Take-out device and take-out control program

Abstract

To provide a take-out device which can take out medicine boxes in order from the top when a plurality of medicine boxes are stacked.SOLUTION: A conveying device (10B) includes a vessel receiving part (271) for receiving a vessel accommodating a medicine box, an imaging portion (274) for detecting the medicine box in the vessel, a setting portion (224) capable of setting a plurality of object detecting ranges in a vertical direction of the imaging portion, and a robot arm (273) for taking out the medicine boxes from the top of the vessel when the medicine box is detected in one object detecting range set by the setting portion.SELECTED DRAWING: Figure 13

Description

[Technical field]

[0001] One aspect of the present invention relates to a take-out device and the like. [Background technology]

[0002] Patent Document 1 discloses an article picking system. This article picking system creates work data having position data for each of a plurality of moving articles, and determines the order in which the articles are picked up by using the attention work data to be noted and the surrounding work data around the attention work data. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-032521 A Summary of the Invention [Problem to be solved by the invention]

[0004] One aspect of the present invention aims to realize a removal device that is capable of removing medicine boxes from the top in order when multiple medicine boxes are stacked, using a method different from the method disclosed in Cited Document 1. [Means for solving the problem]

[0005] An extraction device according to one embodiment of the present invention includes a container receiving section that receives a container that holds a medicine box in which medicine is contained, a detection section that detects the medicine box contained in the container received by the container receiving section from above the container receiving section, a setting section that can set multiple vertical object detection ranges for the detection section, and an extraction section that removes the medicine box from above the container when the detection section detects the medicine box within one of the multiple object detection ranges set by the setting section.

[0006] A removal control program according to one embodiment of the present invention is a removal control program for causing a computer to function as a removal device, the removal device having a container receiving section that receives a container that holds a medicine box containing medicine, a detection control section that controls a detection section that detects the medicine box contained in the container received by the container receiving section from above the container receiving section, a setting section that can set multiple vertical object detection ranges for the detection section, and a removal control section that controls a removal section that removes the medicine box from above the container when the detection section detects the medicine box within one of the multiple object detection ranges set by the setting section. Effect of the Invention

[0007] According to one aspect of the present invention, when a plurality of medicine boxes are stacked, the medicine boxes can be removed in order from the top. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 illustrates an example of a medicine dispensing system. [Diagram 2] FIG. 2 is a diagram illustrating an example of the appearance of a storage device. [Diagram 3] FIG. 2 is a diagram illustrating an example of an internal structure of a storage device. [Figure 4] FIG. 2 is a block diagram showing an example of a configuration of a storage device. [Diagram 5] 1 is a perspective view showing an example of a configuration of a medicine receiving section and its surroundings. FIG. [Figure 6] FIG. 2 is a perspective view showing an example of a medicine receiving portion. [Figure 7] FIG. 13 is a diagram showing an example of a process in which a medicine box placed on a first transport section is transported to a 3-1 transport section. [Figure 8] FIG. 4 is a perspective view showing an example of a configuration of a second conveying unit. [Figure 9] FIG. 4 is a perspective view showing an example of a configuration of a gripping portion. [Figure 10] FIG. 11 is a perspective view showing an example of the configuration of a fifth conveying section. [Figure 11] FIG. 11 is a perspective view showing an example of the appearance of a storage device according to another embodiment. [Figure 12] FIG. 11 is a perspective view showing a state in which a part of an outer wall of a storage device according to another embodiment has been removed. [Figure 13] FIG. 13 is a block diagram showing an example of a configuration of a storage device according to another embodiment. [Figure 14] FIG. 2 is a perspective view showing an example of a configuration of a lift. [Figure 15] 13 is a diagram showing a configuration in the vicinity of a top surface of a storage device according to another embodiment. FIG. [Figure 16] FIG. 2 is a side view showing an example of a configuration of a robot arm. [Figure 17] 13A to 13C are diagrams illustrating an example of the operation of the lift when withdrawing a container inserted into the container receiving section. [Figure 18] 11A to 11C are diagrams illustrating an example of the operation of the robot arm and the mounting table. [Figure 19] 13 is a diagram showing an example of the operation of the robot arm when causing the reading unit to read medicine identification information. FIG. [Figure 20] 11A and 11B are diagrams illustrating examples of images of a container captured by an imaging unit. [Figure 21] A diagram showing an example of the operation of the robot arm after reading of the medicine identification information is completed. [Figure 22] 13A and 13B are diagrams illustrating an example of an operation for removing a medicine box contained in a container. [Diagram 23] 10 is a flowchart illustrating an example of a process performed by a control unit according to another embodiment. [Figure 24] FIG. 24 is a diagram showing an example of an operation for removing a medicine box contained in a container in accordance with the process shown in FIG. 23. [Diagram 25] FIG. 13 is a diagram illustrating the size of a medicine box. [Figure 26] FIG. 13 is a perspective view of the sixth transport unit in a removal position for removing the medicine box from the container. [Figure 27] 13A and 13B are a perspective view and a cross-sectional view of a sixth transporting section at a removal position where the medicine box is removed from the container. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] [Basic configuration] <Medicine dispensing system> An overview of the medicine dispensing system 100 of this embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing an example of the medicine dispensing system 100. The medicine dispensing system 100 is a system capable of dispensing medicines, and includes a storage device 1 and a drug station 2, for example, as shown in Fig. 1.

[0010] The drug station 2 is a device for storing drugs and for filling and dispensing drugs. The drug station 2 includes, for example, a main unit 201 and a picking unit 202.

[0011] The main unit 201 is a unit that stores medicines. Specifically, the main unit 201 functions as a medicine storage shelf that can store a plurality of cassettes (not shown) that store medicines. The main unit 201 can store a variety of medicines (e.g., about 1500 to 2000 types) that are expected to be used in one facility such as a hospital or a pharmacy. Examples of medicines include tablets, powders, external medicines such as ointments and eye drops, and injections. The main unit 201 may store any type of medicine, regardless of the form of a container that stores the medicine (e.g., a PTP (Press Through Package) sheet, a bottle, a tube, a bottle, etc.). Furthermore, the main unit 201 may store medicines in the form of a medicine box that stores the above-mentioned medicines.

[0012] The picking unit 202 is a device that enables an operator to handle medicines stored in the main unit 201. In order to realize dispensing of medicines, the picking unit 202 functions as a device for an operator to perform a picking operation in which the operator takes out a required number of medicines from a cassette. The picking unit 202 also functions as a device for an operator to perform a filling operation in which the operator fills a cassette stored in the main unit 201 with medicines.

[0013] In this embodiment, the picking unit 202 is provided on the front side of the main unit 201 along the width direction (±X-axis direction) of the main unit 201. This is not limiting, and one picking unit 202 may be provided, or three or more picking units 202 may be provided.

[0014] Based on, for example, prescription data, the drug station 2 sequentially transfers the cassettes stored in the main unit 201 to the picking unit 202. An operator at the drug station 2 takes out the medicines from the cassettes transferred to the picking unit 202 and places them on a transport tray (not shown). The medicines stored on the transport tray are subject to visual inspection by a medical professional such as a pharmacist.

[0015] The storage device 1 is a device that stores medicine boxes containing medicines. The storage device 1 stores, for example, medicine boxes containing medicines that can be handled at the drug station 2. For example, when a certain type of medicine is out of stock at the drug station 2, the storage device 1 sends the medicine box containing the medicine stored in the storage device 1 to the drug station 2.

[0016] The storage device 1 includes a fifth transport unit 19 that transports the stored medicine boxes to the drug station 2. The fifth transport unit 19 is, for example, a belt conveyor. The fifth transport unit 19 includes a discharge transport unit 192. The discharge transport unit 192 is a transport unit that discharges the medicine boxes stored in the storage device 1 from the storage device 1. The storage device 1 also includes an input box 40 into which the medicine boxes transported by the fifth transport unit 19 are input.

[0017] In this embodiment, the drop boxes 40 are provided corresponding to each picking unit 202. The medicine box transported by the discharge transport unit 192 is transported to the designated drop box 40 and drops into the designated drop box 40. The drop box 40 to which the medicine box is to be transported is designated, for example, by the drug station 2, and the control unit 21 (see FIG. 4) of the storage device 1 causes the discharge transport unit 192 to transport the medicine box to the designated drop box 40 in accordance with an instruction from the drug station 2. This allows an operator at the drug station 2 to receive the medicine box transported from the storage device 1.

[0018] The operators of the drug station 2 and the storage device 1 are unqualified persons who do not have the qualifications of a pharmacist, nurse, doctor, etc. However, the operators may also be qualified persons who have the relevant qualifications.

[0019] <Storage device overview> An overview of the storage device 1 will be described with reference to Fig. 2 and Fig. 3. Fig. 2 is a diagram showing an example of the appearance of the storage device 1. Reference numeral 2001 in Fig. 2 indicates an example of the appearance of the storage device 1 when the first door 51 and the second door 52 are in a closed state, and reference numeral 2002 indicates an example of the appearance of the storage device 1 when the first door 51 and the second door 52 are in an open state. Fig. 3 is a diagram showing an example of the internal structure of the storage device 1.

[0020] 2, the storage device 1 includes a touch panel 20, a first door 51, and a second door 52. The touch panel 20 is a display device that displays various information related to the storage device 1, and also functions as an input device that accepts input operations by an operator.

[0021] The first door 51 is a door capable of blocking an operator's access to the medicine receiving section 11. In this embodiment, the first door 51 is a shutter capable of sliding vertically upward (in the +Z-axis direction). When the first door 51 is in a closed state, it may be locked by a locking mechanism (not shown). For example, when the control unit 21 receives an input (input of manual filling) for filling the medicine box in the storage device 1 via the medicine receiving section 11 through the touch panel 20, the control unit 21 releases the locking by the locking mechanism. This allows the operator to open the first door 51 and put medicines into the medicine receiving section 11. The operator can put medicine boxes into the medicine receiving section 11 by opening the first door 51.

[0022] The second door 52 is a door that allows an operator to access the inside of the storage device 1. In this embodiment, the second door 52 is a shutter that can slide vertically downward (in the -Z axis direction).

[0023] As shown in FIG. 3, storage device 1 includes medicine receiving section 11, third transport section 15, fifth transport section 19, and storage shelf 30.

[0024] Medicine receiving section 11 is a section that receives medicine boxes inserted by an operator. Medicine receiving section 11 is provided with first transport section 112 and shutter 114. First transport section 112 transports the medicine box received by medicine receiving section 11 to shutter 114 while it is placed thereon. Shutter 114 prevents the movement of the medicine box being transported by first transport section 112 to the second transport section 17 (see FIG. 9 ).

[0025] The storage shelf 30 is a shelf for storing medicine boxes. A plurality of medicine boxes can be stored in the storage shelf 30. The storage device 1 includes a storage cabinet 31 in which a plurality of storage shelves 30 can be installed. In this embodiment, at least one storage shelf 30 can be installed in each of the storage cabinets 31, that is, a first storage cabinet 31A provided on the front side of the storage device 1 and a second storage cabinet 31B provided on the back side of the storage device 1.

[0026] In addition, a plurality of medicine boxes may be arranged in the storage shelf 30 in the depth direction (±Y-axis direction) of the storage device 1. In this case, at least two of the plurality of medicine boxes may be medicine boxes of the same type or different types. The number of medicine boxes stored in a state of being arranged in the depth direction of the storage device 1 may be determined according to the length of the storage shelf 30 in the depth direction and the length of the medicine box.

[0027] When the shutter 114 is in an open state, the medicine box put into the medicine receiving section 11 is transported to the third transport section 15 by the first transport section 112. The third transport section 15 sequentially receives the medicine boxes transported from the first transport section 112 and transports the received medicine boxes with a predetermined distance between them. Then, the second transport section 17 grasps the medicine box placed on the third transport section 15 and transports it to the storage shelf 30. This allows the medicine box put into the medicine receiving section 11 to be stored in the storage shelf 30. In addition, the second transport section 17 grasps the medicine box stored in the storage shelf 30 and transports it to the fifth transport section 19. This allows the medicine box stored in the storage shelf 30 to be transported from the storage device 1 to another device (in this embodiment, the drug station 2).

[0028] ≪Specific configuration of storage device≫ The specific configuration of the storage device 1 will be described below. Fig. 4 is a block diagram showing an example of the configuration of the storage device 1. In Fig. 4, the white arrows indicate the flow from when the medicine box is received by the medicine receiving unit 11 until it is stored in the storage shelf 30, and the flow from when the medicine box is stored in the storage shelf 30 until it is discharged into the input box 40. Fig. 4 illustrates only the main configuration for explaining the flow of the medicine box.

[0029] When an input for manual refilling is received, it becomes possible to feed the medicine box into the medicine receiving unit 11. As a specific configuration of the storage device of this embodiment, first, a storage device 1 capable of storing the medicine box fed into the medicine receiving unit 11 in a storage shelf 30 will be described. The configuration of the storage device capable of automatically refilling the medicine box in addition to manual refilling will be described later as storage device 1B.

[0030] As shown in Fig. 4, the storage device 1 includes a transport device 10 that transports the medicine box in the storage device 1. The transport device 10 includes, for example, a medicine receiving unit 11, a width detection unit 13, a third transport unit 15, a second transport unit 17, a fifth transport unit 19, a control unit 21, and a memory unit 23. Specific configurations other than the control unit 21 and the memory unit 23 will be described with reference to figures other than Fig. 4.

[0031] <Control unit and storage unit> The control unit 21 performs overall control of the storage device 1 (specifically, the transport device 10). The storage unit 23 stores information required for controlling the storage device 1 (specifically, the transport device 10).

[0032] The control unit 21 includes, for example, a transport control unit 211, a shutter control unit 212, a direction specifying unit 213, a storage position management unit 214, and a touch panel control unit 215.

[0033] The transport control unit 211 controls the operations of the first transport unit 112, the third transport unit 15, the second transport unit 17, and the fifth transport unit 19. The shutter control unit 212 controls the opening and closing operation of the shutter 114. The touch panel control unit 215 controls the display of the touch panel 20.

[0034] The direction specifying unit 213 specifies the orientation of the medicine box based on the detection result of the first detection unit 113. In this embodiment, the direction specifying unit 213 specifies the orientation of the medicine box based on the detection result of the first detection unit 113 and the medicine identification information read by the reading unit 111. In addition, the direction specifying unit 213 determines whether the orientation of the medicine box faces a predetermined direction. In this embodiment, the direction specifying unit 213 determines whether the longitudinal direction of the medicine box faces the depth direction of the storage device 1.

[0035] The medicine identification information is information attached to the surface of the medicine box for identifying the medicine contained in the medicine box (e.g., information indicating the type of medicine). The medicine identification information is, for example, an example of information contained in the GS1 code, and is attached to the surface of the medicine box in the form of a barcode. However, the medicine identification information may be any information capable of identifying the medicine contained in the medicine box, and may be realized by information other than the GS1 code. Furthermore, the medicine identification information may be in a format readable by the reading unit 111, and may be attached in a format other than a barcode. The information attached to the surface of the medicine box may include, in addition to the medicine identification information indicating the type of medicine, information indicating the expiration date, lot number, and number of medicines contained in the medicine box. The expiration date may also be referred to as the expiration date.

[0036] The longitudinal direction of the medicine box is the direction along the longest side among the sides that define the medicine box. In this embodiment, the shape of the medicine box is a substantially rectangular parallelepiped.

[0037] The storage position management unit 214 manages the storage position of the medicine box received by the medicine receiving unit 11 in the storage shelf 30. For example, a coordinate system is set in advance in each storage shelf 30, and the storage position management unit 214 may determine the coordinates (e.g., coordinates of the four corners) indicating the area in which the medicine box is stored in the coordinate system as the storage position of the medicine box.

[0038] Storage position management unit 214 determines a storage position based on the size of the medicine box to be stored in storage shelf 30. Storage position management unit 214 specifies the size of the medicine box received by medicine receiving unit 11 by referring to the medicine database stored in memory unit 23, for example, based on the medicine identification information read by reading unit 111. Storage position management unit 214 determines the storage position of the medicine box in storage shelf 30 based on the specified size of the medicine box and the storage position information stored in memory unit 23.

