Drug sorting device and control method for drug sorting device

Abstract

It recognizes the medication itself and sorts it automatically. [Solution] The drug sorting device (1) identifies the size and shape of a drug from an image taken of the drug placed on the drug placement platform (133a), and includes a swiveling mechanism (133b) that oscillates the drug placement platform with a vibration magnitude and vibration frequency per unit time associated with the identified size and shape of the drug.

Description

Technical Field

[0001] The present invention relates to a drug sorting device for sorting drugs and the like.

Background Art

[0002] Conventionally, a plurality of types of returned drugs have been sorted by a pharmacist or a doctor for each type. The returned drugs are drugs prescribed to various patients or drugs after being dispensed according to prescriptions. Therefore, compared with the dispensing operation of collecting (sub-packaging) (one or more types of) drugs (tablets) for each dosing time unit from a group of drug types (drug cassettes) grouped in advance by drug type in a dispensing device or the like based on the prescription information per patient unit, the types of drugs that are collectively returned for a plurality of patients are very many. Therefore, it is highly useful to automatically sort and reuse the returned drugs. Note that the drugs dispensed for one dosing time are generally about 2 to 3 types, and at most about 10 types.

[0003] In addition, in order to avoid the risk of misadministration due to the time, labor, or sorting error (mistaken return to the drug cassette) involved in the sorting operation, there are also pharmacies or hospitals (specifically, in-hospital pharmacy departments) that discard the returned drugs as they are.

[0004] Patent Document 1 discloses a drug sorting device that automatically recognizes and stores returned ampoules or vials. This drug sorting device recognizes the orientation and posture of an ampoule or vial, and the properties of the ampoule or vial (e.g., shape, size, type, and expiration date). Then, in accordance with the recognized size of the ampoule or vial, the storage area set for each individual ampoule or vial at the time of storage is associated with the identification information of each individual ampoule or vial, and the ampoules or vials are individually arranged, whereby the individual ampoules or vials are stored so as to be retrievable.

Prior Art Documents

Patent Documents

[0005] [Patent Document 1] International Publication No. 2015 / 170761 (Published November 12, 2015) [Overview of the project] [Problems that the invention aims to solve]

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

[0007] Furthermore, Patent Document 1 does not disclose details of the process for registering data in a drug database (drug master) that manages drug data for multiple types of drugs.

[0008] One aspect of the present invention aims to realize a drug sorting device capable of recognizing and automatically sorting drugs themselves. Another aspect of the present invention aims to realize a drug sorting device capable of sorting drugs regardless of whether drug data is registered or not. [Means for solving the problem]

[0009] A drug sorting device according to one aspect of the present invention comprises: a first storage unit for storing multiple types of drugs; a second storage unit for storing the drugs sorted by type; an imaging unit for imaging drugs taken out of the first storage unit; a discrimination unit for determining the type of drug taken out of the first storage unit based on the image captured by the imaging unit; a sorting unit for storing the drugs by type in the second storage unit based on the discrimination result by the discrimination unit; a packaging unit for packaging the drugs sorted by the sorting unit; a drug input unit connected to the packaging unit into which the drugs sorted by the sorting unit are fed; and an openable and closable first shutter provided between the drug input unit and the drug placement area in the packaging unit before packaging.

[0010] A control method for a drug sorting apparatus according to one aspect of the present invention comprises: a first storage unit for storing multiple types of drugs; a second storage unit for storing the drugs sorted by type; an imaging unit for imaging drugs taken out from the first storage unit; a discrimination unit; a sorting unit; a packaging unit; a drug input unit connected to the packaging unit and into which drugs sorted by the sorting unit are input; an openable and closable first shutter provided between the drug input unit and the pre-packaging drug placement area in the packaging unit; and a control unit, wherein the discrimination unit is The system includes the steps of: determining the type of drug taken out of the first storage unit based on the image captured by the imaging unit; the sorting unit storing the drugs in the second storage unit according to type based on the determination result by the determination unit; the packaging unit packaging the drugs sorted by the sorting unit; and the control unit temporarily holding the drugs introduced from the drug introduction unit in the drug holding unit equipped with the first shutter until all of the drugs contained in one package created by the packaging unit have been introduced from the drug introduction unit. [Effects of the Invention]

[0011] According to one aspect of the present invention, a drug sorting device can recognize the drugs themselves and sort them automatically. Furthermore, it can sort drugs regardless of whether drug data has been registered or not. [Brief explanation of the drawing]

