (Step 2 in Figure 37).

[0168] If the calculated convexity value is less than the above-mentioned preset threshold value, the image is taken by the camera 307. The reflected returned drug 2 has a shape that can be assumed to be an ampoule 2A (or a resin ampoule 2C). Therefore, in order to set the middle of the length L2 of the body portion 2c as the suction position SP, The following process is performed.

[0169] First, the envelope (or circumscribing rectangle) 313 is compared with the outline of the image of the returned drug 2. A constricted portion corresponds to a neck portion (a part having a partially reduced diameter) between the body portion 2c and the head portion 2d. Extract 314 (Step 2 in Figure 38).

[0170] Next, a rectangular area 315 is created by surrounding the extracted constricted portion 314 with straight lines (see the step in FIG. 38). Step 3).

[0171] Then, the rectangular area 315 is removed from the outline of the image of the returned drug 2, so that the two areas are separated. These regions 316a, 316b are created (step 4 in FIG. 38). 6b corresponds to the area other than the narrowed portion 314 of the outline of the image of the returned medicine 2. One of these regions 316a, 316b corresponds to the body 2c of the returned drug 2, and the other corresponds to the head 2d. The areas of the regions 316a and 316b are compared, and the one with the larger area (corresponding to the trunk portion 2c) is ) is left as the processing target, and the one with the smaller area (corresponding to the head 2d) is excluded from the processing target. In this example, the area of ​​region 316a is larger than the area of ​​region 316b. is left for processing.

[0172] Finally, within the length L2' of the region 316a (corresponding to the length L2 of the body 2c of the ampoule 2A), The center between the gap and the width W' (corresponding to the width W of the body 2c of the ampoule 2A) is set as the suction position SP ( Step 5 in Figure 38).

[0173] Through the above procedure, based on the image captured by the camera 307 of the temporary placement unit 301, The returned drug 2 is automatically picked up at a suction position SP where the suction nozzles 701 and 801 can stably hold the returned drug 2. As a result, the Cartesian robot 700 places the object on the semi-transparent plate 305 of the temporary placement section 301. The returned medicine 2 is placed on the label reading unit 30 with its axis A parallel to the horizontal direction. 2, and the tip of the head 2d can be conveyed to the label recognition unit 300 without colliding with the label recognition unit 300. The card can be safely placed on the endless belt 308 of the card reader 302. However, the Cartesian robot 700 does not move the base end 2 of the returned drug 2 placed on the endless belt 308. The returned medicine 2 is conveyed to the endless belt 3 so that the end b faces the stopper 317 of the label reading unit 302. It can be placed on 08.

[0174] 39 is a schematic diagram of the recognition unit 300. The recognition unit 300 includes an image capture unit 1003, a control calculation unit, and a The photographing unit 1003 includes a camera 304 and a transport unit 1005. The control and calculation unit 10 has a function of transmitting image data captured by the camera 304. 04 is included in the control device 1000 and includes a CPU (Central Processing Unit), RAM (RAM), Hardware that includes storage devices such as ROM (Read Only Memory) and ROM (Direct Access Memory). The transfer unit 1005 is constructed by an orthogonal The robot 700 is a robot that can move freely.

[0175] Specifically, image data captured by the camera 304 in the image capturing unit 1003 is subjected to control calculations. The image data is transmitted to the control calculation unit 1004, and the control calculation unit 1004 controls the transfer unit 100 based on the image data. 5, the orthogonal robot 700 is driven and controlled to pick up and hold the returned medicines 2 in the return tray 4 one by one. The control unit 100 holds the sample and transfers it onto the semi-transparent plate 305 of the temporary placement unit 301 (see FIG. 13). The image forming apparatus 4 includes a binarization processing unit 1006, a recognition processing unit 1007, and a drive control unit 1008.

[0176] The binarization processing unit 1006 receives image data captured by the camera 304 of the imaging unit 1003. This is then subjected to binarization to generate a binary image (first binary image). 40A and 40B are respectively an original image captured by the camera 304 and a threshold image (e.g., 40A is a schematic plan view illustrating a binarized image obtained by binarization processing in accordance with the method of the present invention. In the case of a cylindrical object with a curved surface, like that of the returned drug 2, the light coming from above is strongly reflected. Therefore, the area where the reflection occurs becomes elongated. S1 can be recognized.

[0177] In the binarization process, the detection of the reflection area S1 is performed multiple times by changing the threshold value. The threshold is gradually decreased in three steps to detect the reflected light area S1. In the process, a high threshold (e.g., 245) is set to detect the highest cylindrical shape of the returned drug 2. Therefore, when the returned drugs 2 are in contact with each other or are partially Even if the outline of returned drug 2 is unclear, such as when the drug is overlapped with another drug, each returned drug The elongated reflected region S1 of the returned drug 2 can be detected as a separate region, and the position of the returned drug 2 can be determined based on this. In the second stage, the threshold is lowered (for example, 12 5) Binarization is performed to detect the returned drug 2, which is slightly darker than the first step. In the third stage, the darkest color of the returned drugs 2 (e.g., brown bottles) can be detected. Each time, the threshold is set lower (for example, 75) to detect the remaining medicine. When the light is reflected, the light reflection area S1, which has the largest area, is moved first. The returned drug 2 can be adsorbed in order of size, starting from the larger drug 2 that is easier to adsorb. When returning the drug, the orientation of the minimum bounding rectangle of the area is detected at the same time, and the orientation of the returned drug 2 is also detected. It should be noted that the same image may be used for the stepwise processing. Alternatively, images retaken individually may be used.

[0178] The recognition processing unit 1007 recognizes the position and orientation (in the XY plane) of the returned medicine 2 based on the binarized image. (The direction in which the axis A extends does not include the direction in which the tip end 2a and the base end 2b are facing.) The approximate center position of the returned drug 2 is detected. Usually, the shape of the returned drug 2 is such that the width W is longer than the length L1. Therefore, from the position of the detected reflection area S1, the return items in the return tray 4 can be The position of drug 2 etc. is recognized.

[0179] In the case where the returned drug 2 is preferably adsorbed at the middle position of the body in terms of its positional relationship with the center of gravity, For example, the resin ampule 2C shown in FIG. 40A is attached at the center of the body. However, in the case of the resin ampoule 2C having a flat portion at the top, In such a case, the orthogonal type reflector may strongly reflect the illumination light and form a reflection area S1. In order to prevent the bot 700 from accidentally picking up the head, the recognition processing unit 1007 A region determining unit 1009 is provided for determining a head region from the valued image as a recognition and removal region. It is preferable to exclude the area from location detection.

[0180] Specifically, the reflected region S1 of the cylindrical portion of the returned medicine 2 is an elongated region. The length is equal to or greater than a specified value, the width is less than a specified value, or the ratio of the length to the width is equal to or greater than a specified value. In contrast, the reflective area S1 of the head of the resin ampule 2C in FIG. 40A has a large width DW. , the length DL is a small area, and the ratio of the length DL to the width DW is small. The determination in the determination unit 1009 is whether the length DL of the reflection area S1 is less than a predetermined value or the width DW is If the ratio of the length DL to the width DW is equal to or greater than a predetermined value, or if the ratio of the length DL to the width DW is equal to or less than a predetermined value, The area is determined as the recognition and removal area. The predetermined value used here is the resin an In this way, the head can be set as the recognition and removal area. By this judgment, the body part to be picked up can be accurately recognized. The data is transmitted to the drive control unit 1008.

[0181] The drive control unit 1008 detects the position of the returned medicine 2 and other information detected by the recognition processing unit 1007. Based on this, the orthogonal robot 700 is driven to place the returned medicine 2 on the semi-transparent plate 305 of the temporary placement section 301. (See FIG. 13) When transferring, the returned drug 2 is controlled based on its size and surface. Since it is necessary to automatically recognize the label information attached to the drug, the returned drug 2 is placed in a return tray 4. Therefore, if there is a returned drug 2 that is not fallen in the return tray 4, In this case, the drive control unit 1008 drives the orthogonal robot 700 to control it to knock down the returned drug 2. is doing.