[0039] The medicine database, for example, manages information on a plurality of types of medicine. The medicine database, for example, manages information indicating the size (e.g., length, width, and height) of the medicine box that contains the medicine, in association with each of the plurality of types of medicine. The storage position information is information indicating the storage position of the medicine (specifically, the medicine box) in the storage shelf 30. The storage position management unit 214 can identify an empty space in the storage shelf 30 by referring to the storage position information. This allows the second transport unit 17 to store the medicine box in an empty space in the storage shelf 30 where the storage position is not determined by a physical partition.

[0040] Furthermore, the storage location management unit 214 updates the storage location information, for example, when the storage location of the medicine box is determined and when an instruction to remove the medicine box is received. When the storage location management unit 214 determines the storage location of the medicine box, the storage location management unit 214 may update the storage location information to include the storage location of the medicine box. When an instruction to remove the medicine box is received, the storage location management unit 214 may update the storage location information to delete the storage location of the medicine box (to make it an empty area).

[0041] The storage position management unit 214 may update the storage position information when it is determined that the medicine box has been stored in the storage shelf 30 by the second transport unit 17, and when it is determined that the medicine box has been removed from the storage shelf 30 by the second transport unit 17. For example, when the storage position management unit 214 receives a detection signal indicating that the medicine box has been detected from the passage detection unit 1751 (see FIG. 9) provided in the gripper 171 of the second transport unit 17, the storage position management unit 214 determines whether the medicine box has been stored or removed by referring to the storage position information. The storage position management unit 214 may update the storage position information based on this determination result.

[0042] <Drug receiving section and surrounding structure> Reference numerals 5001 and 5002 in Fig. 5 are perspective views showing an example of the configuration of medicine receiving section 11 and its periphery. The arrow in reference numeral 5001 in Fig. 5 indicates the conveying direction of the medicine box in third conveying section 15. Fig. 6 is a perspective view showing an example of medicine receiving section 11.

[0043] 5 and 6, the medicine receiving section 11 is a space formed by a first side wall section 116, a second side wall section 117, a shutter 114, a first conveying section 112, and a top surface section 118. In addition, an opening for receiving the medicine box into the medicine receiving section 11 is formed by the first side wall section 116, the shutter 114, the first conveying section 112, and the top surface section 118.

[0044] The first side wall 116 is a side wall facing the shutter 114. The second side wall 117 is a side wall facing the opening. The shutter 114 functions as a part of the side wall of the medicine receiving section 11, and the first transport section 112 functions as the bottom of the medicine receiving section 11.

[0045] Further, inside the medicine receiving section 11, there is provided a reading section 111 that reads the medicine identification information attached to the surface of the medicine box. In this embodiment, the medicine identification information is attached to the surface of the medicine box in the form of a barcode. Therefore, in this embodiment, the reading section 111 is a barcode reader. The reading section 111 may be any device that can read the medicine identification information attached to the surface of the medicine box. The reading section 111 transmits the read medicine identification information to the control section 21.

[0046] Further, a plurality of reading units 111 are provided inside the medicine receiving unit 11. In this embodiment, as shown in FIG. 6, reading units 111A to 111C are provided as the reading unit 111. The reading unit 111A is provided on the second side wall 117 so that the reading direction of the medicine identifying information is a direction substantially perpendicular to the second side wall 117. The reading unit 111B is provided on the first side wall 116 so that the reading direction of the medicine identifying information is a direction substantially perpendicular to the first side wall 116. The reading unit 111C is provided on the top surface 118 so that the reading direction of the medicine identifying information is a direction substantially perpendicular to the top surface 118.

[0047] Since multiple reading units 111 are provided inside the medicine receiving unit 11, an operator can have the reading unit 111 read the medicine identification information simply by inserting a medicine box into the medicine receiving unit 11 or rotating it by up to 180 degrees inside the medicine receiving unit 11.

[0048] The first conveying unit 112 conveys the medicine box received by the medicine receiving unit 11 to the shutter 114 under the control of the conveying control unit 211. In this embodiment, the first conveying unit 112 is a belt conveyor. For example, the conveying control unit 211 causes the first conveying unit 112 to advance forward after receiving the medicine identification information read by the reading unit 111. Forcing the first conveying unit 112 to advance forward refers to operating the conveying belt of the first conveying unit 112 to convey the placed medicine box toward the shutter 114 side (+X axis direction). Note that the act of the conveying control unit 211 operating the conveying belt of the first conveying unit 112 to convey the placed medicine box toward the first side wall unit 116 side (-X axis direction) is also referred to as reversely feeding the first conveying unit 112.

[0049] The shutter 114 is provided between the first transport section 112 and the third transport section 15, and opens and closes under the control of the shutter control section 212. The shutter 114 is in a closed state when the medicine receiving section 11 is capable of receiving the medicine box. In addition, when in the closed state, the shutter 114 prevents the movement of the medicine box being transported by the first transport section 112 toward the third transport section 15 side.

[0050] In the closed state, shutter 114 functions as a side contact portion having side 1141 (contact surface) with which one side of the medicine box being transported by first transport unit 112 comes into contact. That is, in this embodiment, first transport unit 112 transports the medicine box received by medicine receiving unit 11, thereby bringing one side of the medicine box into contact with side 1141.

[0051] In this embodiment, the shutter 114 opens and closes in the vertical direction (±Z axis direction).

[0052] The first detection unit 113 is a detection unit that detects a medicine box in contact with or close to the shutter 114. The first detection unit 113 includes a plurality of sensors 1131 that detect the presence or absence of an object by outputting light. In this embodiment, the plurality of sensors 1131 are provided along one side that is included in the side surface 1141 of the shutter 114 and can contact the first conveying unit 112, as shown by reference numeral 5001 in FIG. 5. That is, the plurality of sensors 1131 are provided along the ±Y axis direction at the lower end of the side surface 1141. The plurality of sensors 1131 are provided on the side surface 1141 so as to emit light in a direction approximately perpendicular to the side surface 1141 of the shutter 114. In this embodiment, the sensor 1131 is a reflective sensor that includes an emission unit that emits light and a light receiving unit that receives reflected light after the emitted light is reflected by the object.

[0053] The first detection unit 113 transmits a detection signal indicating that the medicine box has been detected to the control unit 21. The first detection unit 113 also transmits information indicating which sensor 1131 of the multiple sensors 1131 has detected the medicine box, including the detection signal, to the control unit 21. This allows the control unit 21 to determine whether the medicine box has been detected. The direction identification unit 213 also compares the arrangement position of the sensor 1131 that detected the medicine box with the size of the medicine box acquired by referring to the medicine database based on the medicine identification information read by the reading unit 111. This allows the direction identification unit 213 to identify which surface of the medicine box is in proximity to or in contact with the side surface 1141 of the shutter 114. Therefore, the direction identification unit 213 can identify whether the orientation of the medicine box in proximity to or in contact with the side surface 1141 of the shutter 114 is facing a predetermined direction.

[0054] The first detection unit 113 may be any unit that can identify how the medicine box is in contact with the side surface 1141 of the shutter 114. For example, the multiple sensors 1131 may be provided in multiple rows, or may emit electromagnetic waves other than light, or sound waves (e.g., ultrasonic waves).

[0055] The entry / exit detection unit 115 is provided in the medicine receiving unit 11 on the front side of the first transport unit 112 (the side that receives the medicine box). The entry / exit detection unit 115 includes a plurality of sensors that detect the presence or absence of an object by outputting light. In this embodiment, the plurality of sensors are provided in a row in the ±X axis directions. In this embodiment, the sensors are reflective sensors.

[0056] When the sensor detects an object, it transmits a detection signal indicating that the object has been detected to the control unit 21. This enables the control unit 21 to determine whether the operator's hand and arm are inserted into the medicine receiving unit 11 or not.

[0057] The third transport unit 15 is provided adjacent to the first transport unit 112 via the shutter 114 so that the third transport unit 15 can sequentially receive the medicine boxes transported from the first transport unit 112 when the shutter 114 is open under the control of the transport control unit 211. In this embodiment, the third transport unit 15 is a belt conveyor.

[0058] In this embodiment, the third conveying section 15 includes a 3-1 conveying section 15A and a 3-2 conveying section 15B. The 3-1 conveying section 15A conveys the medicine box received from the first conveying section 112 with a predetermined distance between them. The 3-1 conveying section 15A is provided adjacent to the first conveying section 112 via a shutter 114 so that the medicine box conveyed from the first conveying section 112 can be received in sequence. The 3-2 conveying section 15B conveys the medicine box received from the 3-1 conveying section 15A with a predetermined distance between them. The 3-2 conveying section 15B is provided adjacent to the 3-1 conveying section 15A in the depth direction (±Y-axis direction) of the storage device 1, and conveys the medicine box in the opposite direction to the 3-1 conveying section 15A.

[0059] At the end of the 3-1 transporting section 15A opposite the drug receiving section 11, there is provided a drug moving section 151 which moves the drug box between (1) that end of the 3-1 transporting section 15A and (2) the end of the 3-2 transporting section 15B which faces the end of the 3-1 transporting section 15A.

[0060] The drug moving unit 151 includes a push plate 1511, a timing belt 1512, and a drive unit 1513. The push plate 1511 is fixed to a part of the timing belt 1512, and the timing belt 1512 is attached to two drive shafts. One of the drive shafts is connected to the drive unit 1513. The transport control unit 211 can operate the timing belt 1512 by driving the drive unit 1513, and can move the push plate 1511 in the ±Y-axis directions in response to this operation.

[0061] That is, the pushing plate 1511 pushes the medicine box that has reached the end of the 3-1 conveying section 15A to the 3-2 conveying section 15B, so that the medicine moving section 151 can move the medicine box from the 3-1 conveying section 15A to the 3-2 conveying section 15B. The conveying control section 211 controls the driving section 1513 to move the medicine box to the 3-2 conveying section 15B, and then moves the pushing plate 1511 to the 3-1 conveying section 15A side. This allows the medicine moving section 151 to move the medicine box sequentially from the 3-1 conveying section 15A to the 3-2 conveying section 15B.

[0062] For example, after the shutter control unit 212 opens the shutter 114, the transport control unit 211 causes the first transport unit 112 and the third transport unit 15 to move forward. The term "moving the third transport unit 15 forward" refers to operating the transport belt of the 3-1 transport unit 15A to transport the placed medicine box in a direction (+X axis direction) away from the shutter 114. The term "moving the third transport unit 15 forward" refers to operating the transport belt of the 3-2 transport unit 15B to transport the placed medicine box in a direction (-X axis direction) approaching the shutter 114.

[0063] The transport control unit 211 stops the third transport unit 15 after operating it for a predetermined time. This allows the third transport unit 15 to transport the medicine boxes while keeping them apart by a predetermined width. That is, the predetermined time for operating the third transport unit 15 is set to a time that allows adjacent medicine boxes to be separated by a predetermined width. The predetermined width may be set to a width that does not allow the gripping unit 171 of the second transport unit 17 to contact the medicine box to be gripped with the adjacent medicine box when gripping the medicine box. The transport control unit 211 may stop the first transport unit 112 when the third transport unit 15 is stopped. For example, the transport control unit 211 may control the second transport unit 17 to sequentially transport the medicine boxes placed on the third transport unit 15 to the storage position determined by the storage position management unit 214.

[0064] The width detection unit 13 detects the width of the medicine box. The width detection unit 13 is, for example, a reflective sensor. The width detection unit 13 detects the medicine box passing in front of the width detection unit 13. In this embodiment, the width detection unit 13 is provided in the vicinity of the 3-1 transport unit 15A and the shutter 114, and in a position where the detection direction of the medicine box (light emission direction) is approximately perpendicular to the transport direction of the medicine box by the 3-1 transport unit 15A.

[0065] In this embodiment, the orientation of the medicine box is adjusted by the first conveying unit 112 and the shutter 114 so that the longitudinal direction of the medicine box coincides with the depth direction of the storage device 1. Therefore, the medicine box passes in front of the width detection unit 13 so that the side perpendicular to the longitudinal direction of the medicine box faces the width detection unit 13. The conveying control unit 211 can calculate the width of the medicine box (the width along the ±X-axis direction when placed on the 3-1 conveying unit 15A) based on, for example, the detection time of the medicine box by the width detection unit 13 and the moving speed of the conveying belt of the 3-1 conveying unit 15A (the conveying speed of the medicine box). Therefore, when the gripping unit 171 of the second conveying unit 17 grips the medicine box, the conveying control unit 211 can open the gripping unit 171 in the ±X-axis direction larger than the calculated width of the medicine box.

[0066] The width detection unit 13 may be provided so as to be able to identify the passage of the medicine box. For example, the width detection unit 13 may be realized as a transmission type sensor, or may emit electromagnetic waves other than light or sound waves (e.g., ultrasonic waves). In this specification, the detection unit that detects the object may be a reflection type or transmission type sensor, may emit electromagnetic waves or sound waves, or may be an imaging unit, unless otherwise specified.

[0067] In addition, the third transport section 15 has been described as including the 3-1 transport section 15A and the 3-2 transport section 15B, but is not limited to this. The third transport section 15 may include three or more transport sections, or may be composed of only one transport section (only the 3-1 transport section 15A).

[0068] By providing the third transport unit 15 with multiple transport units, it is possible to increase the area in which the medicine boxes can be placed in the third transport unit 15 without changing the size of the storage device 1. Therefore, compared to a configuration in which the third transport unit 15 is provided with only one transport unit, a larger number of medicine boxes to be filled one after another by manual filling can be placed on the third transport unit 15. On the other hand, a storage device in which medicine boxes are mainly loaded by automatic filling (e.g., storage device 1B described below) may be configured to include only the 3-1 transport unit 15A.

[0069] In the case of a configuration including only the 3-1 transport unit 15A, the gripper 171 of the second transport unit 17 takes out the medicine box from the 3-1 transport unit 15A. On the other hand, the operator places the medicine box on the first transport unit 112 without paying much attention to the position in the first transport unit 112. Therefore, the position of the medicine box in the depth direction of the storage device 1 in the 3-1 transport unit 15A is likely to be different for each medicine box. Therefore, the transport control unit 211 specifies the position of the medicine box to enable the gripper 171 to take out the medicine box.

[0070] The transport control unit 211 may specify the position of the medicine box based on the detection result of the first detection unit 113. Furthermore, as shown by reference numeral 5001 in Fig. 5, the storage device 1 may include a position detection unit 121, and the transport control unit 211 may specify the position of the medicine box based on the detection result of the position detection unit 121. The position detection unit 121 may be provided at a position of the second side wall portion 117 adjacent to the side surface 1141 of the shutter 114, at approximately the same height as the first detection unit 113.

[0071] <Example of receiving medicine boxes into the storage device> An example of the operation of receiving a medicine box into the storage device 1 will be described with reference to FIG. 7. In this embodiment, the medicine box is placed on the storage shelf 30 so that the longitudinal direction of the medicine box coincides with the depth direction (±Y axis direction) of the storage device 1. The second transport unit 17 stores the medicine box placed on the third transport unit 15 in the storage shelf 30 either as is or after rotating it 180 degrees. The orientation of the medicine box is not changed during transport by the third transport unit 15. Therefore, in order to enable the medicine box to be stored in the storage shelf 30 as described above, the medicine receiving unit 11 adjusts the longitudinal direction of the medicine box to face the ±Y axis direction.

[0072] Fig. 7 is a diagram showing an example of a process in which the medicine box MB1 placed on the first transport section 112 is transported to the 3-1 transport section 15A. Fig. 7 is a diagram showing an example of a process in which the orientation of the medicine box MB1 received by the medicine receiving section 11 is adjusted.

[0073] First, the operator holds the medicine box MB1 and inserts it into the medicine receiving unit 11. At this time, the entry / exit detection unit 115 transmits a detection signal indicating that an object (the operator's hand or arm) has been detected to the control unit 21. When the control unit 21 receives the detection signal, it operates the reading unit 111 to make it possible to read the medicine identification information.