[0012] [Figure 1] This is a block diagram showing the overall configuration of a drug sorting device. [Figure 2] This diagram shows an example of the configuration of a drug sorting device; (a) is a perspective view of the drug sorting device, and (b) is a perspective view showing the basic configuration of the drug sorting area. [Figure 3] (a) and (b) are perspective views showing the overall configuration of the imaging unit, and (c) is a perspective view showing an example of a drug placement platform. [Figure 4](a) and (b) are diagrams for explaining the turning of the imaging unit. [Figure 5] It is a diagram for explaining an example of the medicine sorting process. [Figure 6] It is a diagram showing an example of the display of the sorted image. [Figure 7] It is a diagram showing an example of the display of the inspection image. [Figure 8] It is a diagram showing an example of the display of the confirmation image. [Figure 9] (a) and (b) are diagrams showing an example of the display of the search image, and (c) is a diagram showing an example of an image captured by the first camera. [Figure 10] (a) is a diagram showing an example of the registered image, and (b) is a diagram for explaining an example of the image adjustment process. [Figure 11] It is a diagram showing an example of the registered image when registering a capsule. [Figure 12] It is a diagram showing an example of the registered image when registering another capsule. [Figure 13] It is a diagram showing an example of the data management system. [Figure 14] (a) is a plan view showing an example of the medicine placement table that has moved to the placement area, and (b) and (c) are plan views showing an example of the medicine placement table after adjusting the position of the medicine. [Figure 15] It is a diagram showing an example of an image captured by the second camera of the first storage unit. [Figure 16] It is a diagram for explaining an example of the packaging machine. (a) is a front view of the packaging machine, (b) is a diagram showing an example of the cassette storage mechanism, and (c) and (d) are diagrams for explaining an example of the use of the replenishment table. [Figure 17] It is a block diagram showing an example of the packaging machine. [Figure 18] (a) to (d) are diagrams showing an example of the non-rotating type cassette storage mechanism. [Figure 19] It is a diagram showing an example of the user setting image. [Figure 20](a) is a perspective view showing a configuration example of a medicine dispenser, and (b) is a perspective view showing a configuration example of a hand - sprinkling unit. [Figure 21] is a flowchart showing an example of the packaging process in a packaging machine. [Figure 22] It is a flowchart showing another example of the packaging process in a packaging machine. [Figure 23] (a) and (b) are diagrams showing an operation example of the suction mechanism. [Figure 24] It is a diagram showing an example of an elongated medicine, where (a) is a plan view and (b) is a side view. [Figure 25] (a) is a diagram showing a configuration example of a medicine sorting device as a modified example, and (b) and (c) are diagrams for explaining the shape and operation of the tip of the sorting cup conveying mechanism. [Figure 26] It is a block diagram showing an example of a control unit. [Figure 27] (a) is a perspective view showing another example of a medicine sorting device, and (b) is a schematic plan view showing the said another example. [Figure 28] (a) and (b) are diagrams for explaining the upper space. [Figure 29] (a) - (d) are diagrams for explaining the positioning operation of the medicine conveying section. [Figure 30] (a) and (b) are diagrams for explaining object detection using a push - in detection unit. [Figure 31] It is a diagram for explaining the determination of the presence or absence of a suction pad. [Figure 32] It is a perspective view showing an example of the arrangement positions of a lighting device and a backlight. [Figure 33] It is a diagram for explaining an example of the arrangement of medicine on a standby tray. [Figure 34] It is a diagram showing a configuration example of a packaging mechanism. (a) is a diagram schematically showing a part of the configuration example of the packaging mechanism. (b) and (c) are diagrams for explaining the opening and closing operation of the upper shutter mechanism. (d) and (e) are diagrams for explaining the opening and closing operation of the lower shutter mechanism. [Figure 35] This flowchart illustrates an example of a process for dispensing medication one unit at a time from the medication input port during the packaging process. [Figure 36] This figure shows an example of an image showing remaining medication. [Figure 37] (a) is a diagram showing an example of a similar drug registration image, and (b) is a diagram showing an example of a similar drug selection image. [Figure 38] (a) is a diagram showing an example of a sorting image before selecting the return source, and (b) is a diagram showing an example of a return source registration image. [Figure 39] (a) is a diagram showing an example of an image for selecting the return source, and (b) is a diagram showing an example of a sorting image after selecting the return source. [Figure 40] (a) is a diagram showing an example of printing on a paper packet, and (b) is a diagram showing an example of printing on a journal. [Modes for carrying out the invention]

[0013] [Embodiment 1] [Overview of Drug Sorting Device 1] First, an overview of the drug sorting device 1 will be explained using Figures 1 and 2. Figure 1 is a block diagram showing the overall configuration of the drug sorting device 1. Figure 2 is a diagram showing an example of the configuration of the drug sorting device 1, where (a) is a perspective view of the drug sorting device 1 and (b) is a perspective view showing the basic configuration of the drug sorting area 2. As shown in Figure 1 and Figures 2(a) and (b), the drug sorting device 1 comprises a drug sorting area 2, a touch panel 3, a print output unit 4, and a packaging mechanism 6.

[0014] The drug sorting device 1 takes images of each of several types of drugs, identifies the type of drug based on the images obtained, and sorts the drugs according to their type. Specifically, this process is carried out in the drug sorting area 2. The drug sorting area 2 (internal configuration of the drug sorting device 1) will be described later. After the drugs are sorted by type, they are visually inspected by the user, and then either packaged or returned to the drug shelves or packaging machine.

[0015] In this embodiment, multiple types of drugs are drugs that are not contained in containers or other packaging, and are described as being tablets or capsules, for example. Furthermore, multiple types of drugs are described as returned drugs. Returned drugs include cases where drugs adopted by a pharmacy or hospital are returned as "returned drugs" at that pharmacy or hospital, and cases where drugs brought in by the patient, which may include drugs issued at other pharmacies or hospitals in addition to the drugs adopted by the pharmacy or hospital, are returned at that pharmacy or hospital. In other words, the concept of returned drugs includes at least one of the above "returned drugs" and "medications brought in by the patient." The drug sorting device 1 can automatically perform processing from imaging to sorting after drugs have been returned.

[0016] The touch panel 3 accepts various user inputs via the operation unit 31 and displays various images (e.g., images showing the progression of drug sorting, images for visual inspection) via the display unit 32.

[0017] The printing unit 4 prints a journal containing drug data (e.g., drug name, manufacturer, or ingredient information) related to the drug after visual inspection, according to user input following the visual inspection. The drug data may include image data showing drug-specific images.

[0018] The packaging mechanism 6 packages the sorted drugs. The packaging mechanism 6 is an optional mechanism. When the packaging mechanism 6 is installed in the drug sorting device 1, the drug sorting device 1 can perform all processes from sorting returned drugs to packaging after visual inspection. In particular, when drugs are fed into the packaging mechanism 6 by the transport and sorting unit 12, the sorting and packaging processes described above can be performed automatically, excluding visual inspection.

[0019] The packaging mechanism 6 can be the packaging section of a conventional tablet packaging machine or powder packaging machine. In this case, for example, the drugs in the sorting cups 141, which have been sorted by drug type, can be packaged into one or more packets.