[0182] Whether the returned medicine 2 has fallen in the returned tray 4 or not is recognized based on an image captured by the camera 304. The recognition processing unit 1007 recognizes the image based on the image or a binary image obtained by binarizing the image. Specifically, when the returned medicine 2 that has not fallen is photographed by the upper camera 304, it is different from the other returned medicines. Unlike the returned medicine 2, the returned medicine 2 is approximately circular in plan view. Or, the non-fallen returned drug 2 is compared with the other fallen returned drug 2. Since the area of ​​the returned drug 2 detected is small in plan view, it falls over if the area is less than a certain area. In this way, it may be determined that the image captured by the camera 304 or the binarized image is not Based on the image, it can be recognized whether the returned medicine 2 has fallen in the returned tray 4 or not.

[0183] Next, if there is a returned medicine 2 that is recognized as not having fallen, the drive control unit 1008 A method for controlling the cross-type robot 700 to knock down the returned medicine 2 will be described in detail. First, FIG. As shown in FIG. 1, the drive control unit 1008 performs the following for the returned medicine 2 that is recognized as not falling over: The orthogonal robot 700 is driven to press the suction pad 702 against the returned medicine 2 from above. The height of the drug 2 is measured. The height is measured by a position sensor ( Next, the suction pad 702 is raised once, and the suction pad 7 After releasing the contact between the return drug 2 and the return drug 3, the return drug 3 is moved horizontally for a few mm (for example, about 20 mm). Then, the returned drug 2 is lowered to a position several mm (for example, about 5 mm) from the measured height. After lowering the suction pad 702, the suction pad 702 is moved horizontally toward the returned drug 2. Then, as shown in FIG. 41B, the upper part of the returned medicine 2 is pressed to cause the returned medicine 2 to fall over. In general, the height of the returned drug 2 that is not fallen is higher than the height of the returned drug 2 that has fallen. Only when the measured height of the returned drug 2 is equal to or greater than a predetermined value, is it determined that the returned drug 2 is not fallen. It may be determined.

[0184] FIG. 42 is a diagram showing the direction in which the returned medicine 2 is to be laid down. As shown by the arrow in FIG. The direction in which the medicine 2 is to be dropped is the direction in which the recognition processing unit 1007 recognizes that there are no other returned medicines 2. This makes it possible to predict the direction in which the returned medicine 2 is not present around the returned medicine 2 that has not fallen. By checking this, the transport part 1005 can easily adsorb the returned drug 2 in a safe direction. If the direction of tipping the returned drug 2 is not taken into consideration, the tipping direction of the returned drug 2 may change depending on the direction of tipping. There is a possibility that the returned drug 2 may come into contact with other returned drug 2 and be damaged, or that the returned drug 2 may come into contact with each other and cause scratches on the surface of the returned drug 2. In order to prevent this, we recommend that you return the drug in advance. It is effective to confirm that there are no other returned drugs 2 in the direction of the tip. By placing all the returned medicines 2 in a fallen state in the return tray 4, the orthogonal robot 70 The suction nozzle 701 of the number 0 suctions and holds the returned medicines 2 in the return tray 4 one by one, and the temporary placement section 3 13. At this time, the suction nozzle 701 is By rotating about its own axis (Z-axis), the orientation of the adsorbed and held returned drug 2 can be adjusted.

[0185] When the Cartesian robot 700 picks up the returned drug 2 by suction, the position of the returned drug 2 is detected erroneously. The robot may fail to pick up the object due to differences in the number of objects and teaching errors of the Cartesian robot 700. Therefore, in order to judge whether or not the adsorption is successful, the control calculation unit 1004 is provided with an adsorption judgment unit 1010. The suction determination unit 1010 is preferably a pressure sensor that measures the pressure inside the suction nozzle 701. The success or failure of the suction is judged based on the suction pad 1012. If the suction is successful, the opening of the suction pad 702 is opened. Since the returned drug 2 blocks the portion, air is not sucked into the suction nozzle 701. The pressure in the nozzle 701 decreases. When the output of the pressure sensor 1012 falls below a predetermined value, it is determined that the adsorption is successful. If the output of the sensor 1012 is equal to or greater than a predetermined value, it is determined that the pickup has failed.

[0186] If the suction determination unit 1010 determines that the suction has failed, the suction is performed within a predetermined range near the suction position. It is preferable to repeat the suction operation several times by changing the position and angle. Examples of the method include a method for specifying the adsorption position as shown in Examples 1 to 8 in Table 1 below.

[0187] [Table 1]

[0188] When setting specific values ​​to be moved at each step, return drug 2 should be taken into consideration. It is preferable that the adsorption of the small returned drug 2 is more likely to fail. The size of the returned drug 2 used in is approximately 10 mm in diameter and 35 mm in length at minimum. Therefore, based on this size, the above step values ​​are for width W directions that do not exceed 10 mm. It is preferable that the length of the wire does not exceed 35 mm in the direction of length L.

[0189] In this way, even if the pickup operation fails, the pickup position can be changed and the pickup operation can be performed again, so there is no need to worry about returns. The success rate of adsorption of the drug 2 can be improved. In particular, when adsorbing a small size of the returned drug 2, High-precision position detection and adsorption operation are required. By setting in advance the operation of changing the position and performing suction, the probability of successful suction can be further improved. In addition, even if the pickup fails, the pickup operation can be performed without repeating image recognition and binarization. Therefore, the drug can be adsorbed and transported efficiently.

[0190] In the binarization processing unit 1006, binarization processing is performed in descending order of luminance value. When detecting the position of the returned drug 2 in step 07, if the adsorption fails once, the same position coordinates will be detected repeatedly. Therefore, the control and calculation unit 1004 may detect the defect and repeat the pickup failure. a storage unit 1011 for storing a coordinate area determined by the suction determination unit 1010 as a suction failure in the In order to prevent this, it is preferable to perform control so that the object is not temporarily attracted to the target object in this coordinate region. The coordinate region in the binarized image where the suction determination unit 1010 has determined that the suction has failed is shown. The information may be stored in a higher-level system.

[0191] FIG. 43 is a flowchart showing a part of the process in the recognition unit 300 in this embodiment. When the process starts, the camera 304 takes a photograph and generates a binary image. If there is a coordinate area where pickup failed last time stored in the memory unit 1011, The reflected area S1 (see FIG. 40B) is masked from the binarized image. If the target area does not exist, the masking process is not performed. If the detection result is "successful", the suction operation is performed. On the other hand, if it is determined that the suction has failed, the coordinate area where the suction has failed is stored in the storage unit 1011. If the number of stored coordinates is less than the predetermined number, the process returns to shooting. If it is the second time, the process ends. If it is not the second time, the mask is cleared. If the sensor is determined to have failed to pick up the object, the sensor returns to the previous state and the recognition operation is started. As in 1, the pickup peripheral position may be searched for and the pickup operation may be performed. This may be repeated, and 2 When the returned drug 2 is no longer detected on the valued image, the coordinate region where the adsorption has failed is stored in the memory unit 10 If the coordinate area where the pickup has failed is not in the memory unit 1011, the process is completed. If all the stored coordinates have been stored for the second time, the process ends. If so, clear the mask, return to shooting, and start the recognition operation. The coordinate area of ​​the returned drug 2 and the adsorption failure is stored in the memory unit 1011. This refers to the action of storing information in a memory.

[0192] In this way, the coordinate area on the binary image where the pickup fails is temporarily removed from the position detection target. To exclude them, the positions of other drugs are determined without repeatedly detecting the coordinate regions where adsorption fails. Especially in the case of large ampoules, even if the coordinate area fails to be adsorbed once, it can be detected repeatedly. By excluding the pick-up position from the recognition target, the number of pick-up failures is reduced. This reduces the number of steps and improves efficiency.

[0193] The control device 1000 also determines whether or not the returned drug is a drug based on the image captured by the camera 307. 2. That is, the control device 100 is configured to acquire information on the shape and size of the 0 functions as a part of the recognition unit 300 for recognizing the shape and size of the returned medicine 2 .