[0074] When the reading unit 111 reads the medicine identifying information, the transport control unit 211 operates the first transport unit 112 to forward the first transport unit 112, as shown by reference numeral 7001 in Fig. 7. As a result, the medicine box MB1 is transported to the shutter 114, as shown by reference numeral 7002 in Fig. 7.

[0075] Thereafter, the first detection unit 113 provided on the side surface 1141 of the shutter 114 detects the medicine box MB1. When the transport control unit 211 receives a detection signal indicating that the medicine box MB1 has been detected from the first detection unit 113, the transport control unit 211 temporarily stops the transport of the medicine box MB1 by the first transport unit 112.

[0076] The direction identification unit 213 determines whether or not the medicine box MB1 detected by the first detection unit 113 faces a direction (±Y axis direction) along the side surface 1141 of the shutter 114, based on the detection result of the first detection unit 113. In this embodiment, the direction identification unit 213 determines whether or not the longitudinal direction of the medicine box MB1 faces the ±Y axis direction.

[0077] The memory unit 23 stores information indicating the arrangement positions of the multiple sensors 1131 in the shutter 114. The first detection unit 113 also includes information indicating which sensor 1131 detected the medicine box in the detection signal. Furthermore, the control unit 21 can acquire information indicating the size of the medicine box by referring to the medicine database based on the medicine identification information read by the reading unit 111. Therefore, the control unit 21 can specify the size of the medicine box in the direction along the side surface 1141 of the shutter 114 based on this information. That is, the direction specification unit 213 can determine whether the longitudinal direction of the medicine box MB1 faces the direction along the side surface 1141 of the shutter 114 and is close to or in contact with the shutter 114 based on this information.

[0078] In the state of reference numeral 7002, the direction identification unit 213 determines that the longitudinal direction of the medicine box MB1 is oriented along the side surface 1141 of the shutter 114. At this time, the shutter control unit 212 determines whether or not a detection signal indicating that an object (the operator's hand or arm) has been detected has been received from the entry / exit detection unit 115. When the shutter control unit 212 determines that the longitudinal direction of the medicine box MB1 is oriented along the side surface 1141 of the shutter 114 and determines that a detection signal has not been received from the entry / exit detection unit 115, the shutter control unit 212 sets the shutter 114 to an open state. That is, when the operator's hand or arm is not inserted into the medicine receiving unit 11, the shutter control unit 212 starts the operation of opening the shutter 114.

[0079] Here, the multiple sensors 1131 of the first detection unit 113 provided in the shutter 114 are provided along one side of the side surface 1141 of the shutter 114 that can come into contact with the first transport unit 112, as described above. The multiple sensors 1131 also emit light in a direction approximately perpendicular to the side surface 1141 of the shutter 114. Therefore, when the shutter 114 moves vertically upward and passes the upper end of the medicine box placed on the first transport unit 112, the multiple sensors 1131 are unable to detect the medicine box. The shutter control unit 212 may stop the operation of the shutter 114 after a predetermined distance or a predetermined time has elapsed since the multiple sensors 1131 are unable to detect the medicine box.

[0080] The shutter control unit 212 determines whether the position where the shutter 114 operation is stopped, i.e., the height of the medicine box detected by the first detection unit 113, is equal to or greater than the set value set for the medicine box whose medicine identification information has been read by the reading unit 111.

[0081] The shutter control unit 212 can acquire the height of the medicine box received by the medicine receiving unit 11 by referring to the medicine database stored in the storage unit 23 based on the medicine identification information read by the reading unit 111. The height obtained by adding a predetermined value to the height of each medicine box registered in the medicine database is stored in advance in the storage unit 23 as a set value set for each medicine box. The predetermined value may be set to a margin (e.g., several mm) that allows one medicine box to be transported to the 3-1 transport unit 15A when the shutter 114 is in the open state, but does not allow the medicine box to be transported to the 3-1 transport unit 15A when other medicine boxes are stacked on the medicine box.

[0082] When the shutter control unit 212 determines that the position where the shutter 114 is stopped is a position less than the set value, the transport control unit 211 restarts the transport of the medicine box MB1 by the first transport unit 112. At this time, the transport control unit 211 also forwards the third transport unit 15. As a result, as shown by the reference numeral 7003, the medicine box MB1 can be placed on the 3-1 transport unit 15A so that the interval between the adjacent medicine boxes is a predetermined width. That is, the medicine boxes MB1 to MB3 can be placed on the 3-1 transport unit 15A in a state where the interval W2 between the medicine box MB2 and the medicine box MB3 already placed on the 3-1 transport unit 15A and the interval W1 between the medicine box MB2 and the medicine box MB1 transported to the 3-1 transport unit 15A are approximately the same.

[0083] On the other hand, consider a case where the medicine box MB1 is placed on the first conveying section 112 with the longitudinal direction of the medicine box MB1 not facing the direction along the side surface 1141 of the shutter 114. In this case, the first detection section 113 cannot detect the medicine box MB1 over the entire length of the medicine box MB1 along the longitudinal direction of the medicine box MB1. Therefore, the conveying control section 211 forwards the first conveying section 112 while the shutter 114 is closed, that is, while the medicine box MB1 is in contact with the side surface 1141 of the shutter 114. This allows the longitudinal direction of the medicine box MB1 to face the direction along the side surface 1141 of the shutter 114.

[0084] During the transport of the medicine box by the first transport unit 112, the direction specification unit 213 determines whether or not the longitudinal direction of the medicine box MB1 is oriented along the side surface 1141 of the shutter 114 based on the detection result of the first detection unit 113. When the direction specification unit 213 determines that the longitudinal direction of the medicine box MB1 is oriented along the side surface 1141 of the shutter 114 and determines that a detection signal has not been received from the entry / exit detection unit 115, the control unit 21 controls the shutter 114, the first transport unit 112, and the third transport unit 15 as described above. That is, as shown by the reference numerals 7002 and 7003, the medicine box MB1 on the first transport unit 112 is transported onto the 3-1 transport unit 15A after the shutter 114 is opened.

[0085] In this way, regardless of the orientation of the medicine box placed on the first conveying section 112, the medicine box can be conveyed to the third conveying section 15 by the first conveying section 112 and the shutter 114 with the longitudinal direction of the medicine box facing the direction along the side surface 1141 of the shutter 114. Therefore, the medicine boxes received by the medicine receiving section 11 can be continuously placed on the third conveying section 15 with the orientation of the medicine boxes aligned. Therefore, the second conveying section 17 can sequentially hold the medicine boxes by a simple mechanism. Also, the medicine boxes can be stored in the storage shelf 30 with the orientation of the medicine boxes aligned. In this embodiment, the medicine boxes can be stored in the storage shelf 30 so that the longitudinal direction of the medicine box faces the depth direction of the storage device 1.

[0086] <Second conveyor section> Fig. 8 is a perspective view showing an example of the configuration of the second transport section 17. In Fig. 8, the second storage cabinet 31B side is not shown.

[0087] The second transport unit 17 is a device for gripping a medicine box containing medicine and transporting the medicine box to an arbitrary position. For example, the second transport unit 17 transports the medicine box from the third transport unit 15 to a storage position determined by the storage position management unit 214, thereby storing the medicine box in the storage shelf 30. Furthermore, when the second transport unit 17 receives a medicine dispensing instruction from the drug station 2 or via the touch panel 20, the second transport unit 17 transports the medicine box containing the medicine from the storage shelf 30 to the fifth transport unit 19, thereby dispensing the medicine box to the outside.

[0088] 8, the second transport unit 17 includes a gripping unit 171 and a transport mechanism (lifter) 172. The second transport unit 17 may be provided in the storage device 1 in a single unit or in a plurality of units.

[0089] The transport mechanism 172 is an operating unit for moving the gripper 171 to an arbitrary position within the storage device 1. As shown in Fig. 8, the transport mechanism 172 includes an X-axis rail unit 1721, a support 1722, an X-axis timing belt 1723, a Z-axis drive unit 1724, a Z-axis timing belt 1725, an X-axis drive unit 1726, an auxiliary timing belt 1727, and a drive shaft 1728.

[0090] The X-axis rail portion 1721 is provided along the width direction (±X-axis directions) of the storage device 1, and supports the support pillar 1722 so as to be slidable in the ±X-axis directions. As shown in Fig. 8, the X-axis rail portion 1721 may be provided on both the top surface side and the floor surface side of the storage device 1. That is, the support pillar 1722 may be supported at both ends by the X-axis rail portion 1721 so as to be slidable in the ±X-axis directions.

[0091] The support pillar 1722 is provided along the vertical direction (±Z-axis direction) and is supported by the X-axis rail portion 1721. The support pillar 1722 is slidable along the X-axis rail portion 1721 in the ±X-axis direction and supports the grip portion 171. The support pillar 1722 is connected to an X-axis timing belt 1723 arranged along the X-axis rail portion 1721. In this embodiment, the X-axis timing belt 1723 on the top surface side of the storage device 1 is connected to one end of a drive shaft 1728. The other end of the drive shaft 1728 is connected to an X-axis drive portion 1726 via an auxiliary timing belt 1727. The X-axis timing belt 1723 on the floor surface side of the storage device 1 is also connected to the X-axis drive portion 1726. This allows the X-axis timing belt 1723 to rotate according to the operation of the X-axis drive portion 1726 under the control of the transport control portion 211. Therefore, the support pillar 1722 can move along the X-axis rail portion 1721.

[0092] 9 is a perspective view showing an example of the configuration of the gripper 171. The gripper 171 grips a medicine box and moves with the operation of the transport mechanism 172, thereby moving the medicine box to an arbitrary position. Specifically, the support 1722 moves along the X-axis rail portion 1721, so that the gripper 171 moves together with the support 1722 in the width direction (±X-axis direction) of the storage device 1. The gripper 171 can also move in the vertical direction (±Z-axis direction) along the support 1722. The gripper 171 can move along the support 1722 by rotating a Z-axis timing belt 1725 provided on the support 1722 by the operation of the Z-axis drive portion 1724.

[0093] As indicated by reference numerals 12001 and 12002 in FIG. 9, the gripping portion 171 mainly includes a placement portion 1711 and an entrance / exit portion 1712.

[0094] The placing section 1711 is a platform for placing a medicine box. The placing section 1711 is, for example, a plate-like member larger than a medicine box that can be stored in the storage device 1. A medicine box that is held by a pair of clamping sections 1715 provided in the entrance / exit section 1712 and pulled in from the storage shelf 30 is placed on the placing section 1711. A plurality of medicine boxes may be placed on the placing section 1711 in a state lined up in the longitudinal direction of the placing section 1711 (the extension direction of the pair of clamping sections 1715; the ±X-axis direction in FIG. 9). In this case, the gripping section 171 can transport a plurality of medicine boxes simultaneously.

[0095] The entrance / exit portion 1712 is for inserting and removing the medicine box into and from the placement portion 1711. In this embodiment, the entrance / exit portion 1712 includes a pair of clamping portions 1715 and a pushing portion 1716.

[0096] The pair of clamping parts 1715 operate under the control of the transport control part 211, and grip the medicine box by clamping it. As an example, the pair of clamping parts 1715 are a pair of flat plate-like members extending along the longitudinal direction of the mounting part 1711. The pair of clamping parts 1715 operate symmetrically in the width direction of the mounting part 1711 (the ±Y axis direction in FIG. 9) under the control of the transport control part 211. The pair of flat plate-like members can also be referred to as gripping plates 1715a and 1715b, respectively.

[0097] Specifically, the gripping portion 171 includes a Y-axis operating portion that operates the pair of clamping portions 1715 along the width direction of the mounting portion 1711 on the side opposite to the side where the medicine box enters and exits the mounting portion 1711 (the +X-axis direction side in FIG. 9). That is, the gripping portion 171 includes a Y-axis operating portion on the side opposite to the tip end of the mounting portion 1711 (the back side of the mounting portion 1711).

[0098] In this embodiment, the Y-axis operation unit includes, for example, a gear drive unit 1731, a gear 1732, and a pair of moving bodies 1733. The gear drive unit 1731 rotates the gear 1732 and has a drive shaft along the longitudinal direction of the placement unit 1711. The gear 1732 is connected to the drive shaft of the gear drive unit 1731, and a pair of moving bodies 1733 extending along the width direction of the placement unit 1711 are connected to the gear 1732. The gear 1732 rotates according to the operation of the gear drive unit 1731 under the control of the conveyance control unit 211, and the pair of moving bodies 1733 move in opposite directions. The pair of moving bodies 1733 are connected to gripping plates 1715a and 1715b, respectively. Therefore, the pair of gripping units 1715 can be opened and closed along the width direction of the placement unit 1711 by the operation of the pair of moving bodies 1733. Alternatively, only one of the gripping plates 1715a and 1715b may be configured to move in the width direction of the placement portion 1711.

[0099] The gripping unit 171 can grip the medicine box by narrowing the gap between the gripping plates 1715a and 1715b until the gap is wide enough to contact the side of the medicine box that faces the gripping plates 1715a and 1715b. Specifically, the Y-axis operating unit widens the gap between the gripping plates 1715a and 1715b so that it is wider than the width of the medicine box, and then narrows the gap until it is approximately the same as the width of the medicine box, according to the control of the transport control unit 211. The transport control unit 211 can specify the width of the medicine box by referring to the medicine database based on the medicine identification information read by the reading unit 111. The transport control unit 211 may specify the width of the medicine box based on the detection result by the width detection unit 13.

[0100] Further, the pair of clamping parts 1715 operate in the longitudinal direction of the placement part 1711 (the front-rear direction of the gripping part 171; ±X-axis direction in FIG. 9) under the control of the transport control part 211. Specifically, the gripping part 171 includes an X-axis operating part that operates the pair of clamping parts 1715 along the longitudinal direction of the placement part 1711. In this embodiment, the X-axis operating part includes, for example, a clamping drive shaft 1741 and a clamping drive part 1742. The clamping drive shaft 1741 is provided in the gripping part 171, extending in the longitudinal direction of the placement part 1711. A clamping support part 1720 that supports the pair of clamping parts 1715 and the Y-axis operating part is connected to the clamping drive shaft 1741 so as to be movable in the longitudinal direction of the placement part 1711. As a result of the clamping drive unit 1742 operating under the control of the transport control unit 211, the clamping drive shaft 1741 rotates about its axis, which is the central axis of the clamping drive shaft 1741 aligned in the extension direction of the clamping drive shaft 1741. The clamping support unit 1720 can move in the longitudinal direction of the placement unit 1711 in conjunction with this rotation. In other words, the pair of clamping units 1715 can move in the longitudinal direction of the placement unit 1711 by the rotation of the clamping drive shaft 1741.

[0101] When gripping a medicine box located outside gripping part 171 (for example, a medicine box stored in storage shelf 30), gripping part 171 operates as follows. That is, gripping plates 1715a and 1715b in a fully open state move in a direction protruding from mounting part 1711 to the outside of mounting part 1711 (-X axis direction in FIG. 9). Thereafter, gripping plates 1715a and 1715b narrow the width so that the width is approximately the same as the medicine box located outside gripping part 171. This allows gripping part 171 to grip the medicine box. In addition, when gripping a medicine box, a pair of clamping parts 1715 moves in a direction from outside mounting part 1711 back to mounting part 1711 (+X axis direction in FIG. 9), so that the medicine box located outside gripping part 171 can be pulled into mounting part 1711.

[0102] In addition, when the placement unit 1711 is viewed from above, the pair of clamping parts 1715 are inclined inward from the connection side with the clamping support part 1720 to the tip part (towards the -X axis direction in FIG. 9). In other words, the distance between the gripping plates 1715a and 1715b is narrower on the tip side than on the connection side with the clamping support part 1720. In other words, the pair of clamping parts 1715 are inclined inward from the back side to the front side of the placement unit 1711 (from the rear to the front of the placement unit 1711). For example, when multiple medicine boxes are stored in the storage shelf 30 in a row in the longitudinal direction of the storage device 1, the pair of clamping parts 1715 grip the medicine box furthest from the gripping part 171 and pull the multiple medicine boxes into the placement unit 1711. At this time, if the gripping plates 1715a and 1715b are provided at an incline as described above, the plurality of medicine boxes can be easily pulled into the placement portion 1711.