[0020] Furthermore, the drug sorting device 1 is equipped with a first RFID (Radio Frequency Identifier) ​​reader / writer unit 5. As shown in Figure 2(b), the first RFID reader / writer unit 5 is located on the drug dispensing side of the base 19.

[0021] The first RFID reader / writer unit 5 reads data related to the drugs stored in each sorting cup 141, which is stored in an RFID tag (not shown) provided at the bottom of each sorting cup 141 in the second storage section 14. This data may include, for example, the number of drugs stored, drug data, and image data acquired by the imaging unit 13. This data may also include drug data determined by visual inspection (drug data after visual inspection). Alternatively, drug data after visual inspection may be written to the RFID tag. The drug data after visual inspection is used when (1) dispensing the drugs stored in the corresponding sorting cup 141 using a dispensing machine different from the dispensing mechanism 6 or drug sorting device 1, or (2) returning them to the drug shelf.

[0022] Furthermore, as shown in Figure 2(a), the drug sorting device 1 is equipped with an opening / closing shutter 51 and an opening / closing door 52 that allow the drug dispensing side to be opened and closed. In order to move the drugs stored in the second storage section 14 to the packaging mechanism 6, the drug sorting device 1 is equipped with, for example, a packaging hopper (not shown) for temporarily holding the drugs, and a transport passage (not shown) for moving the drugs held in the packaging hopper to the packaging mechanism 6. At least the transport passage is removable. By opening the opening / closing door 52, the transport passage can be removed to the outside of the drug sorting device 1.

[0023] [Basic structure of drug sorting area 2] Next, the basic configuration of the drug sorting area 2 (internal configuration of the drug sorting device 1) will be explained using Figures 1 and 2(b).

[0024] As shown in Figures 1 and 2(b), the drug sorting area 2 mainly comprises hardware such as a first storage unit 11, a transport / sorting unit 12 (sorting unit), an imaging unit 13, a second storage unit 14, a standby tray 15, a recovery tray 16, a drug input port 17, and a second RFID reader / writer unit 18. All components except the transport / sorting unit 12 are mounted on a base 19. The main functions of the transport / sorting unit 12, the imaging unit 13, and the second RFID reader / writer unit 18 will be described in detail in the descriptions of each process below.

[0025] The first storage unit 11 stores multiple types of drugs returned by users in a mixed state. In this embodiment, the first storage unit 11 is divided into multiple storage units. In this case, for example, when all the drugs stored in one storage unit are transported by the transport / sorting unit 12, the drugs stored in the storage unit adjacent to that unit become targets for transport. The first storage unit 11 may also be rotatable around the Z-axis (center of the cylindrical shape). In this case, the control unit 60a of the computer 60 may rotate the first storage unit 11, for example, when one storage unit becomes empty, to facilitate the transport / sorting unit 12 from acquiring the drugs.

[0026] The second storage unit 14 is equipped with multiple sorting cups 141 for storing drugs sorted by type. The control unit 60a determines the type of drug based on the image of the drug captured by the imaging unit 13, and determines which sorting cup 141 to store the drug based on the determination result. The drug is then transported and stored in the determined sorting cup 141 by the transport and sorting unit 12.

[0027] The standby tray 15 is a storage area where drugs are temporarily placed. For example, if all of the sorting cups 141 are filled with drugs, drugs that the control unit 60a has determined to be of a different type are temporarily placed in the standby tray 15. In this case, after the drugs are removed from the sorting cups 141, they may be transported from the standby tray 15 to the sorting cups 141.

[0028] In this embodiment, the standby tray 15 may also temporarily contain the estimated drug (described later), which is presumed to be a drug. If the estimated drug is temporarily contained, it is transported to a predetermined area of ​​the second storage unit 14 according to the determination result of the control unit 60a.

[0029] The collection tray 16 is a storage unit for items whose type could not be identified by the control unit 60a (e.g., foreign objects other than pharmaceuticals). Examples of foreign objects other than pharmaceuticals include fragments of PTP (Press Through Pack) sheets. Fragments of PTP sheets may be mixed into the first storage unit 11 when pharmaceuticals are returned. The control unit 60a also stores pharmaceuticals registered in the pharmaceutical database as pharmaceuticals to be discarded, or pharmaceuticals that the user wishes to discard (e.g., pharmaceuticals with old manufacturing dates), in the collection tray 16.

[0030] The drug input port 17 is for transporting the drugs stored in the second storage section 14 to the packaging mechanism 6 via the transport and sorting unit 12, when the drug sorting device 1 is equipped with a packaging mechanism 6. Naturally, if the drug sorting device 1 is not equipped with a packaging mechanism 6, the drug input port 17 is unnecessary.

[0031] Furthermore, as shown in Figure 1, the drug sorting device 1 is equipped with a computer 60 that comprehensively controls all of the above-mentioned components (hardware). The computer 60 mainly comprises a control unit 60a (software), which includes a transport control unit 61, a sorting control unit 62, an imaging control unit 63, a discrimination unit 64, an operation input unit 66, a display control unit 67, an RFID control unit 68, a print output control unit 69, and a registration unit 70. The transport control unit 61, sorting control unit 62, imaging control unit 63, discrimination unit 64, and registration unit 70 will be described in detail in the descriptions of each process described later.

[0032] The operation input unit 66 and the display control unit 67 control the operation unit 31 and the display unit 32 of the touch panel 3, respectively. The RFID control unit 68 controls the first RFID reader / writer unit 5 and the second RFID reader / writer unit 18. The print output control unit 69 controls the print output unit 4 according to the user input received by the operation input unit 66. If the drug sorting device 1 is equipped with a packaging mechanism 6, the control unit 60a will be equipped with a packaging control unit that controls the packaging mechanism 6.