[0194] The control device 1000 also controls the returned drug 2 to obtain information on the shape and size of the returned drug 2. The image of the camera 307 capturing the drug 2 is processed (including an image processing unit). As an example of image processing for the image from the camera 307, the following is performed: An edge detection process is performed to detect the edges of the image of 2, and the image is binarized to produce a binarized image (2 The edge detection processed image and the binarized image are then subjected to binarization processing to obtain a binarized image. Based on the image, the control device 1000 obtains information on the shape and size of the returned medication 2.

[0195] (Recognition of drug types and expiration dates) As described above, the label reading unit 302 of the recognition unit 300 reads the type and The expiration date is recognized (type and expiration date information is obtained). As shown in FIG. 14, the receiving section 302 includes an endless belt 308 on which the returned medicine 2 is placed, and an endless The returned medicine 2 placed on the belt 308 is brought into contact with the returned medicine 2 and is moved around the axis A. The label reading unit 302 also includes a roller 309 for rotating the endless belt 30. 8 and a roller drive unit (not shown) that drives roller 309. The belt drive unit and the roller drive unit are, for example, motors, and the control device Controlled by 1000.

[0196] As shown in FIG. 44, which is a front view of the label reading unit 302, the roller 309 is an endless belt. 308 at a distance, for example, 1 mm. As shown in FIG. 4, the direction of travel F of the endless belt 308 is the extension of the rotation center line Rc of the roller 309. For example, in this embodiment, the roller The angle between the extension direction of the rotation center line Rc of 309 and the traveling direction F of the endless belt 308 is 5 The range is ~15 degrees.

[0197] The endless belt 308 moves in the direction F such that the returned medicine 2 placed on the endless belt 308 comes into contact with the roller 309. On the other hand, the rotation direction of the roller 309 is in the direction toward the opposing area with the endless belt 308. In this case, the circumferential speed is in the opposite direction to the X-direction component of the moving direction F of the endless belt 308. The direction of rotation.

[0198] In the present embodiment, the endless belt 308 and the roller 309 are in contact with each other. The endless belt 308 is rotated at the same speed as the roller 309. The belt drive unit and the roller 309 are controlled by the control device 1000 via the belt drive unit and the roller drive unit. The drive is controlled by this.

[0199] With such endless belt 308 and roller 309, The returned medicine 2 is transported by the endless belt 308 and contacts the roller 309. The returned medicine 2 is maintained in contact with the roller 309 and positioned in the X-axis direction. will be done.

[0200] In addition, the returned medicine 2 (especially the ampule 2A and the resin ampule 2C) is brought into contact with the roller 309. In this state, the endless belt 30 is oriented so that its base end 2b faces the stopper 317. It is preferable that the ampoule 2A and the resin 8 are placed on the ampoule 2 by the orthogonal robot 700. The ampoule 2C is attached to the endless belt 3 in such a manner that the tip 2a (head 2d) of the ampoule 2C faces the stopper 317. When the torso 2 is placed on the endless belt 308, the endless belt 308 starts to convey the torso 2. The corner of the base end 2b side of c first comes into contact with the roller 309, and the reaction of that contact causes the endless bell The direction of the roller 309 changes and the head 2d of the roller 309 enters between the endless belt 308 and the roller 309. Therefore, the head 2d of the returned medicine 2 may be caught in the endless belt 308 and the roller 303. If there is a possibility that the returned medicine 2 may get between the roller 309 and the returned medicine 2, the returned medicine 2 will come into contact with the roller 309. In this state, the endless belt 30 is oriented so that its base end 2b faces the stopper 317. 8 by an Cartesian robot 700.

[0201] As shown in FIG. 14, the traveling direction F of the endless belt 308 and the rotation center line Rc of the roller 309 are Since the direction of the roller 309 intersects with the direction of the extension of the roller 309 at a non-orthogonal angle, the returned medicine 2 is transferred to the roller 309 after contacting the roller 309. 309 in the direction of the center line Rc of rotation of the roller 309 (Y-axis direction). Finally, one end of the returned drug 2 in the direction of extension of the axis A comes into contact with the stopper 317. As a result, the returned medicine 2 is positioned in the direction of extension of the rotation center line Rc of the roller 309 (Y-axis direction). As a result, the returned medication 2 is positioned relative to the label reading unit 302.

[0202] The traveling direction F of the endless belt 308 and the extending direction of the rotation center line Rc of the roller 309 are not perpendicular to each other. The rollers 309 are arranged on the endless belt 308 so as to cross each other, and the stopper 317 is arranged so as to cross each other. This allows the returned medication 2 to be maintained in a highly accurately positioned state.

[0203] Suppose that the moving direction F of the endless belt 308 and the extending direction of the rotation center line Rc of the roller 309 are When the roller 309 is rotated at right angles, the returned medicine 2 in contact with the roller 309 is rotated along the center line of the roller 309. There is a possibility that the stopper 317 may move in the extending direction of the Rc. In order to maintain the contact state between the stopper 317 and the returned medicine 2, the endless belt 308 is moved forward. The row direction F and the extension direction of the rotation center line Rc of the roller 309 intersect non-orthogonally.

[0204] The returned medication 2 is maintained in a highly accurately positioned state, so that, for example, label reading is not required. The returned medicine 2 is maintained within the field of view of the camera 311 of the receiving section 302, and the bar code reader The barcode of the label 3 of the returned drug 2 is set and maintained within the readable area of ​​312. As a result, the type and expiration date of the returned medicine 2 are recorded by the camera 311 and the barcode reader 312. Therefore, high recognition accuracy can be ensured.

[0205] FIG. 45A shows a direction perpendicular to the rotation center line Rc of the roller 309 and the endless belt 3 14. The label reading unit 302 is shown as viewed in a direction parallel to the arrows 08, i.e., as viewed in the X-axis direction of FIG. There are.

[0206] As shown in FIG. 45A, the contact portion of the stopper 317 that comes into contact with the returned medicine 2 is rotated by the roller 30. A plane perpendicular to the axis A of the returned drug 2 in contact with the 9 (a plane parallel to the ZX plane) )isn't it.

[0207] Specifically, the contact portion of the stopper 317 that comes into contact with the returned medicine 2 has two flat surfaces 317a, The flat surface 317a is an edge portion 317c formed between the flat surface 317b and the returned medicine 2. The angle θ (i.e., the vertical direction (Z direction)) is set to the normal line of the surface of the endless belt 308. The overhanging surface is inclined at an angle θ to face the endless belt 308. The angle θ is, for example, 15 degrees. The edge portion 317c between the two planes 317a and 317b is As shown in FIG. 14, the roller 309 is rotated at right angles to the center line Rc of the roller 309. The stopper 31 extends parallel to the surface of the stopper 308, that is, extends in the X direction. The tip of the edge portion 317c of the 7 is rounded.

[0208] The edge portion 317c extending in the X direction is in line contact with the base end 2b of the returned drug 2. As a result, the returned medicine 2 in contact with the rotating endless belt 308 and roller 309 is The axis A of the endless belt 308 is relative to the surface of the endless belt 308 and the rotation center line Rc of the roller 309. While remaining parallel, it can rotate about axis A.

[0209] To specifically explain this, as shown in FIG. 45B of the comparative example, the returned drug 2 and the corresponding Consider the case where the contact portion of the stopper 317' that comes into contact with the stopper 317' is a flat portion 317a'. As shown in FIG. 1B, the center of gravity of the returned drug 2 is located on the head 2d side, and therefore the drug is tilted (axis line A is not parallel to the surface of the endless belt 308 and to the rotation center line Rc of the roller 309. Consider the case where the returned medication 2 comes into contact with the flat portion 317a' of the stopper 317' in the normal state. In addition, such an inclination is required for the body 2c and head 2d to be close in size and to be small and lightweight. This is more likely to occur with product drug 2.