[0103] The pushing part 1716 is a member for pushing out the medicine box from the gripping part 171. As an example, as shown in FIG. 9, the pushing part 1716 is a rod-shaped member that can move in the longitudinal direction of the placement part 1711 (±X-axis direction in FIG. 9). The pushing part 1716 moves in the longitudinal direction of the placement part 1711 by the operation of an operation part (not shown) under the control of the transport control part 211. In a state where a medicine box is placed on the placement part 1711, the pushing part 1716 moves in a direction protruding from the placement part 1711 to the outside of the placement part 1711 (−X-axis direction in FIG. 9), so that the medicine box can be moved out of the placement part 1711. When the pushing part 1716 pushes out the medicine box placed on the placement part 1711, the pair of clamping parts 1715 also function as a guide when pushing out the medicine box to a target position.

[0104] In this manner, the entrance / exit portion 1712 pulls the medicine box into the mounting portion 1711 from the front of the mounting portion 1711 (−X axis direction in FIG. 9) and pushes the medicine box placed on the mounting portion 1711 forward of the mounting portion 1711.

[0105] In this embodiment, the pushing unit 1716 pushes the medicine box placed on the placing unit 1711 out of the placing unit 1711. However, the medicine box placed on the placing unit 1711 may be transported out of the placing unit 1711 by performing the reverse operation of the pair of clamping units 1715 when pulling the medicine box into the placing unit 1711.

[0106] As shown in FIG. 9, the grip portion 171 includes a grip detection portion 1714 and a passage detection portion 1751.

[0107] The gripping detection unit 1714 is a sensor disposed outside the pair of gripping units 1715 in the width direction (±Y-axis direction in FIG. 9) of the placement unit 1711. Specifically, the gripping detection unit 1714 is provided on each of the pair of moving bodies 1733, and is provided outside each of the gripping plates 1715a and 1715b. As an example, the gripping detection unit 1714 may be a reflective sensor having an emission unit that emits light toward the front of the gripping unit 171 approximately parallel to the long sides of the pair of gripping units 1715, and a light receiving unit that receives reflected light of the emitted light reflected by an object. The gripping detection unit 1714 detects, for example, a medicine box present in front of the gripping unit 171. The gripping detection unit 1714 transmits a detection signal indicating that the medicine box has been detected to the control unit 21, whereby the transport control unit 211 can determine whether or not the pair of gripping units 1715 can move.

[0108] For example, when the medicine box to be removed is placed on the third transport section 15 or the storage shelf 30 so that the longitudinal direction of the medicine box is approximately parallel to the depth direction (±Y axis direction) of the storage device 1, the gripping detection section 1714 does not detect the medicine box. In this case, the transport control section 211 can grip the medicine box by moving the pair of clamping sections 1715 forward of the placement section 1711 (−X axis direction in FIG. 9).

[0109] On the other hand, for example, in the third transport section 15 or the storage shelf 30, when the medicine box to be removed is placed at an angle to the depth direction of the storage device 1, the gripping detection section 1714 detects the medicine box. In this case, when the pair of clamping sections 1715 move forward of the placement section 1711, the tip of the pair of clamping sections 1715 may collide with the medicine box. Therefore, when the gripping detection section 1714 detects the medicine box, the transport control section 211 slightly widens the gap between the pair of clamping sections 1715 (i.e., the gripping plates 1715a and 1715b) (for example, by several mm). The transport control section 211 repeatedly executes this operation until the gripping detection section 1714 no longer detects the medicine box. When the gripping detection section 1714 no longer detects the medicine box, the transport control section 211 moves the pair of clamping sections 1715 forward of the placement section 1711. This allows the pair of clamping portions 1715 to grip the medicine box.

[0110] In addition, if the control unit 21 determines that the gripping unit 171 cannot remove the medicine box from the storage shelf 30, for example by the gripping detection unit 1714 detecting the medicine box, the control unit 21 may identify the row in which the medicine box is present as a row in which the medicine box cannot be removed or stored.

[0111] The passage detection unit 1751 detects a medicine box drawn into the placement unit 1711 or a medicine box pushed out from the placement unit 1711. As an example, the passage detection unit 1751 may be a reflective sensor having an emission unit that emits light vertically upward and a light receiving unit that receives reflected light of the emitted light reflected by an object. The passage detection unit 1751 is provided below the placement unit 1711 on the tip side of the placement unit 1711 (the -X axis direction side in FIG. 9). The passage detection unit 1751 transmits a detection signal indicating that the medicine box has been detected to the control unit 21, so that the control unit 21 can specify the passing status of the medicine box on the tip side of the placement unit 1711. That is, the control unit 21 can specify whether the gripping unit 171 has drawn in and gripped the medicine box, or whether the medicine box has been pushed out of the gripping unit 171 from the gripping unit 171 based on the detection result of the passage detection unit 1751. In other words, the control unit 21 can identify the transfer of the medicine box between the grip portion 171 and the outside of the grip portion 171 based on the detection result of the passage detection unit 1751.

[0112] 9, the gripper 171 includes a rotation drive unit 1755 that rotates the gripper 171 around the vertical direction (specifically, around the rotation axis Ax1 of the rotation drive unit 1755). In this embodiment, the rotation drive unit 1755 is provided below the placement unit 1711. The rotation drive unit 1755 operates according to the control of the transport control unit 211, thereby allowing the tip sides of the pair of grippers 1715 to face the third transport unit 15, the storage shelf 30 of the first storage 31A, the storage shelf 30 of the second storage 31B, and the fifth transport unit 19, respectively.

[0113] <5th conveyor section> FIG. 10 is a perspective view showing an example of the configuration of the fifth transport section 19. FIG. 10 shows only a portion of the fifth transport section 19 that is provided inside the storage device 1. The fifth transport section 19 is a transport section for dispensing medicine boxes from the storage device 1 to the outside. In this embodiment, the fifth transport section 19 dispenses medicine boxes from the storage device 1 to an external device (e.g., drug station 2). As shown in FIG. 10, the fifth transport section 19 includes an incoming transport section 191 and an outgoing transport section 192.

[0114] The receiving transport section 191 is a transport section that receives the medicine box that has been taken out from the storage shelf 30 and transported by the second transport section 17, and transports it toward the discharge transport section 192. For example, the receiving transport section 191 is a belt conveyor that can transport the medicine box placed on the receiving transport section 191 from the second transport section 17 side toward the discharge transport section 192 side, in other words, in the -Y axis direction.

[0115] As shown in FIG. 10, in this embodiment, a plurality of receiving conveying sections 191 are provided as the receiving conveying section 191. Specifically, a first receiving conveying section 191A, a second receiving conveying section 191B, a third receiving conveying section 191C, and a fourth receiving conveying section 191D are provided as the receiving conveying section 191. In the first receiving conveying section 191A, two belt conveyors (a first receiving belt conveyor 191Aa and a second receiving belt conveyor 191Ab) are arranged adjacent to each other. The second receiving conveying section 191B, the third receiving conveying section 191C, and the fourth receiving conveying section 191D are each composed of one belt conveyor. However, the number of receiving conveying sections 191 may be determined depending on the scale of the storage device 1, and may be one. Moreover, the number of belt conveyors in first receiving transport sections 191A-191D may also be determined by experiments for confirming the transport of medicine boxes to discharge transport section 192, or the like.

[0116] The discharge conveying section 192 is, for example, a belt conveyor located downstream in the forward feed direction of the receiving conveying section 191. The forward feed direction of the receiving conveying section 191 refers to operating the conveying belt of the receiving conveying section 191 to convey the placed medicine box toward the discharge conveying section 192 side (-Y axis direction). The forward feed direction of the discharge conveying section 192 refers to operating the conveying belt of the discharge conveying section 192 to convey the placed medicine box to the outside of the storage device 1 (+X axis direction).

[0117] The discharge conveying section 192 further conveys the medicine box conveyed from the receiving conveying section 191 and discharges it outside the storage device 1. In this embodiment, as shown in FIG. 1, the discharge conveying section 192 extends to a picking unit 202 located outside the storage device 1 and located distally from the storage device 1. In this embodiment, an input box 40 into which the medicine box conveyed from the discharge conveying section 192 is input is provided below the discharge conveying section 192 at a position of the discharge conveying section 192 corresponding to the picking unit 202. The medicine box conveyed by the discharge conveying section 192 falls into the input box 40. This allows the worker to collect the medicine box from the input box 40.

[0118] The discharge conveying section 192 is provided with a guide section 1921 that guides the medicine box conveyed from the first receiving conveying section 191A in the +X-axis direction. The guide section 1921, together with the outer wall 1911 of the first receiving conveying section 191A and the outer wall 1922 of the discharge conveying section 192, constitutes the outer wall of the fifth conveying section 19. The guide section 1921 connects the outer wall 1911 extending in the ±Y-axis direction and the outer wall 1922 extending in the ±X-axis direction. The guide section 1921 has a curved shape when the fifth conveying section is viewed from above. This allows the medicine box conveyed from the first receiving conveying section 191A to be smoothly conveyed to the discharge conveying section 192.

[0119] ≪Specific configuration of storage device according to another embodiment≫ Hereinafter, a storage device 1B, which is another example of the storage device 1, will be described with reference to Figs. 11 to 21. Fig. 11 is a perspective view showing an example of the appearance of the storage device 1B. Fig. 12 is a perspective view showing a state in which a part of the outer wall of the storage device 1B has been removed. Fig. 13 is a block diagram showing an example of the configuration of the storage device 1B. In Fig. 13, the hatched arrows indicate the movement of the container C in which the medicine box is stored. Moreover, the white arrows indicate the flow from when the medicine box is received by the robot arm 273 or the medicine receiving unit 11 until it is stored in the storage shelf 30, and the flow from when the medicine box is stored in the storage shelf 30 until it is discharged into the input box 40. Fig. 13 illustrates only the main configuration for explaining the flow of the container C and the medicine box.

[0120] The storage device 1B of this embodiment is different from the storage device 1 in that it includes a transport device 10B. As shown in FIG. 13, the transport device 10B includes a sixth transport unit 27 in addition to the configuration of the transport device 10. As shown in FIG. 12 and FIG. 13, the sixth transport unit 27 includes a container receiving unit 271, a lift 272 (container removal unit), a robot arm 273 (removal unit), an imaging unit 274, a mounting table 275, a sensor 276, a reading unit 277, and a recovery unit 278. The transport device 10B also includes a control unit 21B instead of the control unit 21. In addition to the configuration of the control unit 21, the control unit 21B includes a lift control unit 216, a robot control unit 217 (removal control unit), a region determination unit 218 (determination unit), a mounting table control unit 219, a distance determination unit 220, and a reading determination unit 221.

[0121] When the control unit 21B receives an input for loading medicine boxes from the containers C into the storage device 1B via the touch panel 20 (input for automatic loading), each unit of the transport device 10B performs the following operations.

[0122] That is, the robot arm 273 equipped with the tip rotating part 2731 and the suction part 2732 grasps the medicine box contained in the container C received from the container receiving part 271, and the medicine box is rotated by the robot arm 273. By rotating the medicine box, information such as medicine identification information attached to the medicine box is read by the reading part 277, and the control part 21B identifies, for example, the type and number of medicines contained in the medicine box. Also, for example, the control part 21B identifies the size of the medicine box by referring to the medicine database based on the type of medicine that has been read.

[0123] The medicine box for which the above information has been specified is placed on the first conveying section 112 by the operation of the robot arm 273. The medicine box placed on the first conveying section 112 is conveyed to the medicine receiving section 11. In the medicine receiving section 11, the first conveying section 112 and the shutter 114 adjust the orientation of the medicine box and obtain the size of the medicine box. The medicine box conveyed to the medicine receiving section 11 is conveyed to the third conveying section 15. Then, the second conveying section 17 conveys the medicine box on the third conveying section 15 (the medicine box taken out of the container C by the robot arm 273) to the storage shelf 30. Note that various operations on the medicine box after it is conveyed from the medicine receiving section 11 to the third conveying section 15 are the same as the various operations in the conveying device 10 described above, and therefore will not be described.

[0124] As described above, in the transport device 10B according to this embodiment, by simply inserting the container C containing the medicine box into the container receiving section 271, the medicine box can be stored in the storage shelf 30. Therefore, the operator does not need to read the medicine identification information of the medicine box, and the medicine box can be stored in the storage shelf 30 with reduced burden on the operator. A more specific configuration of the transport device 10B will be described below.

[0125] <Container Receiving Section 271> The container receiving portion 271 is a housing having an area (space) capable of receiving a container C that contains a medicine box containing medicine.

[0126] As an example, as shown in FIG. 11, the conveying device 10B is provided with a door 271A that allows access to the container receiving section 271. The door 271A may be locked by a locking mechanism (not shown) when in a closed state. When the control section 21B receives an input for automatic filling, it releases the locking mechanism. This allows the door 271A to be in a state where it is possible for an operator to open it. The operator can insert a container C into the container receiving section 271 by opening the door 271A.

[0127] The container receiving section 271 may be capable of receiving a plurality of containers C. Also, the container receiving section 271 may be capable of receiving a plurality of types of containers C. The size or shape of the containers C may vary slightly depending on the drug supplier. Also, the size or shape of the containers C may vary even within the same supplier. For example, the same supplier may use a container of a certain size and a small container having approximately half the capacity of the container as the container C. The container receiving section 271 is configured to be capable of storing a plurality of such plurality of types of containers C.

[0128] 12, in this embodiment, the container receiving section 271 has two vertically adjacent areas, and is configured to be able to receive a container C in these two areas. In each area, a plurality of containers C (e.g., two small containers) can be arranged side by side in the depth direction of the storage device 1B.

[0129] <Lift 272> 14 is a perspective view showing an example of the configuration of the lift 272. The lift 272 operates under the control of the lift control unit 216.

[0130] Specifically, the lift 272 pulls out the container C placed in the container receiving section 271 toward the rear side (+Y axis direction) of the transport device 10B, and supports the container C at a standby position vertically below the imaging section 274. This operation is started after the control section 21B receives, for example, an input for automatic filling and locks the door 271A by the locking mechanism.

[0131] Furthermore, after the robot arm 273 has removed all of the medicine boxes contained in the container C, the lift 272 moves the container C to the front side (-Y axis direction) of the transport device 10B and returns the empty container C to the container receiving section 271. This operation is started, for example, when the control section 21B determines that the medicine box cannot be detected in the image of the container C captured by the imaging section 274, or when it determines that the medicine box last removed from the container C has been placed on the first transport section 112 or the recovery section 278.

[0132] As shown in FIG. 14, the lift 272 includes a lift grip portion 2711 , a lift support 2712 , and a lift rail portion 2713 .

[0133] The lift gripper 2711 grips the container C in order to move the container C. The lift pillar 2712 supports the lift gripper 2711 so as to be slidable in the vertical direction (up-down direction; ±Z-axis direction). The lift rail section 2713 supports the lift pillar 2712 so as to be slidable in the depth direction (front-back direction; ±Y-axis direction) of the storage device 1B. Therefore, as the lift pillar 2712 moves along the lift rail section 2713 under the control of the lift control section 216, the lift gripper 2711 also moves together with the lift pillar 2712.

[0134] The lift gripper 2711 is connected to the drive unit 2714 via a ball screw (not shown) provided along the lift support column 2712. The drive unit is driven under the control of the lift control unit 216, causing the ball screw to rotate around its axis of rotation in the extension direction of the ball screw. The ball screw rotates, causing the lift gripper 2711 to move up and down along the lift support column 2712. Similarly, the lift support column 2712 may be moved in the ±Y-axis directions by a timing belt and drive unit (both not shown).