[0033] The computer 60 also includes a storage unit 80. The storage unit 80 stores a drug database (drug master) that manages drug data for multiple types of drugs, and image data showing images captured by the first camera 131, etc. The various data stored in the storage unit 80 do not necessarily have to be managed by the storage unit 80, but may be managed by an external device, for example. In this case, the control unit 60a may acquire the above various data from the external device via a communication line such as the Internet, as needed. The drug database may also be updated when new drug data is added.

[0034] [Overview of processing in drug sorting device 1] In the drug sorting device 1, the transport / sorting unit 12 transports each drug returned to the first storage unit 11 to the imaging unit 13. The imaging unit 13 sequentially images each transported drug. The control unit 60a identifies the type of drug based on the captured images and determines the sorting position of each identified drug in the second storage unit 14. The transport / sorting unit 12 transports each drug to the determined sorting position. Information about the drugs stored in the second storage unit 14 is written to the RFID tag of the sorting cup 141, stored in the memory unit 80, or displayed on the touch panel 3. Furthermore, after the sorting of drugs is completed, or during the sorting process, the user can operate the touch panel 3 to perform processes such as visual inspection and packaging. The following describes each process in detail.

[0035] [Drug delivery process to imaging unit 13] First, the drug transport process from the first storage unit 11 to the imaging unit 13 will be explained using Figures 1 and 2(a).

[0036] Specifically, the transport and sorting unit 12 transports the drug stored in the first storage section 11 to the receiving area Ar1 (see Figure 3(b)) where the imaging unit 13 accepts the drug. The transport control unit 61 controls this transport process by the transport and sorting unit 12.

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

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

[0039] The adsorption / shutter mechanism 122 includes an adsorption mechanism for adsorbing a drug identified as the target for transport, and a shutter mechanism for preventing the drug adsorbed by the adsorption mechanism from falling. The adsorption mechanism is provided to be movable in the Z-axis direction. The shutter mechanism is provided in front of the above end and is provided to be movable substantially parallel to the XY plane.

[0040] The adsorption mechanism extends from the end when acquiring the drug, adsorbs the specified drug at its tip, and then returns to the position of the end. In this state, the transport control unit 61 moves the shutter mechanism to a position opposite the end and maintains the position of the shutter mechanism (closed) during drug transport. When the transport control unit 61 moves the adsorption / shutter mechanism 122 to a position opposite the drug placement platform 133a (see Figure 3(b)) of the drug holding mechanism 133 located in the receiving area Ar1, it moves the shutter mechanism to a position that does not face the end (opened). Then, after extending the adsorption mechanism from the end, the adsorption state is released and the drug is placed on the drug placement platform 133a.

[0041] The transport mechanism 123 moves the suction / shutter mechanism 122 in the X-axis and Y-axis directions under the control of the transport control unit 61. This transport mechanism 123 enables the movement of the suction / shutter mechanism 122 when searching for a drug to be transported on the first storage unit 11, or enables the transport of drugs from the first storage unit 11 to the drug placement table 133a. Furthermore, in the drug sorting process described later, it enables the transport of drugs from the drug placement table 133a to the second storage unit 14, the standby tray 15, or the recovery tray 16.

[0042] [Drug imaging processing] Next, the drug imaging process performed by the imaging unit 13 will be explained using Figures 1, 2(b), 3, and 4. Figures 3(a) and 3(b) are perspective views showing the overall configuration of the imaging unit 13, and Figure 3(c) is a perspective view showing an example of the drug placement stage 133a. Figures 4(a) and 4(b) are diagrams illustrating the rotation of the imaging unit 13. The drug imaging process described above is mainly performed by the imaging unit 13 and the imaging control unit 63.

[0043] Specifically, the imaging unit 13 is placed on the drug placement platform 133a and images the drug placed in the placement area Ar2 (imaging area) where the drug to be imaged is placed, as shown in Figure 3(b). The imaging control unit 63 controls the imaging process by the imaging unit 13, the rotational movement of the first camera 131 and the illuminator 134, and the movement of the drug holding mechanism 133. As shown in Figures 1 and 3, the imaging unit 13 includes a first camera 131 (imaging unit), a rotation mechanism 132 (rotating unit), a drug holding mechanism 133 (drug placement platform, moving mechanism), and an illuminator 134 (ultraviolet light irradiation unit, visible light irradiation unit).

[0044] The first camera 131 images the drug placed in the arrangement area Ar2 opposite to the first camera 131 in order to determine the type of drug in the discrimination unit 64 described later. The drug holding mechanism 133 is a mechanism for holding the drug, and as shown in Figures 3(a) and (b), it comprises a drug placement table (petri dish) 133a, a rotation mechanism 133b (movement mechanism), and a shaft portion 133c connecting the drug placement table 133a and the rotation mechanism 133b. The drug placement table 133a is on which the drug to be imaged is placed. The rotation mechanism 133b moves the drug placement table 133a, and specifically rotates the drug placement table 133a with respect to the XY plane and rotates the shaft portion 133c in the circumferential direction of the shaft portion 133c.

[0045] When the drug transported from the first storage unit 11 is placed on the drug placement platform 133a, the imaging control unit 63 drives the rotation mechanism 133b to move the drug placement platform 133a from the receiving area Ar1 to the placement area Ar2. Subsequently, it controls at least the first camera 131 and the illuminator 134 to image the drug placed in the placement area Ar2. The captured image is stored as image data in the storage unit 80. For example, after imaging is completed, the imaging control unit 63 drives the rotation mechanism 133b to move the drug placement platform 133a, on which the imaged drug is placed, from the placement area Ar2 to the receiving area Ar1.

[0046] In this embodiment, two drug placement tables 133a are provided at the tip (end) of the shaft portion 133c. The swivel mechanism 133b rotates the shaft portion 133c so that when one drug placement table 133a is placed in the placement area Ar2, the other drug placement table 133a is placed in the receiving area Ar1. When drug imaging is performed in the placement area Ar2, the transport and sorting unit 12 transports the drug from the first storage unit 11 to the drug placement table 133a located in the receiving area Ar1, thereby enabling continuous drug imaging processing. It is assumed that the drug placement table 133a is in a state where no drug is placed on it, such as after drug sorting processing to the second storage unit 14.