[0210] As shown in FIG. 45B, the returned medicine 2 in an inclined state is conveyed by the endless belt 308 and the roller 309. By the rotation of the stopper 317, the label is fed toward the stopper 317' (in the direction of the outline arrow). The handle 302' comes into contact with the flat surface 317a' of the stopper 317'. Then, the edge of the base end 2b of the returned medication 2 comes into contact with the flat surface portion 317a' of the stopper 317'.

[0211] The edge of the base end 2b is in contact with the flat surface portion 317a' of the stopper 317', and the returned medicine 2 is When the endless belt 308 and the roller 309 rotate the base end 2b, the edge of the base end 2b and the stopper Strong friction occurs between the flat surface 317' of the return drug 2 and the return drug 2. (Compared to the case where the entire base end 2b of the stopper 317' contacts the flat surface portion 317a' of the stopper 317'). The friction is generated by the rotation of the endless belt 308 and the roller 309, which causes the returned drug 2 to be caught by the stopper 317. This occurs due to a constant force being applied towards the

[0212] Friction occurs between the edge of the base end 2b of the returned drug 2 and the flat surface 317a' of the stopper 317'. Then, the base end 2b rolls on the flat surface 317a' of the stopper 317'.

[0213] This rolling motion will be explained using the example of an automobile tire, which is easy to understand. First, there is the part of the tire that is in contact with the ground, and then there is the part of the tire adjacent to this part. The tire then comes into contact with the ground as it rotates, allowing the tire to roll on the ground. do.

[0214] Similar to the mechanism of this tire, the stopper 317' is in contact with the flat surface 317a'. First, there is the edge portion of the base end 2b that is connected to the return drug. 2 rotates and then contacts the flat surface portion 317a', so that the base end 2b of the stopper 31 7' and rolls on the flat portion 317a' of the roller 317'.

[0215] When the base end 2b rolls on the flat surface 317a' of the stopper 317', The relative position of the returned medication 2 to the stopper 317' and the returned medication 2 are finally The returned medicine 2 is then separated from the roller 309. The separated returned medicine 2 is then conveyed by the endless belt 308. The endless belt 308 and the roller 309 strike the material again. The material is then fed toward stopper 317' and contacts flat surface 317a' of stopper 317' again. If the returned drug 2 is inclined at the time of this second contact, the base end 2b of the returned drug 2 will contact the stopper 31. 7', the returned medicine 2 rolls again on the flat surface 317a' of the stopper 317' and the roller 3 This loop continues until the tilt of returned drug 2 is eliminated by chance. As a result, the label reading unit 302 reads the expiration date and barcode on the label. The onset of recognition is delayed or unable to begin.

[0216] Considering the problem that may occur with such a return drug 2, as shown in FIG. 45A, The stopper 317 of the label reading unit 302 of the embodiment is a return stopper through its edge portion 317c. It is configured to contact Agent 2.

[0217] That is, even if the returned medicine 2 is tilted and the edge of the base end 2b comes into contact with the edge portion 317c, The edge portion adjacent to the edge portion abutting against the edge portion 317c is a portion where the returned drug 2 rotates. When the returned medicine 2 is tilted, the base end 2 of the returned medicine 2 cannot come into contact with the stopper 317. b is attached to the overhang surface 317a of the stopper 317 so that the edge of the overhang surface 317a does not come into contact with the overhang surface 317a of the stopper 317. The groove surface 317a is inclined at an angle θ with respect to the normal to the surface of the endless belt 308 (i.e., the Z direction). It is inclined so as to face the surface of the endless belt 308 .

[0218] With such a stopper 317, the base end 2b comes into contact with the edge portion 317c in an inclined state. The returned medicine 2 rotates by the rotation of the endless belt 308 and the roller 309. As a result, the returned drug 2 is aligned along its axis A is kept parallel to the surface of the endless belt 308 and to the rotation center line Rc of the roller 309. While being held, it can rotate around axis A.

[0219] In addition, the returned medicine 2 is maintained in a highly accurately positioned state, and the stopper 3 The suction position SP of the returned drug 2 in contact with the suction port 17 is also maintained in a highly accurate positioning state. As described above, the pickup position SP for the returned drug 2 is calculated. 2, the stopper 317 (i.e., the label reading unit 302) is in contact with the suction position SP As a result, the scabbard is placed at the pickup position SP relative to the label reading unit 302. The suction nozzle 801 of the robot 800 can be aligned with high accuracy. As a result, the SCARA robot 800 is maintained in a state where it is positioned by the label reading unit 302. The returned drug 2 can be held at the pick-up position SP with high accuracy, thereby The returned medicine 2 can be transported from the label reading unit 302 to the storage unit 500.

[0220] The returned medication 2 is then moved by the rollers while being positioned and maintained relative to the label reading unit 302. The label 3 of the returned drug 2 continues to rotate around the axis A by the 309. The image is photographed by the camera 311 and read by the barcode reader 312.

[0221] As shown in FIG. 44, the endless belt 308 and the roller 309 are used to position and rotate the Above the returned medicine 2 in the middle, a camera 311 for photographing the label 3 of the returned medicine 2 and A barcode reader 312 for reading the barcode on the label 3 is provided. .

[0222] Label 3 indicates the expiration date of returned drug 2 and the type of returned drug 2. A bar code indicating this is provided.

[0223] The control device 1000 detects the label 3 based on the image captured by the camera 311. The device is configured to obtain the expiration date information of the returned drug 2 (written on the label 3). The control device 1000 also has an OCR unit that recognizes the expiration date of the barcode. The reader 312 is configured to acquire information on the type of the returned drug 2 based on the barcode read by the reader 312. That is, the control device 1000 recognizes the type and expiration date of the returned medicine 2. The second medicine information acquisition unit 300 functions as a part of the recognition unit 300 for recognizing the medicine.

[0224] As mentioned above, the barcode on the label 3 indicates the type and expiry date of the returned drug 2. If the product contains expiration date information (for example, a barcode indicating the expiration date is printed on label 3), In the case where the drug is returned, the type of the drug 2 is determined based on the barcode read by the barcode reader 312. It is possible to obtain information including the type and expiration date of the camera. 311 can be omitted.

[0225] As described above, when the returned medicine 2 is rotated by the roller 309, The type and expiration date of the returned drug 2 are identified from the label 3, so there is a possibility that the recognition will fail. As a countermeasure, for example, the recognition process may be continued until a certain number of recognition failures occur or until the recognition process is completed. By repeating this process, the recognition process continues until a certain period of time has elapsed (timeout). For example, the label 3 shown in the image captured by the camera 311 may be recorded. If the OCR unit cannot recognize the expiration date printed on the document, a new image is captured by the camera 311. The OCR section detects the expiration date of label 3 in the newly captured image. Perform recognition. If recognition fails a certain number of times (e.g. 18 times) or if a timeout occurs, If the returned drug 2 is not stored, the label 3 is not readable. The medicines are stored in the non-storage medicine storage boxes 401 and 402 of the non-storage medicine storage section 400.

[0226] In addition, the control device 1000 determines whether the returned medicine 2 is to be label-read based on the outer diameter of the returned medicine 2 set in the label reading unit 302. The rotation speed of the roller 309 is controlled based on the above.

[0227] The reason is that the outer diameter of the returned drug 2 is relatively small, and the rotation speed of the roller 309 is relatively In contrast, when the speed is high, the circumferential speed of the returned medicine 2 is high. However, there is a possibility that the barcode on the label 3 attached to the outer surface of the returned drug 2 may not be read correctly. To deal with this, the control device 1000 Therefore, the roller drive unit is controlled so as to reduce the rotation speed of the roller 309. In order to make this possible, the control device 1000 controls the camera 30 of the temporary placement unit 301 of the recognition unit 300. Based on the shape and size (size in the extension direction of the axis A) of the returned drug 2 obtained from the image of 7, The outer diameter of the returned drug 2 is calculated based on the above.

[0228] As shown in FIG. 44, the camera 311 has an optical axis OA2 extending in the vertical direction (Z-axis direction). On the other hand, the label 3 of the returned medicine 2 is The extension of the optical axis OA3 of the laser emitted from the barcode reader 312 toward the barcode The direction of the laser beam (i.e. the direction of laser irradiation) is tilted relative to the vertical direction. This will be explained with reference to FIG.