[0135] A container placement part 2715 for placing the container C thereon may be connected to the lift support 2712. The container placement part 2715, together with the lift grip part 2711, is movable in the up-down direction and the front-rear direction of the storage device 1B.

[0136] <Imaging unit 274> FIG. 15 is a diagram showing a configuration near the top surface of the storage device 1B. The imaging unit 274 is an example of a detection unit that detects the medicine box contained in the container C received by the container receiving unit 271 from above the container receiving unit 271. As shown in FIG. 15, the imaging unit 274 is a three-dimensional vision sensor provided near the top surface of the storage device 1B. The imaging unit 274 images the container C that has been drawn out by the lift 272 and is positioned at the standby position. In other words, the imaging unit 274 images the container C from the opening side of the container C. As a result, the imaging unit 274 acquires an image of the container C seen from the opening side. In addition, this image includes an image of the medicine box contained in the container C. The imaging unit 274 outputs the captured image to the region determining unit 218.

[0137] Furthermore, by using a three-dimensional vision sensor as the imaging unit 274, the control unit 21B can easily identify each medicine box contained in the container C. Therefore, the robot control unit 217 can cause the robot arm 273 to reliably grasp the medicine box contained in the container C. Note that, as long as the individual medicine boxes contained in the container C can be identified, a sensor other than a three-dimensional vision sensor may be used as the imaging unit 274.

[0138] Furthermore, the imaging unit 274 is connected to a timing belt 2741 provided along the ±Y-axis directions near the top surface of the transport device 10B. The imaging unit 274 may be movable along the timing belt 2741 under the control of the control unit 21B. The control unit 21B may have, as one function, an imaging unit control unit that controls the imaging or movement of the imaging unit 274. The imaging unit control unit is an example of a detection control unit that controls the above-mentioned detection unit.

[0139] <Robot Arm 273> 16 is a side view showing an example of the configuration of the robot arm 273. The robot arm 273 is a device capable of adsorbing and moving a medicine box. The robot arm 273 operates under the control of the robot control unit 217. Note that in this embodiment, the robot arm 273 is configured to adsorb a medicine box and remove it from the container C, but is not limited to this configuration and may be configured to remove (grasp) the medicine boxes one by one from the container C.

[0140] The robot arm 273 sucks the medicine box contained in the container C received by the container receiving section 271, thereby removing the medicine box from the container C. After removing the medicine box from the container C, the robot arm 273 places the medicine box on the mounting table 275 and then sucks the medicine box again.

[0141] Furthermore, the robot arm 273 causes the reading unit 277 to read the medicine identification information of the medicine box, and moves the medicine box according to the reading result by the reading unit 277. Specifically, when the reading unit 277 is able to read the medicine identification information, the robot arm 273 transports the medicine box to the first transport unit 112. When the reading unit 277 is unable to read the medicine identification information, the robot arm 273 transports the medicine box to the collection unit 278.

[0142] As shown in FIG. 16, the robot arm 273 includes a robot base 273A and a robot tip 273B. The robot base 273A includes a tip rotating part 2731 at the end of the robot base 273A. The robot base 273A is provided behind the first transport part 112 and supports the robot tip 273B. The robot base 273A operates according to the control of the robot control part 217 to move the robot tip 273B to a desired position. The robot tip 273B is connected to the end of the robot base 273A. As shown in FIG. 16, the robot tip 273B includes a suction part 2732 and a tip shaft part 2733 extending vertically downward from the end of the robot base 273A.

[0143] The tip rotation section 2731 is a movable section that rotates under the control of the robot control section 217 to rotate the robot tip section 273B about the central axis of the robot tip section 273B as the rotation axis.

[0144] The suction part 2732 is a member capable of adsorbing an object in contact with or close to the suction part 2732, and is provided at the tip of the tip shaft part 2733. When the robot base part 273A is driven, the suction part 2732 comes into contact with or close to the upper surface of the medicine box (the surface facing the suction part 2732) and adsorbs the upper surface. As an example, the suction part 2732 may adsorb the medicine box by a suction mechanism (not shown) sucking air from the outside through a hollow part formed in the tip shaft part 2733. The suction mechanism starts or stops the suction operation according to the control of the robot control part 217. By adsorbing the medicine box using the suction part 2732, the robot arm 273 can move the medicine box to an arbitrary position and rotate it in an arbitrary direction.

[0145] In a state where the suction unit 2732 is suctioning the medicine box, the tip rotating unit 2731 rotates the medicine box in front of the reading direction of the reading unit 277. Specifically, the tip rotating unit 2731 rotates, and the medicine box rotates around an axis (axis Ax3 shown in FIG. 16) passing through the first and second surfaces of the medicine box. The first and second surfaces are two opposing surfaces of the medicine box. That is, the tip rotating unit 2731 rotates, and the suction unit 2732 rotates around the suction direction of the medicine box as the rotation axis, and the medicine box rotates around the rotation axis. At this time, the tip rotating unit 2731 rotates the medicine box around a rotation axis along a direction approximately perpendicular to the reading direction.

[0146] If the control unit 21B determines that the reading unit 277 was unable to read the medicine identifying information by this rotation, the medicine box is placed on the placement table 275 so that a third surface or a fourth surface, which is different from the first surface and the second surface, faces the placement table 275. The third surface and the fourth surface are two opposing surfaces on the medicine box. That is, the robot arm 273 tilts the medicine box on the placement table 275 so that the third surface or the fourth surface faces the placement table 275. Here, it is assumed that the third surface faces the placement table 275 and is placed on the placement table 275.

[0147] Thereafter, the robot arm 273 again adsorbs the fourth surface, which is the upper surface of the medicine box placed on the placement table 275, with the adsorption unit 2732. Then, the tip rotation unit 2731 rotates the medicine box around an axis (axis Ax3 shown in FIG. 16) passing through the third and fourth surfaces as a rotation axis. At this time, the tip rotation unit 2731 also rotates the medicine box around a rotation axis along a direction approximately perpendicular to the reading direction. This allows the first and second surfaces, which could not be directed to the reading unit 277 when the adsorption unit 2732 adsorbed the first or second surface, to be directed to the reading unit 277. Therefore, even if the medicine identifying information is attached to the first or second surface, the reading unit 277 can be made to read the medicine identifying information.

[0148] In addition, when reading the medicine identification information while the fourth surface is adsorbed, if the reading unit 277 is unable to read the medicine identification information, in other words, if the reading unit 277 is unable to read the medicine identification information from any surface of the medicine box, the robot arm 273 transports the medicine box to the collection unit 278.

[0149] The tip of the tip shaft 2733 may be branched. Each tip may be provided with a member of a different size suitable for the size of the medicine box. A switching valve may be provided at the branching point. The robot control unit 217 may switch the tip that adsorbs the medicine box by controlling the switching of the switching valve based on the size of the medicine box identified from the image pickup result of the image pickup unit 274.

[0150] <Placement table 275> The mounting table 275 is a table for placing the medicine box taken out by the robot arm 273 from the container C, and operates under the control of the mounting table control unit 219. As an example, as shown in Fig. 12 and Fig. 15, the mounting table 275 is a plate-like member placed on the container receiving unit 271, and can move to the rear of the storage device 1 under the control of the mounting table control unit 219.

[0151] <Sensor 276> The sensor 276 is a sensor capable of detecting the medicine box taken out from the container C by the robot arm 273. The sensor 276 is provided in the storage device 1B above the mounting table 275 drawn out to the standby position so that the detection direction of the target object is substantially horizontal. The sensor 276 may be a reflective sensor having an emission unit that emits light and a light receiving unit that receives light reflected by the target object. The sensor 276 outputs the detection result of the medicine box to the mounting table control unit 219.

[0152] <Reading unit 277> The reading unit 277 reads the medicine identifying information attached to the surface of the medicine box. As shown in FIG. 12, the reading unit 277 is provided near the inner wall of the storage device 1B, and is provided so that the reading direction faces the inside of the storage device 1B (above the pulled-out mounting table 275). When the medicine box is placed in front of the reading unit 277 by the robot arm 273, the reading unit 277 reads the medicine identifying information attached to the surface of the medicine box. The reading unit 277 also outputs the read medicine identifying information to the control unit 21B.

[0153] <Recovery Division 278> The collection section 278 is, for example, a box-shaped member with an open top, and collects medicine boxes whose medicine identifying information could not be read by the reading section 277. Specifically, when the reading section 277 cannot read the medicine identifying information, the robot arm 273 moves the medicine box to the collection section 278 and places it on the collection section 278. This allows the operator to collect from the collection section 278 the medicine boxes whose medicine identifying information could not be read.

[0154] <Operation Example of the Conveyor Device 10B> Hereinafter, the operations performed by the transport device 10B will be described together with the details of the processing in the control unit 21B.

[0155] Fig. 17 is a diagram showing an example of the operation of the lift 272 when withdrawing the container C placed in the container receiving section 271. The lift control section 216 controls the operation of the lift 272. When the container C is placed in the container receiving section 271 and an input is made to instruct the start of the operation of storing the medicine box MB1 in the storage device 1B (input of automatic filling), as shown in Fig. 17, the lift control section 216 operates the lift gripping section 2711 of the lift 272 to withdraw the container C.

[0156] Specifically, as shown by reference numeral 29001 in FIG. 17, the lift control unit 216 causes the lift gripping unit 2711 to grip the container C in the container receiving unit 271. Next, as shown by reference numeral 29002 in FIG. 17, the lift control unit 216 moves the lift support 2712 rearward (in the +Y-axis direction) along the lift rail unit 2713. As a result, the container C supported by the lift gripping unit 2711 is drawn out from the container receiving unit 271 to a standby position behind it. When the container C is drawn out from the container receiving unit 271, the image capturing unit 274 captures an image of the container C from above, and the image capturing result is output to the region determining unit 218. Then, the region determining unit 218 determines the take-out region of the medicine box for the container C based on the image of the container C.

[0157] After all medicine boxes contained in the container C have been removed (or after the last medicine box removed is placed on the first transport section 112 or the recovery section 278), the lift control section 216 causes the lift 272 to perform the reverse operation of the operation performed when the container C was pulled out. This allows the emptied container C to be returned to the container receiving section 271.

[0158] Thereafter, the robot control unit 217 controls the operation of the robot arm 273. Specifically, when the robot control unit 217 acquires the image of the container C captured by the imaging unit 274 and the information indicating the removal area from the area determination unit 218, the robot control unit 217 identifies the shape of the medicine box present in the removal area. Note that, when multiple medicine boxes are stored in the container C, the robot control unit 217 identifies, for example, one of the medicine boxes that is not covered by other medicine boxes.

[0159] FIG. 18 is a diagram showing an example of the operation of the robot arm 273 and the placement table 275. As shown by reference numeral 30001 in FIG. 18, the robot control unit 217 moves the robot tip 273B of the robot arm 273 so that the upper surface (here, the first surface) of the identified medicine box MB1 faces the suction part 2732 of the robot arm 273. Next, as shown by reference numeral 30002 in FIG. 18, the robot control unit 217 operates the robot base 273A to lower the robot tip 273B, and the suction part 2732 contacts the first surface of the medicine box MB1. As a result, the first surface of the medicine box MB1 is sucked by the suction part 2732. Thereafter, as shown by reference numeral 30003 in FIG. 18, the robot control unit 217 operates the robot base 273A to raise the robot tip 273B. As a result, the medicine box MB1 is taken out of the container C.

[0160] Further, based on the detection result of the medicine box MB1 by the sensor 276, the mounting base control unit 219 determines that the medicine box MB1 taken out from the container C has passed in front of the sensor 276. In this case, as shown by reference numeral 30003 in FIG. 18, the mounting base control unit 219 moves the mounting base 275 from the upper position of the container receiving unit 271 to the rear thereof. That is, when the robot arm 273 adsorbs and lifts the medicine box MB1 and places the medicine box MB1 at a position higher than the height at which the mounting base 275 is located, the mounting base control unit 219 moves the mounting base 275 in the +Y axis direction. As a result, the mounting base 275 is positioned below the medicine box MB1 adsorbed by the robot arm 273, so that the robot arm 273 can place the medicine box MB1 on the mounting base 275. When the determination by the reading and determining unit 221 is completed, the mounting table control unit 219 moves the mounting table 275 to the front side (−Y axis direction) and returns the mounting table 275 to a position above the container receiving unit 271.

[0161] After the placement table control unit 219 moves the placement table 275 from the upper position of the container receiving unit 271 to the rear thereof, as shown by reference numeral 30004 in FIG. 18, the robot control unit 217 operates the robot base unit 273A to lower the robot tip unit 273B. After that, when the medicine box MB1 comes into contact with the placement table 275, the robot control unit 217 stops the suction by the suction unit 2732 and raises the robot tip unit 273B. This places the medicine box MB1 in a state of being placed on the placement table 275. When the medicine box MB1 is placed on the placement table 275, the imaging unit 274 captures a three-dimensional image of the medicine box MB1 and outputs it to the distance determination unit 220.

[0162] Distance determination section 220 determines the position where robot arm 273 places the medicine box in front of reading section 277, based on the size of the medicine box identified from the image pickup result of imaging section 274.

[0163] Specifically, when the medicine box is placed on the placement stand 275, the image of the medicine box is captured by the image capturing unit 274. The distance determining unit 220 acquires a stereoscopic image of the medicine box captured by the image capturing unit 274. The distance determining unit 220 specifies the size (length, width, and height) of the medicine box based on the stereoscopic image. In addition, the distance determining unit 220 determines the distance between the medicine box held by the robot arm 273 and the reading unit 277 when the medicine identification information of the medicine box is read based on the specified size of the medicine box, thereby determining the position at which the medicine box is placed. The distance is a distance that includes at least one surface of the medicine box within a range that can be read by the reading unit 277.

[0164] The distance determination unit 220 determines the position at which the medicine box is placed so that the medicine box is placed at a position farther away from the reading unit 277 as the size of the medicine box increases. That is, when the medicine box is small, the distance determination unit 220 determines the distance between the medicine box and the reading unit 277 so that the distance is shorter. Also, when the medicine box is large, the distance determination unit 220 determines the distance between the medicine box and the reading unit 277 so that the distance is longer than when the medicine box is small. This allows the reading unit 277 to read the medicine identification information attached to the medicine box regardless of the size of the medicine box.

[0165] The distance (the position where the medicine box is placed) may be set in stages according to the size of the medicine box. For example, information showing the correspondence between the size of the medicine box and the distance may be stored in the memory unit 23, and the distance determination unit 220 may determine the distance corresponding to the size of the medicine box identified from the image pickup result of the image pickup unit 274 by referring to the information. Alternatively, a calculation formula for determining the distance may be set, and the distance determination unit 220 may calculate the distance based on the calculation formula and the size of the medicine box.

[0166] Fig. 19 is a diagram showing an example of the operation of the robot arm 273 when the reading unit 277 reads the medicine identifying information. After the robot control unit 217 places the medicine box MB1 taken out from the container C on the placement table 275, the robot control unit 217 lowers the suction unit 2732 again and causes the medicine box MB1 to be sucked by the suction unit 2732. Thereafter, as shown in Fig. 19, the robot control unit 217 operates the robot base unit 273A to position the medicine box MB1 in front of the reading direction of the reading unit 277 (the area indicated by the dashed line in Fig. 19).

[0167] The robot control unit 217 moves the robot tip unit 273B to the position for placing the medicine box MB1 determined by the distance determination unit 220. Furthermore, the robot control unit 217 rotates the tip rotation unit 2731, and rotates the medicine box MB1 about an axis passing through the first and second surfaces as the rotation axis. If the medicine identification information is affixed to a surface other than the first and second surfaces of the medicine box MB1, this rotation allows the reading unit 277 to read the medicine identification information.

[0168] When the reading unit 277 cannot read the medicine identifying information even after rotating the medicine box MB1 around an axis passing through the first and second surfaces, the robot control unit 217 places the medicine box MB1 so that a surface other than the first and second surfaces faces the mounting table 275. Then, the robot control unit 217 controls the robot arm 273 to adsorb the medicine box MB1 again. In other words, the robot control unit 217 controls the robot arm 273 to adsorb the medicine box MB1 again after tilting the medicine box MB1 on the mounting table 275.