[0047] Furthermore, in this embodiment, the drug placement platform 133a is transparent. Therefore, the first camera 131 can image the drug placed on the drug placement platform 133a from multiple angles through the drug placement platform 133a.

[0048] Furthermore, as shown in Figure 3(c), the drug placement platform 133a may have a roughly V-shaped cross-section with a concave bottom. Also, as shown in Figures 3(b) and 4, when the drug placement platform 133a is positioned in the receiving area Ar1 and the placement area Ar2, the groove direction of the roughly V-shaped cross-section (the extension direction of the shaft portion 133c) is roughly parallel to the rotation axis Ay of the imaging mechanism (described later) by the rotation mechanism 132. Furthermore, the bottom of the drug placement platform 133a does not have to be a sharp V-shape. As shown in Figure 3(c), the bottom may comprise a bottom surface portion 133aa and inclined surfaces 133ab that are inclined from two opposing points on the bottom surface portion 133aa. The shape of the bottom only needs to be such that the information indicated by the drug's marking or print (marking information or printed information) can be recognized even when viewed (imaged) from the back side of the drug placement platform 133a, and that the drug is fixed in place.

[0049] If the drug is in the form of a capsule or a deformed tablet (e.g., rugby ball shaped), and the bottom of the drug mounting platform 133a is flat, the orientation of the drug may not be aligned on the XY plane, making it difficult to obtain a clear image of the drug (engraving or printed information). If the cross-section is roughly V-shaped, the capsule or deformed tablet can be fitted into the lowest end, and the drug can be fixed in place. This makes it easier to obtain a clear image of the drug. In the case of a tablet, for example, the shaft portion 133c can be rotated in the circumferential direction of the shaft portion 133c so that the flat portion (inclined surface portion 133ab) of the drug mounting platform 133a faces the first camera 131, thereby ensuring that the drug does not move.

[0050] In addition, the rotation mechanism 133b can also vibrate (move, shake) the drug placement platform 133a. In this case, for example, by vibrating and rolling a capsule placed on the drug placement platform 133a, the printed portion of the capsule can be made to face a predetermined direction (e.g., this portion can be made to face the first camera 131, which is positioned in the initial position described later). Furthermore, the above vibration can cause, for example, a cylindrical tablet (with a circular base) to be placed upright on the flat surface, to be tilted sideways (positioned so that the base of the tablet faces the flat surface).

[0051] The illuminator 134 emits light to irradiate the drug when imaging the drug, under the control of the imaging control unit 63. As shown in Figure 3(a), the illuminator 134 includes a visible light irradiation unit (first irradiation unit 134a and second irradiation unit 134b) that irradiates the drug with visible light, and an ultraviolet light irradiation unit 134c that irradiates the drug with ultraviolet light.

[0052] The first irradiation unit 134a and the second irradiation unit 134b irradiate the drug with white light as visible light. The first irradiation unit 134a is a bar-shaped visible light source (bar illumination), and the second irradiation unit 134b is a ring-shaped visible light source (ring illumination). The first camera 131 acquires an image based on visible light (visible light image) by receiving the visible light emitted from the first irradiation unit 134a or the second irradiation unit 134b and reflected by the drug. The imaging control unit 63 outputs image data showing the visible light image acquired by the first camera 131 to the discrimination unit 64.

[0053] The ultraviolet light irradiation unit 134c irradiates the drug with ultraviolet light (e.g., light with a peak wavelength between 365 nm and 410 nm) to excite components contained in the drug. This extracts fluorescence (e.g., light with a peak wavelength between 410 nm and 800 nm) from the drug. The first camera 131 receives the fluorescence emitted from the drug and acquires an image based on ultraviolet light (ultraviolet light image). The imaging control unit 63 outputs image data showing the ultraviolet light image acquired by the first camera 131 to the discrimination unit 64.

[0054] As shown in Figures 3 and 4, the rotation mechanism 132 rotates the first camera 131 so that it revolves around the placement area Ar2 (the drug placement platform 133a located at that position) where the drug to be imaged is placed. The first camera 131 images the drug placed in the placement area Ar2 from multiple positions rotated by the rotation mechanism 132. Specifically, the imaging mechanism, including the first camera 131 and the illuminator 134, is rotated so that it revolves around the placement area Ar2. Therefore, the first camera 131 can image the drug from multiple directions while maintaining the positional relationship between the first camera 131 and the illuminator 134 with respect to the placement area Ar2.

[0055] As shown in Figure 3(a), the rotation mechanism 132 includes an imaging mechanism drive unit 132a and a power transmission mechanism 132b. The imaging mechanism drive unit 132a generates power to rotate the imaging mechanism around the placement area Ar2. The power transmission mechanism 132b transmits the power generated by the imaging mechanism drive unit 132a to the imaging mechanism. The imaging mechanism drive unit 132a is driven by the control of the imaging control unit 63 to change the position of the imaging mechanism around the placement area Ar2.

[0056] The rotation mechanism 132 rotates the imaging mechanism between the initial position and the position opposite the initial position. The initial position is a position approximately perpendicular to the placement area Ar2 and above the placement area Ar2. The position opposite the initial position is a position approximately perpendicular to the placement area Ar2 and below the placement area Ar2. This position can also be described as the position where the first camera 131 faces the bottom of the drug placement platform 133a located in the placement area Ar2.