[0229] As described above, the returned medicine supplying device 1 is designed to handle medicines of various shapes and sizes. Therefore, as shown in FIG. 46, the returned medicine 2 having a different outer diameter is label-readable. It is set in the receiving portion 302.

[0230] In FIG. 46, the returned medicine 2 has a cross-sectional shape (body part 2 to which the label 3 is attached). The returned medicine 2(max) is fed to the returned medicine feeder 1 by the Among the drugs handled, this has the largest outer diameter. On the other hand, the returned drug 2 (min) Therefore, the barcode reader 312 of the label reading unit 302 can read the barcode at a minimum diameter. The direction of the laser irradiation is the barcode of the returned drug 2 (max) with the largest outer diameter and the barcode of the drug with the smallest outer diameter. The barcodes of the returned medications 2 (min) are set to be read accurately.

[0231] For example, as shown in FIG. 46, multiple returned drugs 2(min), 2(m), and 2(m Assume that there is a x) and the label 3 of each returned drug faces upward. In this case, In a plane perpendicular to the rotation center line Rc of the roller 309 (i.e., in FIG. 46), Returned drugs 2(min), 2, 2(max) in contact with belt 308 and roller 309 ) Calculate the regression line based on the point p(0) at the 0 degree angular position on each circumference. Point p(0) at an angle of 0 degrees is located on the outer circumference of the cross section of the returned drug 2 and is 0 degrees from the axis A. The regression line is located at the angle position of 100 degrees and at the top position. The distance between each of the points (0) at the 0 degree angle position p of n, 2, and 2(max) is minimized. The regression line is determined by the least squares method. The optical axis OA3 of the laser is parallel (or coincident) with the barcode reader. The laser irradiation direction of 312 is set. This allows the laser irradiation of the multiple returned medicines 2 with different outer diameters to be performed. When the bell 3 is facing upward, the label 3 of each returned drug 2 is accurately aligned with approximately the same accuracy. Can read bar codes.

[0232] In this embodiment, as shown in FIG. 46, the optical axis of the laser of the barcode reader 312 is OA3 is the return drug 2 (ma x) passes through point p(0) at an angular position of 0 degrees.

[0233] Also, the barcode reader 312 reads the label 3 when the label 3 faces upward. The present invention is not limited to reading bar codes.

[0234] For example, as shown in FIG. 47, the barcode reader 312 reads the label 3 in the upward direction. The barcode on label 3 may be read while the label is tilted at an angle of 45 degrees. In this case, the belt 308 and the roller 309 are in a plane perpendicular to the rotation center line Rc of the roller 309. On the outer circumference of each of the returned drugs 2(min), 2, and 2(max) in contact with the roller 309 Based on the point p(45) at the 45 degree angle position, a regression line is calculated. The laser optical axis OA3 should be parallel to (or coincident with) the straight line. The laser irradiation direction of the dry reader 312 is set. When the label 3 of the medicine 2 is oriented in a direction inclined at 45 degrees to the upward direction, the substantially same The barcode on the label 3 of each returned medication 2 can be read accurately with precision.

[0235] After the label reading unit 302 has finished recognizing the type and expiration date of the returned medicine 2, the endless belt 30 At this time, as described above, the return roller 308 on the endless belt 308 is The drug product 2 is placed in a state where the barcode on its label 3 faces upward or at a 45-degree angle upward. Whether the barcode is facing upward or diagonally upward is determined by the This is guaranteed if the barcode reader 312 can read the barcode. The bot 800 keeps the barcode facing upward or at a 45-degree angle upward. Then, the returned medicine 2 is transferred from the label reading unit 302 to the storage unit 500 .

[0236] The reason for this will be explained. As described above, the SCARA robot 800 uses prescription data Based on the data, the returned medicine is transferred from the storage tray 5 of the storage unit 500 to the dispensing tray 8. At this time, the medicine master that stores the type of the returned medicine 2 in association with the storage area is referred to. The storage area of ​​the returned drug 2 included in the prescription data is specified by the scalar type The robot 800 picks up and holds the returned medicine 2 stored in the specified storage area.

[0237] At this time, before picking up the returned drug 2, the barcode mounted on the SCARA robot 800 The barcode of the returned drug 2 present in the specified storage area is read by the barcode reader 812. As a result, the returned drug 2 stored in the specified storage area is included in the prescription data. It is confirmed that the product is drug 2. The barcode of the returned drug 2 stored in -5 is read by the barcode reader of the Scalar robot 800. Returned drug 2 is placed so that the barcode is facing upward or at a 45-degree angle so that the DA 812 can be read. The label reading unit 30 is stored in the storage tray 5 in the state facing the direction of the label reading unit 30. After the type and expiration date are recognized in 2, the returned medicine 2 on the endless belt 308 is The barcode in number 3 is placed facing upwards or at a 45 degree upward angle.

[0238] In the case of the resin ampule 2C shown in FIG. 29, the barcode is oriented diagonally upward. In this state, the connecting burr of the resin ampule 2C may be located at the top. In this case, the suction nozzle 801 of the SCARA type robot 800 sucks the resin from above by the connecting burr. There is a possibility that Ampoule 2C may not be adsorbed normally.

[0239] To deal with this problem, first, the returned medicine 2 present in the label reading unit 302 is provided with a connecting burr. In order to achieve this, it is necessary to check whether the returned medicine is acceptable. The data stores information on the type of drug and information on the presence or absence of connecting burrs in association with each other.

[0240] Based on the type of the returned medicine 2 recognized by the label reading unit 302 and the medicine master, the label is read. When it is confirmed that the returned drug 2 in the section 302 is a drug having a connecting bar, the connecting bar In other words, the suction nozzle 801 can pick up the part without the connection burr. The endless belt 308 and the roller 309 are restarted from the stopped state so that the returned drug 2 can be Rotate by the desired amount.

[0241] The control device 1000 reads the label via the camera 311 and the barcode reader 312. When the information on the type and expiration date of the returned medicine 2 of the unit 302 is acquired, the acquired type and expiration date are The expiration date is configured to determine whether or not the drug is a target drug.

[0242] For example, the type of the returned medicine 2 may be determined by the user in the returned medicine supply device 1. If the type is a predetermined type, the returned medicine 2 is determined to be a medicine to be handled. Specifically, if the recognized type is stored in the drug master, the returned drug is Drug 2 is determined to be a drug to be handled. If not, it is determined to be a drug not to be handled. It is judged.

[0243] In addition, if the expiration date has not passed or there is sufficient time left, the returned drug 2 will be On the other hand, the expiration date has already passed or the remaining expiration date is still remaining. If the deadline is only a few days (e.g., 2 to 3 days), the returned drug 2 is determined to be ineligible for handling. do.

[0244] The returned medicine 2 whose type and expiration date have been recognized by the label reading unit 302 of the recognition unit 300 is When the control device 1000 determines that the type and expiration date of the medicine to be handled are the same, If so, the object is transferred to the storage section 500 by the SCARA type robot 800 as described above.

[0245] On the other hand, the type and / or expiration date of the drug are not included in the scope of the handling. The returned medicine 2 determined by the label reading unit 302 to be non-storage medicine 2' is The medicine is transferred to the non-storage medicine placement boxes 401 and 402 of the medicine placement section 400 (or (transferred to non-stored medication return tray 4').

[0246] In the end, the non-stored medicine return tray 4' of the non-stored medicine arrangement section 400 contains a plurality of At this time, the non-stored medicine 2' is stored in an organized state. Preferably stored in a medication return tray 4'.

[0247] FIG. 48 shows a plurality of unstored medications 2' stored in an unstored medication return tray 4'. is doing.

[0248] As shown in FIG. 48, the non-stored drugs 2' are arranged in an organized manner, for example, overlapping each other. The medicines are stored in the return tray 4' without being stored in the container. A method for storing a plurality of non-stored medicines 2' in a non-stored medicine return tray 4' will now be described. .