[0169] FIG. 20 is a diagram showing an example of an image of a container C captured by the imaging unit 274. The area determination unit 218 acquires the image captured by the imaging unit 274. The area determination unit 218 identifies the size and orientation of the container C based on the image, and determines the removal area of ​​the medicine box according to the identified size and orientation of the container C. The removal area is an area where the medicine box can be removed by the robot arm 273. The removal area can also be said to be a movable area of ​​the robot tip 273B of the robot arm 273 when removing the medicine box from the container C. As an example, the removal area is an area inside the contour of the container C (area indicated by the symbol CA in FIG. 20) when the container C is viewed from above. As a result, only the medicine boxes present inside the container C (for example, medicine boxes MB1 to MB5 in FIG. 20) are identified as medicine boxes whose medicine identification information should be read.

[0170] Here, the containers C put into the transport device 10B may be different in size depending on the drug supplier. Also, the same supplier may use containers C of different sizes. Furthermore, the supplier does not put the containers C into the container receiving section 271 with the containers C facing in a fixed direction. In this embodiment, the region determination unit 218 determines the take-out region according to the size and orientation of the container C based on the image of the container C. Therefore, the region determination unit 218 can determine the take-out region regardless of the type of container C handled by the supplier and the way in which the container C is put into the container receiving section 271.

[0171] In addition, holes or the like are provided on the upper surface of the edge forming the opening of the container C, and the holes or the like allow different characteristics to be found for each type of container C. Therefore, information indicating the correspondence between an image (characteristic image) showing the characteristics of each container C and the removal area may be stored in the storage unit 23. The area determination unit 218 may determine the type of container C present at the waiting position and the removal area by comparing the image of the container C with the characteristic image included in the information.

[0172] Fig. 21 is a diagram showing an example of the operation of the robot arm 273 after the reading of the medicine identifying information is completed. Reference numeral 34001 in Fig. 21 shows a state in which the robot arm 273 grasps the medicine box MB1 after the reading of the medicine identifying information is completed.

[0173] When the reading unit 277 cannot read the medicine identifying information from any surface of the medicine box MB1, the robot control unit 217 transports the medicine box MB1 to the collection unit 278. That is, when the robot control unit 217 acquires information indicating that the medicine identifying information could not be read twice from the reading determination unit 221, the robot control unit 217 transports the medicine box MB1 to the collection unit 278. Specifically, as shown by reference numeral 34002 in FIG. 21, the robot control unit 217 operates the robot arm 273 to place the medicine box MB1 on the collection unit 278, and then releases the adsorption by the adsorption unit 2732.

[0174] On the other hand, when the reading unit 277 can read the medicine identification information of the medicine box MB1, the robot control unit 217 operates the robot arm 273 as shown by reference numeral 34003 in FIG. 21 to deliver (place) the medicine box MB1 to the first transport unit 112. That is, when the robot control unit 217 acquires information from the reading determination unit 221 indicating that the medicine identification information has been read, it operates the robot arm 273 to place the medicine box MB1 on the first transport unit 112. Thereafter, the robot control unit 217 releases the suction by the suction unit 2732. After being placed on the first transport unit 112, the medicine box MB1 is transported to the medicine receiving unit 11.

[0175] Here, the reading and judging unit 221 acquires the medicine identification information read by the reading unit 277. When the reading and judging unit 221 acquires the medicine identification information, the reading and judging unit 221 acquires information about the medicine box, such as the type of medicine contained in the medicine box and the size of the medicine box, based on the medicine identification information, by referring to the storage unit 23. If the information about the medicine box can be identified, the reading and judging unit 221 outputs information indicating that the medicine identification information has been identified to the robot control unit 217. The reading and judging unit 221 may also output information such as the type and size of the identified medicine box to the storage position management unit 214. On the other hand, if the information about the medicine box cannot be identified, the reading and judging unit 221 outputs information indicating that the information about the medicine box cannot be identified to the robot control unit 217.

[0176] When placing the medicine box MB1 on the first transport section 112, the robot control section 217 determines the direction in which to place the medicine box MB1 based on the shape of the medicine box MB1 identified based on the medicine identification information of the medicine box MB1 or the shape of the medicine box MB1 imaged by the imaging section 274. For example, the robot control section 217 places the medicine box MB1 on the first transport section 112 so that the longitudinal direction of the medicine box MB1 is perpendicular to the transport direction.

[0177] As described above, the transport device 10B receives the container C containing the medicine box, removes the medicine box from the container C, and transports it to the storage shelf 30. Therefore, the worker does not need to remove the medicine box stored in the storage shelf 30 from the container C and insert it into the storage device 1B. Therefore, the transport device 10B can transport the medicine box to the storage shelf 30 with reduced burden on the worker. However, the medicine box can also be inserted from the medicine receiving section 11 into the storage device 1B.

[0178] Furthermore, the transport device 10B can store the medicine boxes whose medicine identification information could be read in the storage shelf 30, and can collect the medicine boxes whose medicine identification information could not be read in the collection section 278. Therefore, even if there is a medicine box whose medicine identification information could not be read, the transport device 10B can execute the subsequent reading operation of the medicine identification information and the storage operation in the storage shelf 30 or the collection operation in the collection section 278.

[0179] [Embodiment 1] In this embodiment, a process example (operation example of each part of sixth conveying part 27) when control part 21B receives an input for automatic refilling will be described.

[0180] As an example, the region determining unit 218 determines the region indicated by the symbol CA in FIG. 20 as the take-out region. This take-out region is the maximum take-out region in which the robot arm 273 can take out the medicine box from the container C. Here, this take-out region is referred to as the maximum take-out region. After identifying the maximum take-out region, the region determining unit 218 identifies a part of the maximum take-out region as the actual take-out region. That is, in this embodiment, the region determining unit 218 determines a region obtained by dividing the maximum take-out region into a plurality of regions as the actual take-out region. Here, the actual take-out region is referred to as the divided take-out region. When a medicine box exists in each divided take-out region, the robot control unit 217 controls the robot arm 273 to take out the medicine box. The control unit 21B adjusts the position and the imaging range (angle of view) of the imaging unit 274 so that each of the divided take-out regions determined by the region determining unit 218 is within the imaging range.

[0181] The larger the imaging range, the greater the distance between the imaging unit 274 and the container C must be. Therefore, for example, if the entire container C is set as the imaging range, the sixth transport unit 27 and therefore the storage device 1B will be large. If the divided removal area is set as the imaging range, the distance between the imaging unit 274 and the container C can be made smaller than when the entire container C is set as the imaging range. Therefore, if the divided removal area is set as the imaging range, the sixth transport unit 27 and therefore the storage device 1B can be made smaller.

[0182] As shown in FIG. 13, the control unit 21B includes a position identification unit 222 and a removal order determination unit 223. The position identification unit 222 identifies the vertical position of the medicine box in the container C received by the container receiving unit 271 based on the imaging result of the imaging unit 274. The position identification unit 222 identifies the vertical position of the medicine box based on a stereoscopic image of the medicine box included in the image captured by the imaging unit 274 in each divided removal area. The vertical position of the medicine box is the top position of the medicine box (height of the medicine box). The removal order determination unit 223 determines the removal order of the medicine boxes from the container C. For example, when there are multiple medicine boxes in an image captured of one divided removal area, the removal order determination unit 223 determines the removal order of the medicine boxes in the divided removal area in descending order of height of the medicine box identified by the position identification unit 222.

[0183] The robot control unit 217 controls the robot arm 273 to take out all the medicine boxes present in the divided take-out area from above the container C according to the take-out order determined by the take-out order determination unit 223. After the take-out of all the medicine boxes is completed, the control unit 21B moves the imaging unit 274 to the next divided take-out area and takes an image of the divided take-out area. Then, the take-out order determination unit 223 determines the take-out order of the medicine boxes in the divided take-out area, and the robot control unit 217 controls the robot arm 273 to take out the medicine boxes present in the divided take-out area according to the take-out order of the medicine boxes. In this way, the robot arm 273 takes out all the medicine boxes contained in the container C.

[0184] Fig. 22 is a diagram showing an example of the operation of removing a medicine box contained in a container C. In the example of Fig. 22, it is assumed that divided removal areas AR1 and AR2 are set. Medicine boxes MB1, parts of MB2, and MB3 are present in divided removal area AR1, and parts of medicine boxes MB2, MB4 and MB5 are present in divided removal area AR2. Medicine box MB2 exists across divided removal areas AR1 and AR2, and medicine box MB4 is placed on medicine box MB2 in divided removal area AR2.

[0185] Based on the image captured by the imaging unit 274 of the divided removal area AR1, the position identifying unit 222 identifies the vertical position of the medicine box in the divided removal area AR1. Based on the position of the medicine box identified by the position identifying unit 222, the removal order determining unit 223 determines the removal order of the medicine boxes in the divided removal area AR1. In the divided removal area AR1, the medicine boxes MB1, MB2, and MB3 are taller in this order. Therefore, the removal order determining unit 223 determines the removal order to be the medicine boxes MB1, MB2, and MB3 in this order. Therefore, the robot control unit 217 controls the robot arm 273 to remove the medicine box MB1 from the container C, and then remove the medicine box MB2 from the container C.

[0186] As described above, the medicine box MB4 is placed on the medicine box MB2 in the division removal area AR2, which is outside the imaging range of the imaging unit 274 (outside the division removal area AR1). Therefore, when the robot arm 273 removes the medicine box MB2, it also removes the medicine box MB4. In this case, the medicine box MB4 may fall from the medicine box MB2 during the removal operation of the medicine box MB2 by the robot arm 273. In some cases, the medicine box MB4 may fall outside the container C. When the medicine box MB4 falls outside the container C, a human sensor (not shown) installed in the sixth transport unit 27 detects the medicine box MB4, and the control unit 21B stops the removal operation of at least the container C.

[0187] In order to reduce the occurrence of such a possibility, the control unit 21B may execute, for example, the following process. As shown in Fig. 13, the control unit 21B may include a setting unit 224. The setting unit 224 sets an object detection range in the vertical direction of the imaging unit 274. The setting unit 224 is capable of setting a plurality of object detection ranges. The setting unit 224 sets one of the plurality of object detection ranges when control for removing the medicine box from the container C is executed on the robot arm 273.

[0188] When the imaging unit 274 detects a medicine box within one object detection range set by the setting unit 224, the robot control unit 217 controls the robot arm 273 to take out the medicine box from above the container C. On the other hand, when the imaging unit 274 does not detect a medicine box within the object detection range, the setting unit 224 moves the object detection range vertically downward. As a result, the setting unit 224 sets a new object detection range different from the one object detection range that has been set.

[0189] In this embodiment, when the imaging unit 274 does not detect the medicine box within the object detection range, the setting unit 224 sets a new object detection range by gradually widening the object detection range in the vertically downward direction. The amount by which the object detection range is widened each time may be set in advance through experiments or the like.

[0190] When the imaging unit 274 detects a medicine box in one newly set object detection range, the robot control unit 217 controls the robot arm 273 to remove the medicine box from above the container C. The control unit 21B repeatedly executes this process, so that all medicine boxes contained in the container C can be removed.

[0191] The control unit 21B adjusts the focal position of the lens provided in the imaging unit 274 to the bottom of the container C to be imaged. The memory unit 23 stores a plurality of pieces of information indicating predetermined positions, which are positions (distances) in the height direction from the bottom of the container C. The setting unit 224 sets one of the plurality of positions, and sets a vertical range at a height equal to or higher than that position as an object detection range. When the upper surface of the medicine box can be identified within the set object detection range in the image of the container C imaged by the imaging unit 274, the control unit 21B determines that the imaging unit 274 has detected the medicine box within the object detection range, and identifies the adsorption position of the adsorption unit 2732 on the upper surface.

[0192] In this embodiment, when the setting unit 224 sets the position farthest from the bottom of the container C among the multiple positions, the setting unit 224 sets the smallest object detection range (the range with the smallest vertical distance from the opening of the container C) as the object detection range. If the imaging unit 274 does not detect the medicine box within the object detection range, the setting unit 224 changes the currently set position to a position one step lower than the current position, thereby widening the object detection range vertically downward. By repeating this change, the object detection range can be widened vertically downward in stages.

[0193] The control unit 21B executes, for example, the process shown in Fig. 23. Fig. 23 is a flowchart showing an example of the process by the control unit 21B. Fig. 24 is a diagram showing an example of the operation of removing a medicine box contained in a container C according to the process shown in Fig. 23. Each part of the transport device 10B that functions and operates in the process shown in Fig. 23 may be provided in a removal device that removes the medicine box from the container C.

[0194] The setting unit 224 sets the object detection range to the smallest object detection range (the range with the smallest vertical distance from the opening of the container C) (S1). The control unit 21B causes the imaging unit 274 to capture an image of each divided removal area in the object detection range set by the setting unit 224 (S2). The control unit 21B determines whether or not a medicine box is included in at least any image of the divided removal area (S3).

[0195] When the medicine box is included in at least one image of the divided removal area (YES in S3), the robot control unit 217 controls the robot arm 273 to remove the medicine box from the container C (S4). That is, when the imaging unit 274 detects the medicine box in one of the divided removal areas within one object detection range set by the setting unit 224, the robot control unit 217 controls the robot arm 273 to remove the medicine box from the container C.

[0196] When the image includes a plurality of medicine boxes (when the imaging unit 274 detects a plurality of medicine boxes within one object detection range set by the setting unit 224), the position specifying unit 222 specifies the height of each medicine box. Then, the removal order determining unit 223 determines the removal order of each medicine box in the order of the height of the medicine box specified by the position specifying unit 222. As a result, the robot arm 273 removes the medicine boxes from the plurality of medicine boxes in the order starting from the medicine box whose top surface is located at the top.

[0197] Even when one image (one divided take-out area) includes multiple medicine boxes, or when at least one medicine box is included in each of at least two images (at least two divided take-out areas), the processing is performed by the position specifying unit 222 and the take-out order determining unit 223. After that, the robot control unit 217 controls the robot arm 273 to take out the medicine boxes from the container C according to the take-out order determined by the take-out order determining unit 223 (S4).

[0198] After removal of all medicine boxes included in the image is completed, control unit 21B judges whether the object detection range set by setting unit 224 is set to the maximum range (S5). The maximum object detection range may be set to a length equivalent to the depth of container C from which the medicine box is to be removed (container C located at the removal position where robot arm 273 removes the medicine box). The maximum object detection range may be set to match the container C having the maximum depth among multiple types of containers C that can be accommodated in container receiving unit 271. In S3, even if the medicine box is not included in any of the images captured within the object detection range set by setting unit 224 (NO in S3), control unit 21B executes the process of S5.

[0199] If the currently set object detection range is not set to the maximum range (NO in S5), setting unit 224 expands the object detection range vertically downward and sets it as a new object detection range (S6). In other words, if imaging unit 274 does not detect the medicine box in any of the divided removal areas in one set object detection range, setting unit 224 sets a new object detection range different from the one object detection range.

[0200] Thereafter, control unit 21B executes the process of S2. Therefore, setting unit 224 gradually widens the object detection range until it becomes the maximum range, and if the medicine box is included in an image captured within the object detection range, robot arm 273 removes the medicine box from container C each time. Then, in S5, when setting unit 224 determines that the currently set object detection range is the maximum range (YES in S5), control unit 21B ends this process.

[0201] In reference numeral 24001 in Fig. 24, the positions of medicine boxes MB1-MB5 in container C and divided take-out areas AR1, AR2 are the same as in the example in Fig. 22. As indicated by reference numeral 24001 in Fig. 24, the setting unit 224 sets the smallest object detection range AR11. As indicated by reference numerals 24001 and 24002 in Fig. 24, the imaging unit 274 captures images of the divided take-out areas AR1, AR2 in the object detection range AR11 set by the setting unit 224.