[0057] As shown in Figure 4, axis Ax0 is defined as the axis passing through the center of the placement area Ar2 and parallel to the Z-axis, and axis Ax1 is defined as the axis passing through the center of the placement area Ar2 and the center of the imaging mechanism. The angle between axis Ax0 and axis Ax1 is defined as θ. In this embodiment, the rotation mechanism 132 positions the imaging mechanism at one of the following positions: θ = 0° (initial position), 45°, 135°, and 180°. Figure 4(a) shows the case where the imaging mechanism is at the θ = 0° position, and Figure 4(b) shows the case where the imaging mechanism has rotated from the initial position to the θ = 45° position.

[0058] In this way, by rotating the imaging mechanism around the placement area Ar2, the drug can be imaged from multiple directions while remaining fixed in the placement area Ar2. Furthermore, even if the drug (tablet) remains upright when the drug placement platform 133a is shaken, information indicated by markings on the drug can be obtained by imaging from an oblique direction (θ=45° or 135°).

[0059] Alternatively, the imaging mechanism may be fixed and the drug rotated to image the drug from multiple directions.

[0060] (Image position control) Next, an example of position control of the imaging mechanism will be described. The imaging control unit 63 first sets the imaging mechanism to an initial position and causes the first camera 131 to image the drug placed in the placement area Ar2 at that initial position. At this time, the first camera 131 acquires a visible light image (two visible light images) based on visible light from the first irradiation unit 134a and the second irradiation unit 134b, as well as an ultraviolet light image based on ultraviolet light from the ultraviolet light irradiation unit 134c.

[0061] Next, the imaging control unit 63 sets the imaging mechanism to a position opposite to the initial position and causes the first camera 131 to image the drug placed in the placement area Ar2 at that position, acquiring two visible light images and an ultraviolet light image. The discrimination unit 64 analyzes these six images to determine the type of drug. If the type of drug cannot be identified as a single type, the imaging control unit 63 emits visible light from the first irradiation unit 134a and the second irradiation unit 134b at positions θ=45° and 135°, causing the first camera 131 to image the drug. The discrimination unit 64 analyzes the visible light image at this time to determine the type of drug.

[0062] The above are not limited to various methods for controlling the position of the imaging mechanism. For example, imaging may be performed from a position opposite the initial position, and then from the initial position. Alternatively, drug identification processing may be performed based on the visible light image acquired from the position θ=45°, and only if the type of drug cannot be identified as a single entity, a visible light image acquired from the position θ=135° may be obtained. Alternatively, only ultraviolet light images may be acquired at the initial position and the position opposite the initial position, drug identification processing may be performed based on the ultraviolet light image, and then a visible light image at that position may be acquired. Alternatively, visible light and ultraviolet light images may be acquired at all positions.

[0063] [Image processing / discrimination processing] Next, the image processing performed on the image captured by the imaging unit 13 and the drug discrimination process based on the results of the image processing will be explained using Figure 1. The image processing is mainly performed by the imaging control unit 63, and the discrimination process is mainly performed by the discrimination unit 64.

[0064] The discrimination unit 64 determines the type of drug based on the drug image captured by the first camera 131. Specifically, the discrimination unit 64 determines the type of drug based on the imaging result (visible light image) of the drug when it is irradiated with visible light from the first irradiation unit 134a or the second irradiation unit 134b. In addition, the discrimination unit 64 determines the type of drug based on the imaging result (ultraviolet light image) of the drug when it is irradiated with ultraviolet light.

[0065] The discrimination unit 64 extracts the characteristics of the drug contained in the image by performing image analysis on both the visible light image and / or the ultraviolet light image. In other words, the discrimination unit 64 has a feature extraction unit 64a (identification information extraction unit) that extracts the characteristics of the drug. Examples of drug characteristics include size, shape, markings, prints, cleavage lines, and representative color (the color of the area where the marking or print is applied). When OCR (Optical Character Recognition) is performed, the drug characteristics extracted include the drug name (e.g., identification code) or identification information indicating the manufacturer (identification information that identifies the drug), and other information such as the expiration date, as represented by the marking or print. In the case of an ultraviolet light image, the drug characteristics include the representative color of the drug in the image. The discrimination unit 64 stores the extracted characteristics of each drug in the storage unit 80, linked to the drug image data. Note that drug feature extraction may be performed by known techniques.

[0066] The discrimination unit 64 identifies the type of drug by comparing the characteristics of each drug with the drug database. In other words, the discrimination unit 64 has a drug data extraction unit 64b that, based on the characteristics of the extracted drug, uses pattern matching or the like to narrow down candidate drug data related to the imaged drug from the drug database. In this case, for example, at least one of the above-mentioned size, shape, markings, prints, cleavage lines, and representative color is used to narrow down the candidate drug data. Subsequently, the discrimination unit 64 performs OCR or the like to read identification information etc. expressed in the markings or prints, and further narrows down the type of drug from the above candidates using pattern matching or the like.

[0067] Furthermore, even if the drug characteristics (target characteristics) extracted using pattern matching or the like are not found in the drug database, the discrimination unit 64 will identify the drug as a suspected drug if it is estimated to be a drug (tablet or capsule) based on at least a part of the target characteristics. In this case, the suspected drug can also be sorted into the second storage unit 14 or the standby tray 15. In this embodiment, the suspected drug may be temporarily placed in the standby tray 15 first.

[0068] In this way, the discrimination unit 64 (determination unit) determines whether or not drug data corresponding to the image (image data) captured by the first camera 131 exists in the drug data (drug database) for multiple types of drugs that have been registered in advance.

[0069] The discrimination unit 64 outputs the drug type discrimination result to the sorting control unit 62. For example, if the drug type can be identified as one, or if the number of candidates is narrowed down to a predetermined number, drug data related to that drug is output as the discrimination result. In this case, the discrimination unit 64 stores the drug data related to that drug in the storage unit 80, linked to the image data of that drug.