[0249] The control device 1000 may be configured to: , and is configured to calculate the free space S for storing the non-stored drug 2′. .

[0250] The empty space S of the non-stored medicine return tray 4' is detected by the camera 304 (and The image of the non-stored medicine return tray 4' photographed by the photographing unit (a photographing unit) is processed. For this purpose, the return tray 4' for non-stored medicines is moved by the lifting unit 20. 0 table 203 and positioned below the camera 304.

[0251] When the free space S is calculated, the control device 1000 newly installs a new storage space S in the free space S. The storage area (storage position) of the non-stored medicine 2'' to be stored in the non-stored medicine return tray 4' is determined. An example of a method for determining the storage area will be described below.

[0252] The control device 1000 may, for example, determine the shape of the non-stored drug 2″ (recognized in the temporary placement section 301). A temporary storage area that is larger and has a similar shape to the shape of the non-storage drug 2'' is determined. The control device 1000 determines a temporary storage area having a size of 120% of the shape of the temporary storage area. Search for a location in the free space S where the area can be placed. If it is within the empty space S, that location is determined to be the storage area for that non-stored drug 2''.

[0253] On the other hand, if a location where the temporary storage area can be placed cannot be found in the free space S, the control The device 1000 changes the orientation of the temporary storage area (the orientation of its longitudinal direction). The control device 1000 determines a position in the free space S where the orientation-changed temporary storage area can be placed. Explore.

[0254] If the location of the temporary storage area cannot be found even after changing the orientation once, the control device 1000 Then, the orientation of the temporary storage area is changed to a different orientation. This is continued until a location is found.

[0255] If the location of the temporary storage area cannot be found even after changing the orientation in every possible way, the control device 10 00 reduces the size of the temporary storage area. For example, 115% of the shape of the non-storage drug 2'' The size of the temporary storage area is changed to the size of the temporary storage area. A location where the temporary storage area can be placed is searched for within the free space S.

[0256] The orientation of the resized temporary storage area is not changed until a placement position is found. It is held.

[0257] If the location of the temporary storage area cannot be found even after changing the size once, the control device 1000 , and then reduce its size. This is done until the stored area is the same size as the shape of the unstored drug 2''.

[0258] If the size of the temporary storage area is the same as the size of the shape of the non-stored drug 2'', it cannot be found. In this case, the control device 1000 determines whether the space for storing the returned medicine 2' is equal to the space for storing the returned medicine. For example, if the data of the control panel 1001 is The user may be notified via the display 1002.

[0259] By such a trial and error search method, the storage area of ​​the non-stored drug 2'' is empty space. S, and as a result, a plurality of non-stored drugs 2' are arranged and the non-stored drug The container can be stored in a tray 4'.

[0260] Next, the returned drug 2 is identified based on the recognition results, such as the shape of the returned drug 2 that has been explained so far. An example of the flow up to delivery of the drug 2 will be described with reference to Figures 49A and 49B.

[0261] First, as shown in FIG. 49A, in step S201, the returned drug 2 is The semi-transparent plate 305 (medicine placement plate 305) in the temporary placement section 301 of the recognition section 300 is ) is transported (placed) on the

[0262] Next, in step S202, the returned medicine 2 placed on the translucent plate 305 is The image is captured by a camera 307 placed above.

[0263] The image captured by the camera 307 in step S202 is subjected to the control in step S203. The image is processed by the control device 1000 (edge ​​detection processing, binarization processing).

[0264] In step S204, the control device 1000 Based on the image of the camera 307, the returned medicine placed on the semi-transparent plate 305 of the temporary placement section 301 is The shape information of agent 2 is obtained.

[0265] In step S205, the control device 1000 Based on the information on the shape of the medicine 2, the returned medicine is placed on the semi-transparent plate 305 of the temporary placement section 301. It is judged whether the shape of the returned drug 2 is the shape of the drug to be handled. If the shape of the medicine is that of the medicine to be handled, the process proceeds to step S206. If the target is not included in the list, the process proceeds to step S215.

[0266] In step S206, the control device 1000 Based on the image of the camera 307, the returned medicine placed on the semi-transparent plate 305 of the temporary placement section 301 is Obtain size information of agent 2.

[0267] In step S207, the control device 1000 Based on the information on the size of the medicine 2, the returned medicine placed on the semi-transparent plate 305 of the temporary placement section 301 is It is determined whether the size of the returned drug 2 is within the size of the drug to be handled. If the size is the same as the size of the drug to be handled, the process proceeds to step S208. If not (if not covered), the process proceeds to step S215.

[0268] In step S208, the returned medicine 2 in the temporary storage section 301 is transferred to the orthogonal robot 700. Thus, the returned medicine 2 is transported to the label reading unit 302. It is set to 2.

[0269] As shown in FIG. 49B, in step S209, the control device 1000 Based on the size (outer diameter) of the returned drug 2 acquired in 206, the returned drug 2 is abutted against the returned drug 2. The rotation speed of the roller 309 of the label reading unit 302 that rotates the medicine 2 is adjusted.

[0270] In step S210, the control device 1000 detects whether the label 3 of the returned medicine 2 is a 1 or the barcode reader 312. If the expiration date and the barcode indicating the type of returned drug2 can be read accurately, For example, the expiration date or barcode may be partially erased. If it cannot be read accurately, the process proceeds to step S215.

[0271] In step S211, the label 3 of the returned medicine 2 is accurately read by the label reading unit 302. The image is then read by a camera 311 and a barcode reader 312 .

[0272] In step S212, the control device 1000 Based on the label 3 of the returned drug 2, information on the type and expiration date of the returned drug 2 is obtained.

[0273] In step S213, the control device 1000 The returned medicine is set in the label reading unit 302 based on the information on the type and expiration date of the medicine 2. It is determined whether the type and expiration date of 2 are the type and expiration date of the drug to be handled. That is, it is determined whether the type of the returned medicine 2 is the type stored in the medicine master. At the same time, it is determined whether the expiration date has not passed or whether there is still a sufficient expiration date left. If both the type and expiration date of the returned drug 2 are those of the drug to be handled, If not, the process proceeds to step S215.

[0274] In step S214, the returned medicine 2 of the label reading unit 302 is the medicine to be handled. The scalar robot 800 transports the scalar-type ... The shape, size, type, and expiration date of the drug being handled are The returned medicine 2, which is the limit, is stored in the storage section 500.

[0275] In step S215, the shape of the medicine is determined to be an unhandled shape in step S205. The returned drug 2 is determined to be a drug that cannot be handled in step S207. Returned medications 2 that have been determined to have unreadable labels 3 in step 210 2, or at least one of the type and expiration date is not available in step S213. The returned medicine 2 determined to be a non-stored medicine 2' is stored in the non-stored medicine storage section 400. It is transported (stored).

[0276] Although the present invention has been described above with reference to the above-mentioned embodiment, the present invention is not limited thereto.

[0277] For example, the storage tray is not limited to that of the above embodiment. For example, the storage tray 5 When the returned medicine 2 is placed on the bottom of the tray body 5a, the tray body 5a is deformed, and the position of the returned medicine 2 and A deformable member may be arranged to maintain the posture. In a manner different from that of the previous embodiment, the returned medicine 2 is arranged in a planar manner so that its orientation and posture are maintained. As shown in FIG. 50, the storage unit 500 may store two returned medicines. The plate may have a plurality of steps 9 on which the plate can be disposed.

[0278] In the above-described embodiment, the Cartesian robot 700 and the SCARA robot 800 are both The returned drug 2 is held by the suction nozzles 701 and 801. However, these robots The returned drug 2 may be releasably held mechanically instead of by adsorption.

[0279] In the above embodiment, the expiration date of the returned medicine or the expiration date is about to expire. Drug 2 is treated as a drug not to be handled, i.e., a non-stored drug 2', but The explanation is not limited to this. For example, if a returned drug 2 that has expired is treated as a drug, The expiration date may be stored in the storage tray 5 of the storage unit 500. Returned drugs 2 can be processed together.