[0202] Since the image captured of the divided removal area AR1 includes medicine box MB1, and the image captured of the divided removal area AR2 includes medicine box MB4, the robot arm 273 removes medicine boxes MB1 and MB4 from the container C. In the example of FIG. 24, the heights of medicine boxes MB1 and MB4 are the same. In the example of FIG. 24, medicine box MB1 in the divided removal area AR1 captured earlier is removed first, but medicine box MB4 may also be removed first. If the heights of medicine boxes MB1 and MB4 are different, medicine boxes MB1 and MB4 are removed in descending order of height.

[0203] After the medicine boxes MB1 and MB4 are removed from the container C, as shown by reference numeral 24003 in FIG. 24, the setting unit 224 changes the object detection range AR11 to an object detection range AR12 obtained by expanding the object detection range AR11 vertically downward by a first predetermined amount. In this state, the imaging unit 274 captures images of the divided removal areas AR1 and AR2 in the object detection range AR12. In the example of FIG. 24, only the medicine box MB5 is included in the image captured in the object detection range AR12. Therefore, the robot arm 273 removes the medicine box MB5 from the container C.

[0204] After the medicine box MB5 is removed from the container C, as shown by reference numeral 24004 in FIG. 24, the setting unit 224 changes the object detection range AR12 to an object detection range AR13 obtained by expanding the object detection range AR12 vertically downward by a second predetermined amount. In this state, the imaging unit 274 captures images of the divided removal areas AR1 and AR2 in the object detection range AR13. In the example of FIG. 24, the image captured in the object detection range AR13 includes only the medicine box MB2. Therefore, the robot arm 273 removes the medicine box MB2 from the container C.

[0205] In this process, the robot arm 273 has already removed the medicine box MB4 placed on the medicine box MB2 from the container C. Therefore, when removing the medicine box MB2, it is possible to prevent the medicine box MB4 from falling from the medicine box MB2.

[0206] After the medicine box MB2 is removed from the container C, as shown by reference numeral 24005 in FIG. 24, the setting unit 224 changes the object detection range AR13 to an object detection range AR14 obtained by expanding the object detection range AR13 vertically downward by a third predetermined amount. In this state, the imaging unit 274 captures images of the divided removal areas AR1 and AR2 in the object detection range AR14. In the example of FIG. 24, the object detection range AR14 is the maximum range, and only the medicine box MB3 is included in the image captured in the object detection range AR14. Therefore, the robot arm 273 removes the medicine box MB3 from the container C.

[0207] The first, second and third predetermined amounts may be different from each other, or at least two of the first, second and third predetermined amounts may be the same as each other.

[0208] As described above, control unit 21B can set a plurality of object detection ranges. When control unit 21B detects a medicine box from one object detection range set among the plurality of object detection ranges, control unit 21B removes the medicine box from container C. On the other hand, when control unit 21B does not detect a medicine box from the object detection range, control unit 21B determines that there is no medicine box to be removed from the object detection range, and sets a new object detection range different from the object detection range. Then, control unit 21B also executes the above-mentioned process for the newly set object detection range according to whether or not a medicine box is detected.

[0209] In this embodiment, control unit 21B gradually widens the object detection range in the vertical downward direction from the minimum object detection range, and when a medicine box is detected within the set object detection range, removes the medicine box from container C. When control unit 21B does not detect a medicine box within the set object detection range, control unit 21B sets a new object detection range by widening the object detection range in the vertical downward direction. That is, control unit 21B limits the height at which the medicine box is detected in container C, and when a medicine box is detected at that height, removes the medicine box from container C. When a medicine box is not detected at the limited height, control unit 21B gradually lowers the height, and detects the medicine box up to the bottom of container C.

[0210] Therefore, regardless of the divided removal area, the medicine boxes can be removed in order from the top. Therefore, when a medicine box (a medicine box in another divided removal area) that is outside the imaging range of the divided removal area is placed on top of a medicine box that is within the imaging range of the divided removal area, the medicine box that is located at the top can be removed. This reduces the possibility that the medicine box will fall out of the container C as described above.

[0211] In the present embodiment, a case where the object detection range is expanded in the vertically downward direction has been described as an example in which setting unit 224 sets a new object detection range by moving the object detection range in the vertically downward direction. That is, in the above example, the new object detection range is set so as to include the entire object detection range that has been set. However, examples of setting a new object detection range are not limited to this.

[0212] For example, setting unit 224 may set a new object detection range so as not to include at least a part of the set object detection range. For example, setting unit 224 may set a new object detection range by gradually moving the initially set object detection range (the above-mentioned minimum object detection range) vertically downward. In this case, setting unit 224 gradually sets an object detection range having a constant vertical length. For example, setting unit 224 may set the new object detection range so that the bottom side of the currently set object detection range becomes the top side of the new object detection range.

[0213] Furthermore, for example, when setting a new object detection range so as not to include at least a part of the set object detection range, setting unit 224 may set a new object detection range with a vertical length different from that of the set object detection range. For example, a new object detection range having the above-mentioned first predetermined length may be set below the initially set object detection range. Then, a new object detection range having the above-mentioned second predetermined length may be set below the object detection range.

[0214] In this embodiment, as described above, the removal order determination unit 223 is described as determining the removal order of each medicine box in the order of increasing height of the medicine box identified by the position identification unit 222, but is not limited thereto. The removal order can be set arbitrarily, for example, in the order of decreasing height of the medicine box. When multiple medicine boxes are detected in one object detection range set by the setting unit 224, all of the multiple medicine boxes are removed by the robot arm 273 regardless of the removal order determined. Then, the setting unit 224 may newly set an object detection range different from the one object detection range set. In this embodiment, the setting unit 224 sets a new object detection range by expanding the set object detection range vertically downward.

[0215] <Summary of the First Embodiment> The removal device of aspect 1 of the present invention comprises a container receiving section that receives a container containing a medicine box in which medicine is contained, a detection section that detects the medicine box contained in the container received by the container receiving section from above the container receiving section, a setting section that can set multiple vertical object detection ranges for the detection section, and a removal section that removes the medicine box from above the container when the detection section detects the medicine box within one of the multiple object detection ranges set by the setting section.

[0216] In the removal device of aspect 2 of the present invention, in the case of aspect 1, the setting unit sets a new object detection range different from the one object detection range by moving the one object detection range vertically downward when the detection unit does not detect the medicine box within the one object detection range.

[0217] The removal device of aspect 3 of the present invention is the same as in aspect 1 or 2, in which a plurality of divided removal areas are set by dividing a maximum removal area in which the removal unit can remove the medicine box from the container, and the removal unit removes the medicine box when the detection unit detects the medicine box in any of the divided removal areas within the one object detection range set by the setting unit, and the setting unit sets a new object detection range different from the one object detection range when the detection unit does not detect the medicine box in any of the divided removal areas within the one object detection range set.

[0218] In the removal device of aspect 4 of the present invention, in any of aspects 1 to 3, when the detection unit detects multiple medicine boxes within the one object detection range set by the setting unit, the setting unit sets a new object detection range different from the one object detection range after the removal unit has removed all of the multiple medicine boxes.

[0219] A fifth aspect of the present invention provides the removal device according to the fourth aspect, wherein the removal section removes the medicine boxes from the plurality of medicine boxes in order starting from the medicine box whose top surface is located highest.

[0220] [Embodiment 2] In this embodiment, a process example (operation example of each part of sixth conveying part 27) when control part 21B receives an input for automatic refilling will be described.

[0221] The robot arm 273 takes out the medicine boxes one by one from the container C and places them on the placement stand 275. However, the robot arm 273 may take out two medicine boxes by mistake from the container C. For example, when the order of taking out the medicine boxes is determined for each divided take-out area, as described above, there is a possibility that both the medicine box to be taken out and the medicine box placed on it are taken out from the container C at the same time. Therefore, the control unit 21B executes, for example, the following process.

[0222] After the medicine box is placed on the mounting base 275, the control unit 21B causes the imaging unit 274 to image the mounting base 275. Then, the control unit 21B analyzes the captured image to determine whether there is one medicine box placed on the mounting base 275. When the control unit 21B determines that there is one medicine box placed on the mounting base 275, it executes a reading process of the medicine identification information attached to the medicine box in order to store the medicine box in the storage device 1B, as described in the basic configuration above. On the other hand, when the control unit 21B determines that there are two medicine boxes placed on the mounting base 275 based on the captured image, it controls the robot arm 273 to transport the medicine box placed on the mounting base 275 to the collection unit 278.

[0223] Here, even if control unit 21B determines that there are two medicine boxes placed on mounting stand 275 based on the captured image, there is a possibility that only one medicine box is actually placed on mounting stand 275. Specifically, control unit 21B may determine that one medicine box is two medicine boxes from the captured image due to the influence of the color and / or lighting of the medicine box.

[0224] In such a case, since there is actually one medicine box placed on the placement stand 275, even though the medicine identification information reading process can be executed, the medicine box is transported to the collection section 278. In order to avoid such transportation, the control section 21B may perform the following process.

[0225] When the control unit 21B determines that there are two medicine boxes placed on the placement table 275, the robot control unit 217 controls the robot arm 273 to lift up one of the medicine boxes identified in the captured image. In this state, the control unit 21B determines whether the sensor 276 (area sensor) has detected an object on the placement table 275.

[0226] When the control unit 21B determines that the sensor 276 has detected an object, it determines that two medicine boxes are actually placed on the placement table 275. In this case, the robot control unit 217 controls the robot arm 273 to transport the lifted medicine box to the collection unit 278. Next, the control unit 21B executes a reading process of the medicine identification information for the medicine box placed on the placement table 275. The robot control unit 217 may control the robot arm 273 to transport the medicine box after the reading process to the first transport unit 112, and then take out the medicine box transported to the collection unit 278 and execute the reading process.

[0227] On the other hand, when the control unit 21B determines that the sensor 276 has not detected an object, it determines that only one medicine box is actually placed on the placement stand 275. In this case, the control unit 21B executes a reading process of medicine identification information for the medicine box being lifted by the robot arm 273. As a result, when the control unit 21B erroneously determines that there are two medicine boxes on the placement stand 275 based on the captured image, it is possible to store the medicine box in the storage device 1B without transporting it to the recovery unit 278.

[0228] [Embodiment 3] In this embodiment, a process example (operation example of each part of sixth conveying part 27) when control part 21B receives an input for automatic refilling will be described.

[0229] After the robot control unit 217 has the suction unit 2732 suction the medicine box, it lifts the robot tip unit 273B vertically upward to remove the medicine box from the container C. When another medicine box is placed on the medicine box to be removed, depending on the method of removing the medicine boxes, as described above, both of these two medicine boxes may be removed from the container C. When two medicine boxes are overlapped in this way, there is a possibility that the other medicine box placed on the medicine box to be removed may fall out of the container C during the removal operation of the medicine box to be removed.

[0230] In order to reduce the possibility of such a drop, the robot control unit 217 may lift the robot tip portion 273B in a direction shifted from the vertically upward direction, rather than in the vertically upward direction, after adsorbing the medicine box to the adsorption unit 2732. Specifically, the robot control unit 217 may lift the robot tip portion 273B toward a central axis that passes through the center of the bottom of the container C and extends in the vertical direction.

[0231] By lifting the robot tip 273B in this manner, when another medicine box is placed on the medicine box to be removed, the center of gravity of the other medicine box can be moved toward the central axis of the container C. Therefore, even if the other medicine box falls from the medicine box to be removed, the other medicine box can be dropped inside the container C. Therefore, the possibility that the other medicine box will fall outside the container C can be reduced.

[0232] [Embodiment 4] In this embodiment, a process example (operation example of each part of sixth conveying part 27) when control part 21B receives an input for automatic refilling will be described.

[0233] When removing a medicine box from container C, control unit 21B analyzes an image captured inside container C to identify the medicine box in the image and identify the center position of the medicine box to be removed. Robot control unit 217 lowers robot tip portion 273B so that suction portion 2732 approaches the center position of the medicine box. Thereafter, robot control unit 217 determines whether suction portion 2732 has adsorbed the medicine box. When robot control unit 217 determines that suction portion 2732 has adsorbed the medicine box, it raises robot tip portion 273B to remove the medicine box from container C.

[0234] For example, when the robot control unit 217 determines that the pressure in the hollow portion formed in the distal end shaft portion 2733 is equal to or lower than a threshold value, the robot control unit 217 may determine that the suction unit 2732 has suctioned the medicine box. In this case, the robot arm 273 may be provided with a pressure gauge that measures the pressure. Alternatively, when the robot control unit 217 determines that the flow rate of air in the hollow portion is equal to or lower than a threshold value, the robot control unit 217 may determine that the suction unit 2732 has suctioned the medicine box. In this case, the robot arm 273 may be provided with a flow meter that measures the flow rate.

[0235] In this embodiment, when the robot control unit 217 determines that the suction unit 2732 has not adsorbed the medicine box within a predetermined time period while the robot tip unit 273B is lowered, it executes a retry process of the suction operation at a position shifted from the center position of the medicine box.

[0236] The control unit 21B identifies the top surface of the medicine box to be taken out by analyzing an image captured inside the container C. When the robot control unit 217 determines that the suction unit 2732 has not suctioned the medicine box, it determines a position shifted a predetermined amount from the center position of the medicine box in a direction along one side (referred to as the first side) that defines the top surface of the medicine box as the next suction position. The robot control unit 217 lowers the robot tip unit 273B so that the suction unit 2732 approaches the changed suction position, and then determines whether the suction unit 2732 has suctioned the medicine box. When the robot control unit 217 determines that the suction unit 2732 has suctioned the medicine box, it raises the robot tip unit 273B.

[0237] On the other hand, when the robot control unit 217 determines that the suction unit 2732 has not suctioned the medicine box within the predetermined time, it determines a position shifted a predetermined amount from the current suction position in a direction along the second side perpendicular to the first side that defines the top surface of the medicine box as the next suction position. The robot control unit 217 lowers the robot tip portion 273B so that the suction unit 2732 approaches the changed suction position, and then determines whether the suction unit 2732 has suctioned the medicine box. When the robot control unit 217 determines that the suction unit 2732 has suctioned the medicine box, it raises the robot tip portion 273B.

[0238] On the other hand, when the robot control unit 217 determines that the suction unit 2732 has not sucked the medicine box within the predetermined time, it determines a position shifted a predetermined amount from the current suction position in the direction along the first side as the next suction position. In this way, when the robot control unit 217 determines that the suction unit 2732 has not sucked the medicine box, it changes the suction position while alternately changing the direction along the first side, the direction along the second side, and the direction in which the suction position is shifted. This reduces the possibility of failing to take out the medicine box.

[0239] A dent on the top surface of the medicine box may be a factor in the inability to pick up the medicine box. Another example is when, as a result of analyzing the captured image, two adjacent medicine boxes are recognized as one medicine box, and the center position of the one medicine box is identified. In this way, when the center position of the medicine box is uniformly determined as the pick-up position, there is a possibility that the medicine will not be removed due to the shape and / or placement position of the medicine box. As described above, when the medicine box cannot be picked up, the pick-up position is changed and the pick-up operation is performed again, thereby reducing the possibility of failing to remove the medicine box.

[0240] The above-mentioned predetermined amount (amount by which the suction position is shifted) may be set in advance, for example, through experiments, etc. In addition, the predetermined amount when the suction position is shifted in the direction along the first side and the predetermined amount when the suction position is shifted in the direction along the second side may be the same or different. In addition, the maximum number of times the suction position is changed may be set in advance, for example, or may be determined from the above-mentioned predetermined amount and the size of the upper surface of the medicine box to be taken out.

[0241] Furthermore, the robot control unit 217 does not have to shift the suction position alternately between the direction along the first side and the direction along the second side, but may change the suction position continuously in the direction along the first side, or may change the suction position continuously in the direction along the second side. The robot control unit 217 may determine the direction in which to shift the suction position based on, for example, the difference between the length of the first side and the length of the second side.