[0070] If the discrimination unit 64 determines that the drug is a suspected drug, it outputs the characteristics of the drug (characteristics of the item suspected to be a suspected drug) as the discrimination result. On the other hand, if the discrimination unit 64 determines that the drug is registered in the drug database as a drug to be discarded, or if it determines that the item stored in the first storage unit 11 is a foreign object other than a drug, it outputs as the discrimination result that the drug is not subject to sorting.

[0071] [Medicinal sorting and processing] Next, the drug sorting process based on the results of the above discrimination process will be explained using Figures 1, 5 to 8. Figure 5 is a diagram illustrating an example of the drug sorting process. Figure 6 is a diagram showing an example of the sorting image Im1 (sorting screen) display. Figure 7 is a diagram showing an example of the inspection image Im2 (inspection screen) display. Figure 8 is a diagram showing an example of the confirmation image (confirmation screen) Im3 display. The above drug sorting process is mainly performed by the transport / sorting unit 12 and the sorting control unit 62.

[0072] In Figure 5, for convenience, symbols A to F and 1 to 7 are used to identify the positions of the sorting cups 141 that can be placed in the second storage section 14. The sorting cups 141 are sorting containers that hold the sorted drugs and can be removably placed in the second storage section 14.

[0073] As described above, the drug contained in the first containment unit 11 is transported from the first containment unit 11 to the receiving area Ar1 (see Figure 5(i)), and then moved to the placement area Ar2. After being imaged by the first camera 131, the drug is moved again from the placement area Ar2 to the receiving area Ar1. Subsequently, in this embodiment, the drug is transported via the paths shown in Figure 5(ii), (iii) to (v), or (vi) based on the discrimination result by the discrimination unit 64.

[0074] Specifically, the transport and sorting unit 12 stores the drugs by type in the second storage unit 14 or in the standby tray 15 based on the discrimination results from the discrimination unit 64 (see Figures 5(ii) and (iii)). The sorting control unit 62 controls the transport and sorting unit 12 to transport the drugs placed in the receiving area Ar1 after imaging and discrimination processing to the designated sorting cups 141 in the second storage unit 14 or the standby tray 15 based on the discrimination results.

[0075] As shown in Figures 1 and 5, in this embodiment, the second storage unit 14 is configured with a confirmed area Ar11 (first region) and a provisional determination area Ar12 (second region). The confirmed area Ar11 is the area for storing drugs for which the discrimination unit 64 has determined that drug data corresponding to the image data exists. On the other hand, the provisional determination area Ar12 is an area configured at a different location from the confirmed area Ar11 for storing drugs for which the discrimination unit 64 has determined that drug data corresponding to the image data does not exist.

[0076] In the example shown in Figure 5, the confirmed area Ar11 is set at A-1 to F-5 on the drug dispensing side, and the provisional determination area Ar12 is set at B-6 to F-7, which is located away from the drug dispensing side. However, the setting locations and ranges of the confirmed area Ar11 and the provisional determination area Ar12 are not limited to these and can be changed according to user convenience.

[0077] Furthermore, as shown in the example in Figure 5, if the confirmed area Ar11 is set to be wider than the provisional determination area Ar12, the drug sorting device 1 may be said to be set to a "confirmed area effective utilization mode" that effectively utilizes the confirmed area Ar11 in the second storage section 14.

[0078] The transport and sorting unit 12 places drugs for which drug data corresponding to the image data exists into the confirmation area Ar11 for each type (see Figure 5(ii) or (v)). On the other hand, the transport and sorting unit 12 places drugs for which drug data corresponding to the image data does not exist into the provisional determination area Ar12 (see Figure 5(iv)).

[0079] (In the case of Figure 5(ii)) When the sorting control unit 62 receives drug data related to a drug as a discrimination result, it determines that the discrimination unit 64 has determined that drug data corresponding to the image data exists, and determines the sorting position (sorting cup 141) in the confirmed area Ar11 to store the drug. The sorting control unit 62 also stores the discrimination result (drug data) and the determined sorting position in the storage unit 80.

[0080] Once the sorting position is determined, the sorting control unit 62 controls the transport mechanism 123, similar to the transport control unit 61, to move the transport / sorting unit 12 above the receiving area Ar1. The sorting control unit 62, similar to the transport control unit 61, controls the second camera 121 and the suction / shutter mechanism 122 to pick up the drugs placed in the receiving area Ar1. Subsequently, the transport mechanism 123 transports the drugs to the determined sorting cup 141. After transport, the suction is released to store the drugs in the sorting cup 141. The sorting control unit 62 also counts the number of drugs stored in the sorting cup 141 and stores it in the storage unit 80, linked to the sorting position.

[0081] (In the case of Figure 5(iii)) When the sorting control unit 62 receives a determination result that the type of drug is an estimated drug, it determines that the determination unit 64 has determined that there is no drug data corresponding to the image data, and sets the standby tray 15 as the sorting position. The sorting control unit 62 then controls the transport and sorting unit 12 to transport the drug from the receiving area Ar1 to the standby tray 15.

[0082] For example, in the "effective use of confirmed area mode" described above, after the sorting of the drugs stored in the first storage unit 11 (sorting to the confirmed area Ar11, the standby tray 15, or the recovery tray 16) is completed, the drugs stored in the standby tray 15 are subjected to another sorting process by the sorting unit 64. In other words, in the "effective use of confirmed area mode" described above, drugs whose type has been determined are sorted into the confirmed area Ar11, while estimated drugs are temporarily placed in the standby tray 15. Then, after the drugs whose type has been determined are sorted into the confirmed area Ar11, a re-sorting is performed on the estimated drugs stored in the standby tray 15. Specifically, the sorting control unit 62 controls the transport and sorting unit 12 to transport the drugs from the standby tray 15 to the receiving area Ar1. After the drugs are moved from the receiving area Ar1 to the placement area Ar2, the drug imaging process and image processing / sorting process described above are performed on the drugs.