[0280] For example, a user may use the control panel 1001 to select a plurality of expired items in the storage unit 500. An instruction is given to the returned medicine supply device 1 to transfer the returned medicines 2 to one returned tray 4. This allows multiple expired returned drugs 2 stored in the return tray 4 to be collected at once ( Discarding

[0281] In other words, the returned drug 2 that has expired is treated as a drug that is not to be handled (non-stored drug). In this case, the non-stored medicine return tray 4' contains, in addition to the expired returned medicines 2, other medicines of different shapes, The returned drug is not eligible for the size or type of product. The medicine cannot be handled by the returned medicine supply device 1, but it can be used as long as it is not expired. If the expiration date is exceeded, the medicine may be used elsewhere. In the case of exemption, the non-stored drugs 2' in the non-stored drug return tray 4' are disposed of together. I can't understand it.

[0282] Therefore, we handle expired returned drugs that cannot be used elsewhere. By treating expired medicines as eligible returned medicines, only expired medicines can be processed together. It is possible.

[0283] In relation to this, the label reading unit 302 recognizes the expiration date written on the label 3. Returned drugs 2 that could not be recognized, i.e., the number of recognition failures reached a certain number of times or the recognition task was repeated, were By repeating the above steps, the returned medicine 2 for which a predetermined time has elapsed (timed out) is stored in the storage unit 5. 00 in the storage tray 5. For drugs with unknown expiration dates, an attempt may be made to recognize the expiration date again.

[0284] For example, although it is extremely rare, in the label reading unit 302, the illumination 310 shown in FIG. The light from the returned drug 2 is reflected by the returned drug 2, and the reflected light is then recognizably labeled in the image captured by the camera 311. In this case, such a returned medicine 2 may not be captured in the storage unit 500. If the label is stored in the storage tray and then returned to the label reading unit 302 after storage, the information written on the label 3 will be read. It may be possible to recognize the expiration date that has been set.

[0285] The reason for this will be explained. When the returned medicine 2 is first set in the label reading unit 302, That is, the returned goods are transported from the return tray 4 through the temporary placement section 301 and set in the label reading section 302. At this time, the orientation of the label 3 of the returned medicine 2 is arbitrary (in the temporary placement section 301, as described above, The shape and size of the returned drug 2 are recognized in this way, so the orientation of the label 3 is irrelevant. Therefore, the recognition of the expiration date written on the label starts from the state where the orientation of label 3 is arbitrary. can be.

[0286] On the other hand, the returned medicines 2 stored in the storage tray 5 of the storage unit 500 are, as described above, Bell 3 is in an upward posture. Therefore, the SCARA type robot 800 is in the storage tray. If the returned medicine 2 stored in the label reader 302 is transferred to the label reader 302, the returned medicine 2 will be The label 3 is set in the label reading unit 302 with the label 3 facing up. With the display facing upward, it is possible to start recognizing the expiration date printed on the label.

[0287] Due to the difference in the orientation of label 3 at the start of recognition, the recognition failure occurs when a certain number of times is reached. The expiration date on label 3 is recognized before the expiration date or before the timeout occurs. Therefore, the return tray 4 is sent through the temporary storage section 301 to the laundromat. When the returned medicine 2 is set in the label reading unit 302, that is, when the label 3 is in any orientation, When the recognition operation is started from the storage tray 5, even if the recognition fails, the label reading unit is removed from the storage tray 5. When the returned medicine 2 is transferred to 302, that is, when the label 3 is facing upward, the recognition work is performed. If the recognition starts, the recognition may be successful. 302, the expiration date of the returned drug 2 on the label 3 could not be recognized, i.e. When the recognition fails a certain number of times or the recognition task is repeated for a certain period of time, The returned medicine 2 that has passed the time limit (timeout) can be stored in the storage tray 5 of the storage unit 500. good.

[0288] In the above embodiment, if the returned drug 2 is a drug to be handled, the returned drug From the tray 4, the label is stored through the temporary placement section 301 and the label reading section 302 of the recognition section 300 in order. Instead, the returned medicine 2 is stored in the storage tray 5 of the temporary storage section 301. Alternatively, the label may be stored in the storage unit 500 via the label reading unit 302 without going through the label reader 302 .

[0289] Specifically, the temporary placement section 301 stores the returned medicine 2 that is returned via the return tray 4. The shape and size of the returned medicine cannot be handled by the returned medicine supply device 1. It is designed to anticipate such a situation.

[0290] However, for example, if users are thoroughly informed or if they open the box delivered by the drug manufacturer, Immediately after sealing the box, the medicines are placed directly into the device and returned via the return tray 4. If most of the returned medicines 2 to be delivered are medicines that can be handled by the returned medicine supply device 1, The shape and size of all such returned medicines 2 are recognized in the temporary storage section 301. That would be very wasteful.

[0291] In order to deal with this, the returned medicines 2 in the return tray 4 are first transported by the Cartesian robot 700. The label is then transferred to the label reading unit 302 of the recognition unit 300 (placed on the endless belt 308). Next, before the endless belt 308 and the roller 309 start to be driven, the camera 311 The returned medicine 2 on the endless belt 308 is photographed by the The orientation of the returned drug 2 on the end belt 308 is recognized. It is determined whether or not the base end 2b of the drug 2 is oriented so as to be positioned on the stopper 317 side. If not, the Cartesian robot 700 changes its orientation.

[0292] The orientation of the returned medicine 2 is as follows: When the return tray 4 is placed on the table 203 of the lifting unit 200, It is also possible to recognize the object based on an image captured by a camera 304 located above the railroad track 4. The orientation of the returned medicine 2 in the returned tray 4 is recognized based on the image from the camera 304. Based on the recognition result, the orthogonal robot 700 detects whether the base end 2b of the returned drug 2 is in contact with the stopper 31. The returned medicine 2 is placed on the endless belt 308 of the label reading unit 302 so that it is positioned on the 7 side. do.

[0293] The returned medicine 2 transferred directly from the return tray 4 to the label reading unit 302 is photographed by the camera 311. The type and expiry date of the product are recognized by the barcode reader 312 .

[0294] Based on the recognized type, information on the shape and size of the returned medicine 2 is obtained. The control device 1000 stores the type, shape, and size of the medicine in association with each other. By referring to the information stored in the size information master, The shape and size of the returned medicine 2 recognized by the label reading unit 302 are controlled according to the type of the returned medicine 2. The control device 1000 acquires the shape and size of the object. Then, the control device 1000 acquires the shape and size of the object. The storage area in the storage section 500 for the product drug 2 is determined.

[0295] The information on the shape and size corresponding to the type recognized by the label reading unit 302 is called size information. If the label does not exist in the master, the label reader 3 reads the label and obtains its shape and size information. The returned medicine 2 of the number 02 is transferred to the temporary storage section 301. Then, as described above, In step 01, information on the shape and size of the returned drug 2 is acquired. The shape and size information is associated with the type of the returned drug 2 and recorded in the size information master. In addition, the storage unit 500 for the returned medicine 2 is determined based on the shape and size of the returned medicine 2. The storage area to be used is determined.

[0296] In addition, the type, shape, and Size-related information can be updated or added, for example, via the Internet. For example, a system that is connected to the Internet and uses information on drugs provided by a supplier may be used. A new returned drug number 2 is added to the size information master via a PC (personal computer). The label reading unit may add association information of the type, shape, and size of the label. The returned medicine 2 is transferred from the temporary storage section 302 to the temporary storage section 301. The need to obtain shape and size information is eliminated or reduced.