[0242] [Embodiment 5] In this embodiment, a process example (operation example of each part of sixth conveying part 27) when control part 21B receives an input for automatic refilling will be described.

[0243] 18 and 19, in the above basic configuration, the robot control unit 217 places the medicine box removed from the container C on the mounting stand 275, and then releases the adsorption of the adsorption unit 2732. Thereafter, the robot control unit 217 again adsorbs and lifts the medicine box placed on the mounting stand 275, thereby causing the reading unit 277 to read the medicine identification information attached to the medicine box.

[0244] In this embodiment, the robot control unit 217 causes the adsorption unit 2732 to adsorb to the medicine box in the container C, and then raises the robot tip unit 273B while rotating the tip rotation unit 2731 (i.e., while rotating the robot tip unit 273B around the central axis). As a result, the robot control unit 217 lifts the medicine box adsorbed by the adsorption unit 2732 to the front in the reading direction of the reading unit 277. Therefore, four surfaces perpendicular to the surface of the medicine box adsorbed by the adsorption unit 2732 can be held over the reading unit 277. That is, in this embodiment, the mounting table control unit 219 does not pull out the mounting table 275 to the rear of the storage device 1B after the medicine box is taken out of the container C.

[0245] When the reading unit 277 is able to read the medicine identifying information by the above rotation, the robot control unit 217 controls the robot arm 273 to place the medicine box MB1 on the first transport unit 112. On the other hand, when the reading unit 277 is unable to read the medicine identifying information, the placement table control unit 219 draws out the placement table 275 to the rear of the storage device 1B. Then, as described above, the robot control unit 217 controls the robot arm 273 to change the surface to which the medicine box is attached, and then lifts the medicine box forward in the reading direction of the reading unit 277 and rotates the tip rotating unit 2731. This allows the surface of the medicine box that was attached to the attachment unit 2732 when it was removed from the container C and the surface opposite to that surface to be held over the reading unit 277.

[0246] Thus, in this embodiment, the robot arm 273 removes the medicine box from the container C while rotating it. Therefore, after removing the medicine box from the container C, the transport device 10B does not perform the operation of pulling out the mounting table 275, the operation of temporarily placing the medicine box on the mounting table 275, and then the operation of lifting the medicine box and transporting it to the front in the reading direction of the reading unit 277. Therefore, the time required to remove the medicine box from the container C and transport it to the front in the reading direction of the reading unit 277 can be shortened. Therefore, the time required to store the medicine box contained in the container C in the storage device 1B can be shortened.

[0247] In this embodiment, control unit 21B analyzes the image captured by imaging unit 274 before the medicine box is removed from container C, thereby acquiring a stereoscopic image of the medicine box and identifying the size of the medicine box.

[0248] [Embodiment 6] In this embodiment, a process example (operation example of each part of sixth conveying part 27) when control part 21B receives an input for automatic refilling will be described.

[0249] As described above, in the above basic configuration, the medicine box removed from the container C is rotated to have the reading unit 277 read the medicine identifying information. If the medicine identifying information is attached to the surface adsorbed by the adsorption unit 2732 or the surface opposite to the adsorption unit 2732, the robot arm 273 adsorbs the medicine box again and rotates the medicine box in front of the reading direction of the reading unit 277.

[0250] Here, when the medicine box taken out of the container C is placed on the placement stand 275, the medicine box is imaged by the imaging section 274. The control section 21B acquires a stereoscopic image of the medicine box imaged by the imaging section 274, and specifies the size of the medicine box based on the stereoscopic image. Alternatively, the control section 21B acquires a stereoscopic image of the medicine box and specifies the size of the medicine box by analyzing an image captured by the imaging section 274 before the medicine box is taken out of the container C. In this embodiment, the control section 21B may determine the surface to be preferentially read by the reading section 277 based on the identified size of the medicine box.

[0251] The control unit 21B determines whether the reading unit 277 has already read the medicine identification information of a medicine box of the same size as the medicine box taken out from the container C. In this embodiment, the medicine box taken out from the container C is referred to as the first medicine box, and the medicine box of the same size as the first medicine box is referred to as the second medicine box.

[0252] When control unit 21B determines that reading unit 277 has already read the medicine identification information for the second medicine box, it identifies the surface of the first medicine box that has the same size as the surface to which the medicine identification information is attached in the second medicine box. Then, robot control unit 217 controls the operation of robot arm 273 so as to hold the surface of the first medicine box identified by control unit 21B over reading unit 277. Control unit 21B stores information indicating the size of the surface from which the medicine identification information was read in memory unit 23, for example, in association with the medicine identification information.

[0253] Fig. 25 is a diagram for explaining the size of the medicine box. As shown by reference numeral 25001 in Fig. 25, when the vertical length, horizontal length, and height are different, the two opposing surfaces have the same size, but the size is different from the other surfaces. Therefore, the control unit 21B can narrow down the surfaces of the first medicine box (surfaces to be held over the reading unit 277 with priority) to two surfaces.

[0254] Consider a case where the horizontal length and height are the same and the vertical length are different from the horizontal length and height, as shown by reference numeral 25002 in Fig. 25. In this medicine box, two surfaces defined by the horizontal and height sides are the same size, and four surfaces defined by the vertical and height sides are the same size, but the sizes of the two surfaces and the four surfaces are different from each other. Here, the two surfaces defined by the horizontal and height sides are called small surfaces, and the four surfaces defined by the vertical and height sides are called large surfaces.

[0255] In the case where the medicine identification information is provided on a small surface of the second medicine box, the number of surfaces of the first medicine box can be limited to two. In the case where the medicine identification information is provided on a large surface of the second medicine box, the number of surfaces of the first medicine box can be limited to four.

[0256] As shown by reference numeral 25003 in Fig. 25, when the vertical length, horizontal length, and height are the same, the six sides cannot be distinguished. Therefore, when the medicine box is cubic, the control unit 21B does not need to specify the surface of the first medicine box.

[0257] Therefore, by identifying the surface of the first medicine box, the control unit 21B can hold the surface that is likely to have medicine identification information attached thereto, except for the cubic medicine box, over the reading unit 277 preferentially. Therefore, it is highly likely that the reading time of the medicine identification information can be shortened. In particular, it is highly likely that the reading time of the medicine identification information of the medicine box shown by reference numeral 25002 in FIG. 25 can be shortened, and it is even more likely that the reading time of the medicine identification information of the medicine box shown by reference numeral 25001 in FIG. 25 can be shortened. In addition, the processing in this embodiment is useful when a large number of medicine boxes of the same size are stored in the storage device 1B.

[0258] [Embodiment 7] In this embodiment, a structural example of the sixth transfer section 27 will be mainly described.

[0259] 26 and 27, reference numeral 27001 is a perspective view of the sixth transporting unit 27 at a removal position for removing the medicine box from the container C. Reference numeral 27002 in FIG. 27 is a cross-sectional view taken along line AA of reference numeral 27001 in FIG.

[0260] In this embodiment, as shown in Fig. 26 and Fig. 27, an elastic sheet 281 is disposed on a housing 280 that is located at a removal position where the medicine box is removed from the container C and defines a space capable of receiving the container C at that position. When the container C is located at the removal position, a gap is formed between the inner wall of the housing 280 and the outer wall of the container C. The elastic sheet 281 is provided on the housing 280 so as to cover this gap at and / or near the edge C11 of the container C. As shown by reference numeral 27001 in Fig. 27, the edge C11 of the container C is the upper surface of the container C that connects the inner wall that defines the opening of the container C and the outer wall facing the inner wall.

[0261] The elastic sheet 281 is provided below the transport path of the mounting table 275 so as to bulge from the inner wall of the housing 280 towards the container C. In this embodiment, the elastic sheet 281 is provided below the edge C11 so as to contact the outer wall of the container C. The elastic sheet 281 may be provided so as to extend from the housing 280 to the edge C11 of the container C. In this embodiment, the elastic sheet 281 is provided at three locations excluding the location intersecting with the transport path of the mounting table 275 when the removal position is viewed in plan.

[0262] The container receiving section 271 can accommodate a plurality of types of containers C having different sizes and / or shapes. The position, size, elasticity (material), and swelling amount of the elastic sheet 281 are adjusted so that the above-mentioned gap can be covered regardless of the type of container C that is transported to the removal position.

[0263] By providing the elastic sheet 281, when any medicine box is taken out of the container C, the medicine box that is about to fly out of the container C comes into contact with the elastic sheet 281 and can be returned to the container C. Therefore, the possibility that the medicine box will fly out of the container C when the medicine box is taken out can be reduced.

[0264] Furthermore, when the medicine box is placed on the edge C11 of the container C, the lift control unit 216 lowers the container placement unit 2715. This allows the medicine box to come into contact with the elastic sheet 281, so that the medicine box can be returned to the container C. The control unit 21B may determine whether the medicine box is placed on the edge of the container C by analyzing an image of the container C captured by the imaging unit 274 when the medicine box is removed from the container C.

[0265] [Embodiment 8] In this embodiment, a process example (operation example of each part of sixth conveying part 27) when control part 21B receives an input for automatic refilling will be described.

[0266] The imaging unit 274 acquires an image of the inside of the container C placed at the removal position. In this embodiment, the control unit 21B identifies the position of the top surface of the medicine box located at the highest position in the container C (the height from the bottom of the container C) by analyzing the image captured by the imaging unit 274. The control unit 21B compares the identified position of the top surface of the medicine box with the height of the container C stored in advance in the storage unit 23, thereby determining whether the medicine box located at the highest position protrudes from the opening of the container C.

[0267] Memory unit 23 stores information indicating the height of each of multiple types of containers C that can be accommodated in container receiving unit 271. When a container C is accommodated in container receiving unit 271, control unit 21B receives input of information indicating which type of container C is accommodated at which position in container receiving unit 271, thereby being able to identify the height of container C transported to the removal position.

[0268] When the control unit 21B determines that there is a medicine box protruding from the container C, it notifies the user of that fact. For example, the touch panel control unit 215 displays that fact on the touch panel 20. This allows the worker to rearrange the medicine box so that the medicine box does not protrude from the container C.

[0269] If the medicine boxes protrude from the container C, when any of the medicine boxes in the container C is removed, the medicine box protruding from the container C may fall out of the container C. In addition, when the mounting table 275 is pulled out, the mounting table 275 may come into contact with the medicine box protruding from the container C, causing the medicine box to be crushed. According to the transport device 10B of this embodiment, such a possibility can be reduced.

[0270] A configuration is also conceivable in which a fixed sensor is provided in the sixth transport section 27, and the sensor is used to detect whether the medicine box is protruding from the container C. However, the container receiving section 271 can accommodate a plurality of types of containers C with different sizes and / or shapes. Therefore, it is difficult to accurately detect the protrusion of the medicine box for each of the different types of containers C using the fixed sensor. As in this embodiment, by detecting the protrusion of the medicine box based on the imaging result of the imaging section 274, it is possible to accurately detect the protrusion of each of the different types of containers C. In addition to the container C, protrusion detection may also be performed for the collection section 278 based on the imaging result of the imaging section 274.

[0271] [Embodiment 9] In this embodiment, a process example (operation example of each part of sixth conveying part 27) when control part 21B receives an input for automatic refilling will be described.

[0272] When the control unit 21B determines that the following conditions are met based on the information acquired from the medicine box removed from the container C, the control unit 21B may transport the medicine box to the recovery unit 278 by the robot arm 273 and handle it as a medicine box that is not to be stored in the storage device 1B. This allows the worker to place the medicine box in the container C and insert the container C into the container receiving unit 271 without determining whether the medicine box is to be stored in the storage device 1B.

[0273] (conditions) -Medicine boxes that are larger or smaller than the specified size. - Medicine boxes that are not registered in the medicine database. A medicine box that has a barcode label on it to identify it as an opened medicine box. · Medicine box with specified lot number. A medicine box containing a specified dosage form of medicine.

[0274] [Embodiment 10] In this embodiment, a process example (operation example of each part of the sixth transporting part 27) when the control part 21B receives an automatic removal instruction will be described. The automatic removal instruction is an instruction to remove medicines that do not need to be stored in the storage device 1B.

[0275] As described in the above basic configuration, the medicine box put into the container receiving section 271 is transported from the sixth transport section 27 to the first transport section 112, then transported to the third transport section 15, and then transported from the third transport section 15 to the storage shelf 30 by the second transport section 17. This allows the medicine box to be stored in the storage shelf 30.

[0276] Meanwhile, the control unit 21B may transport the medicine box stored in the storage shelf 30 to the container C inserted in the container receiving unit 271 by controlling each of the transport units so as to transport the medicine box in the reverse flow to that when it was stored in the storage shelf 30. This allows the medicine box in the storage shelf 30 to be stored in the container C for each category (for example, the attribute of the medicine box that the worker wishes to take out from the storage device 1B). Examples of the medicine box to be taken out from the storage device 1B include medicine boxes that have expired or medicine boxes that meet the conditions to be handled as medicine boxes not to be stored in the storage device 1B due to a change in the hospital's operations.

[0277] [Software implementation example] The functions of the storage device 1, 1B (hereinafter referred to as the "device") can be realized by a program for making a computer function as the device, and a program for making a computer function as each control block of the device (particularly each unit included in the control units 21, 21B). The program may include a removal control program for making a computer function as the detection control unit, setting unit 224, and robot control unit 217 described above. In this case, the device includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., a memory) as hardware for executing the program. The control device and storage device execute the program to realize each function described in each of the above embodiments.

[0278] The program may be non-transitory and may be recorded in one or more computer-readable recording media. The recording media may or may not be included in the device. In the latter case, the program may be provided to the device via any wired or wireless transmission medium.

[0279] In addition, some or all of the functions of each of the control blocks can be realized by a logic circuit. For example, an integrated circuit in which a logic circuit that functions as each of the control blocks is formed is also included in the scope of the present invention. In addition, the functions of each of the control blocks can be realized by, for example, a quantum computer.

[0280] Furthermore, each process described in each of the above embodiments may be executed by AI (Artificial Intelligence). In this case, the AI ​​may be executed by the control device or another device (for example, an edge computer or a cloud server).

[0281] [Additional Notes] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention.

Claims

1. a container receiving section for receiving a container that contains a medicine box containing medicine; A detection unit that detects the medicine box contained in the container received by the container receiving unit from above the container receiving unit; A setting unit capable of setting a plurality of object detection ranges in a vertical direction of the detection unit; and a removal unit that removes the medicine box from above the container when the detection unit detects the medicine box in one of the multiple object detection ranges set by the setting unit.

2. The removal device of claim 1, wherein the setting unit, when the detection unit does not detect the medicine box within the one object detection range, sets a new object detection range different from the one object detection range by moving the one object detection range vertically downward.

3. A plurality of divided removal areas are set by dividing a maximum removal area in which the removal unit can remove the medicine box from the container, The removal unit removes the medicine box when the detection unit detects the medicine box in any of the divided removal areas within the one object detection range set by the setting unit, The removal device according to claim 1, wherein the setting unit sets a new object detection range different from the one object detection range that has been set when the detection unit does not detect the medicine box in any of the divided removal areas within the one object detection range that has been set.

4. 2. The removal device according to claim 1, wherein when the detection unit detects multiple medicine boxes within the one object detection range set by the setting unit, the setting unit sets a new object detection range different from the one object detection range after the removal unit has removed all of the multiple medicine boxes.

5. The removal device according to claim 4 , wherein the removal section removes the medicine boxes from the plurality of medicine boxes in order starting from the medicine box whose top surface is located at the top.

6. A take-out control program for causing a computer to function as a take-out device, The take-out device includes a container receiving section that receives a container that contains a medicine box containing medicines, a detection control unit that controls a detection unit that detects the medicine box contained in the container received by the container receiving unit from above the container receiving unit; a setting unit capable of setting a plurality of object detection ranges in a vertical direction of the detection unit; and A removal control program for causing a computer to function as a removal control unit that controls a removal unit that removes the medicine box from above the container when the detection unit detects the medicine box in one of the multiple object detection ranges set by the setting unit.

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