[0297] Although the present invention has been described using a returned medicine supply device as an example, the present invention is not limited to a medicine supply device for returned medicines. In other words, the medicine supplied to the receiving section is not limited to the returned medicine. [Explanation of symbols]

[0298] 1 Returned drug supply device 2. Returned Drugs 2a tip 2b Proximal end 2c Torso 2d head 2A Ampoule 2B Vial 2C Resin Ampoule 3. Labels 4 Return Tray 4a Tray body 4b Flange-shaped part 5,5A,5B,5C Storage Tray 5a Tray body 5b Flange-shaped part 6 ridges 7 Placement groove 8. Dispensing Tray 9 steps 100 Acceptance Department 101 Rack parts 101a Rail groove 102 Operation ready button 200 Lifting section 201 Linear guide 202 Carriage 203 Table 203a bottom 203b Side 203c end 204 Rail groove 205 Linear guide 206 Carriage 207 Hook 300 Recognition part 301 Temporary Storage Section 302 Label reader 303 Lighting 304 Camera 305 Translucent plate 306 Lighting 307 Camera 308 Endless Belt 309 Lola 310 Lighting 311 Camera 312 Barcode reader 313 Envelope 314 Constricted part 315 Rectangular area 316a,316b area 317 Stopper 317a Overhang surface 317b plane 317c Edge section 400 Non-storage drug placement section 401,402 Non-storage drug placement box 500 Storage Unit 501 Linear guide 502 Holding Frame 503 Linear guide 504 Carriage 505 Lift Mechanism 600 Payment section 601 Conveyor mechanism 602 Entrance 603 Exit 700 Cartesian Robot 701 Suction nozzle 702 Suction pad 703 Y-axis beam 704 Carriage 705 X-axis beam 706 Carriage 707 Head 708 Lifting Rod 709 Bracket 710 Spring 711 Axis rod 712 Through hole 713 Suction pipe 714 Retaining plate 800 Scalar Robot 801 Suction nozzle 802 Suction pad 802g thick part 802h protrusion 803 Linear guide 804 Carriage 805 X-axis beam 806 Base 807 First Arm 808 Second Arm 809 Head 810 Bracket 811 Spring 812 Barcode reader 813 Central suction pipe 814 Side suction pipe 815 Axial rod 816 Through hole 817 Stopper plate 818 Small suction pad 820 Presence detection sensor 900 Support Tray 901 Rod 1000 Control device 1001 Control Panel 1002 Display 1003 Photography Department 1004 Control and calculation unit 1005 Transfer section 1006 Binarization processing unit 1007 Recognition processing section 1008 Drive control unit 1009 Area determination section 1010 Adsorption judgment section 1011 Storage section 1012 Sensor

Claims

1. Recognize the orientation and posture of the medicine, as well as its properties such as shape, size, type, and expiration date. a recognition unit capable of detecting the presence of a A setting is made for the medicine at the time of storage according to at least the size of the medicine recognized by the recognition unit. The medicine is arranged in a storage area that is determined by associating the medicine with the identification information of the medicine, thereby a storage section for removably storing the medicine; Whether or not the drug is a handling target is determined based on the properties of the drug recognized by the recognition unit. A medicine sorting device having a judgment processing unit capable of determining whether or not the medicine is dispensed.

2. When the determination processing unit determines that the medicine is not to be handled, the medicine is not stored. The drug package of claim 1, configured to be stored in a non-stored drug storage portion as a drug. Minute device.

3. The recognition unit is An imaging unit that images the medicine; Based on the image captured by the imaging unit, information on the shape and size of the drug is acquired. A first drug information acquisition unit A label reading unit that reads the label of the medicine, and Based on the reading result of the label reading unit, information on the type and expiration date of the medicine is obtained. A second drug information acquisition unit is provided to acquire The shape and size of the medicine acquired by the first medicine information acquisition unit are handled When the shape and size of the medicine is the same as that of the medicine, the medicine is transported from the photographing unit to the label reading unit. The medicine sorting device according to claim 1 , further comprising a medicine transport unit for transporting the medicine.

4. A light-transmittable medicine holder having a placement surface on which the medicine to be photographed by the photographing unit is placed. A placement board and The imaging unit faces the medicine placement plate across from the medicine placement plate, and irradiates light toward the medicine placement plate. The medicine sorting device of claim 3 , further comprising: a light.

5. The first medicine information acquisition unit acquires a longitudinal length of the medicine on the image of the imaging unit and The actual size of the medicine is calculated based on the width direction length and the distance between the imaging unit and the medicine placement plate. The medicine sorting device according to claim 4 , which is configured to calculate a longitudinal length of the medicine.

6. An image capturing unit that captures an image of the medicine, and a binary image that is generated by performing a binary processing on the image captured by the image capturing unit. and recognizing at least the orientation of the medicine based on the binarized image. a recognition unit having a recognition processing unit having a first recognition processing function; A storage area set for each of the medicines at the time of storage is associated with identification information of the medicine. a storage section for placing the drug in a position corresponding to the drug, thereby removably storing the drug; Equipped with The medicine recognized by the first recognition processing function is set as a medicine to be stored. A medicine sorting device.

7. The recognition processing unit detects a posture based on a binarized image created from the image captured by the imaging unit. and a second recognition processing function for recognizing the properties of the medicine, such as its shape and size. 、 The storage unit stores the image at a time according to at least the size recognized by the second recognition processing function. The storage area set for each of the medicines is associated with the identification information of the medicine.

7. The medication package of claim 6, wherein the medication is placed in a container, thereby removably storing the medication. Minute device.

8. The recognition processing unit recognizes and removes a recognition removal area based on a size of a reflection area in the binarized image. A region determination unit is further provided to determine The recognition processing unit detects the drug within the area determined by the area determination unit as the recognition removal area. A drug sorting device according to claim 6 or claim 7, which does not recognize drugs.

9. The recognition unit is A transfer unit that transfers the drug in the recognition unit; When the recognition processing unit recognizes that the medicine is not fallen, the conveying unit is driven to convey the medicine to the front. A drive control unit that controls the pressing against the medicine and knocking it down; The medicine sorting device according to claim 6 , further comprising:

10. The drive control unit drives the transport unit in a direction in which the recognition processing unit recognizes that there is no other drug. The medicine sorting device according to claim 9 , further comprising a control for driving the medicine sorter to tip the medicine over.

11. Recognize the orientation and position of the medication, as well as the properties of the medication, such as shape, size, type, and expiration date. a recognition unit capable of recognizing the The storage container has a plurality of storage containers arranged in multiple stages, each of which removably stores the drug. A storage unit for storing the The drug is introduced into the storage container through the gaps between the storage containers arranged in multiple stages. A transfer unit for transferring the material; The storage unit and the transport unit are controlled to store the medicine in a storage area and to transfer the medicine to each of the medicines. The medicine is associated with the identification information of the medicine and stored in the storage area set by the recognition unit. A storage operation for transferring the medicine to a storage container and storing it therein, and a storage operation for removing the medicine from the storage unit based on a prescription instruction. and an operation control unit capable of executing the dispensing operation for dispensing the A drug sorting device comprising:

12. The operation control unit controls the operation of the medicine according to at least the size of the medicine recognized by the recognition unit. The medicine sorting device according to claim 11, wherein a storage area is set in the storage container.

13. The storage section further includes a gap forming mechanism for forming the gap, The storage vessels are arranged in multiple stages, one above the other, The drug according to claim 11 or 12, wherein the spacing forming mechanism opens the spacing above and below. Agent sorting device.

14. Recognize the orientation and position of the medication, as well as the properties of the medication, such as shape, size, type, and expiration date. a recognition unit capable of recognizing a barcode and having a first barcode reader; The storage container has a plurality of storage containers arranged in multiple stages, each of which removably stores the drug. A storage unit for storing the The drug is introduced into the storage container through the gaps between the storage containers arranged in multiple stages. a transport unit capable of transporting the bar code and having a second bar code reader; The recognition unit, the storage unit, and the transport unit are controlled to transfer the medicine to the storage container based on prescription information. Drug type, storage area, and expiration date information associated with each of the drugs stored in the container determining the medicine to be dispensed from the first barcode reader or the second barcode reader; The drug type information of the drug to be dispensed acquired by the drug dispenser matches the drug type information based on the prescription information. an operation control unit capable of executing a dispensing operation for dispensing the medicine when A drug sorting device comprising:

15. The operation control unit is configured to select, based on prescription information, the medicine to be dispensed that has the shortest expiration date. The medicine sorting device according to claim 14, wherein the earliest one is determined to be the medicine to be dispensed.

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