[0083] As a result, if the discrimination unit 64 determines that drug data corresponding to the image data exists, the sorting control unit 62 determines the sorting cup 141 in the confirmed area Ar11 that does not contain drug (the sorting cup 141 whose sorting position has not yet been determined) as the sorting position. Subsequently, as described above, the sorting control unit 62 controls the transport and sorting unit 12 to transport the drug from the receiving area Ar1 to the sorting cup 141 in the confirmed area Ar11 that has been determined as the sorting position (see Figure 5(v)). The sorting control unit 62 also links the drug data identified in the drug database with the determined sorting position and stores them in the storage unit 80.

[0084] On the other hand, if the discrimination unit 64 determines again that there is no drug data corresponding to the image data, the sorting control unit 62 determines the sorting cup 141 in the provisional determination area Ar12 that does not contain drug as the sorting position. The sorting control unit 62 then stores the characteristics of the estimated drug and the determined sorting position in the storage unit 80, linking them together.

[0085] The sorting control unit 62 determines the sorting position in the provisional determination area Ar12 based on at least one of the characteristics of the drug (estimated drug) contained in the image. For example, the sorting control unit 62 determines the sorting position in the provisional determination area Ar12 based on at least one of the color, shape, or information attached to the estimated drug in the image. Specifically, the sorting control unit 62 determines the sorting position so that estimated drugs that are considered to match in at least one of the color, shape, or information attached to the drug are sorted in the same position. Information attached to a drug refers, for example, to at least a part of the identification information attached to the drug. If at least a part of the identification information is substantially the same (if there are similar parts in the two pieces of identification information being compared), drugs with that identification information attached may be placed in the same sorting cup 141. On the other hand, the sorting control unit 62 determines the sorting position for estimated drugs that have characteristics that do not match those of the estimated drugs to be sorted first in the provisional determination area Ar12, and for estimated drugs to be sorted that do not match the characteristics of the estimated drugs that have already been sorted.

[0086] Subsequently, the sorting control unit 62 controls the transport and sorting unit 12 to transport the drugs to the sorting cups 141 in the provisional determination area Ar12 which has been determined as the sorting position (see Figure 5(iv)). Specifically, the transport and sorting unit 12 sorts the estimated drugs to each position (each sorting cup 141) in the provisional determination area Ar12 based on at least one of the following: the color, shape, or information attached to the drug contained in the image.

[0087] Furthermore, even if the sorting control unit 62 receives drug data related to drugs as a result of discrimination, if all of the sorting cups 141 in the confirmed area Ar11 are filled with drugs, it determines the standby tray 15 as the sorting location. In this case, when a slot becomes available in the sorting cups 141 of the confirmed area Ar11, the sorting control unit 62 determines the sorting location of the drugs sorted into the standby tray 15 as the location where the sorting cup 141 was placed. Also, if all of the sorting cups 141 in the provisional judgment area Ar12 are filled with drugs, the sorting control unit 62 keeps the drugs in the standby tray 15 until a slot becomes available in the sorting cups 141 of the provisional judgment area Ar12.

[0088] As mentioned above, the size of the confirmed area Ar11 can be set arbitrarily by the user. For example, the user may set the size of the confirmed area Ar11 to be as large as possible (in the "effective use of confirmed area" mode), as shown in Figure 5. In this case, it is possible to increase the possibility of storing all or most of the drugs whose types have been identified among the drugs stored in the first storage unit 11 in the confirmed area Ar11. However, the setting of the confirmed area Ar11 may be configured to allow selection of the following two settings in the "effective use of confirmed area" mode.

[0089] (1) Setting of the confirmation area Ar11 which allows the drug whose type has been identified to be placed in the standby tray 15. In this setting, when there is space available in the confirmation area Ar11, the control unit 60a places the drug temporarily placed in the standby tray 15 into the confirmation area Ar11.

[0090] (2) Setting the largest possible confirmation area Ar11 so as to minimize the need to sort drugs that have been identified into the waiting tray 15.

[0091] (Alternative processing in case (iii) of Figure 5) Unlike the processing in the "effective use of confirmed area mode" described above, the estimated drug may be directly transported to the provisional determination area Ar12 without being temporarily placed in the standby tray 15. In other words, after the determination process for the drug stored in the first storage unit 11 is completed, the control unit 60a may sequentially sort the drug into either the confirmed area Ar11 or the provisional determination area Ar12 according to the determination result.

[0092] In this case, if the control unit 60a cannot determine the type of drug, it may perform the determination process again. This is because there is a possibility that the type of drug can be determined by the determination process again. The determination process is performed a predetermined number of times. The predetermined number of times should be set to a number that has a possibility of determining the type of drug by the determination process again and does not significantly increase the processing time (e.g., 3 times). If the type of drug can be determined by the determination process again, the control unit 60a transports the drug to the confirmation area Ar11. On the other hand, if the type of drug cannot be determined even after performing the determination process a predetermined number of times, the drug is transported to the provisional determination area Ar12.

[0093] Furthermore, if, as a result of sequential sorting, it becomes impossible to sort the drugs into the confirmed area Ar11 (i.e., if there are no more empty sorting cups 141 in the confirmed area Ar11), the drugs to be sorted are placed in the standby tray 15. Similarly, if it becomes impossible to sort the drugs into the provisional judgment area Ar12 (i.e., if there are no more empty sorting cups 141 in the provisional judgment area Ar12), the estimated drugs to be sorted are placed in the standby tray 15. In other words, if there are no more sorting locations in either the confirmed area Ar11 or the provisional judgment area Ar12, the drugs to be sorted or the estimated drugs are transported to the standby tray 15 and accumulated there, without being placed in the other area.

[0094] The drug sorting device 1 may be set to either the "effective use of confirmed area mode" or the "ineffective use of confirmed area mode". When set to "effective use of confirmed area mode", as described above, the estimated drug is temporarily placed in the standby tray 15 and then sorted into the confirmed area Ar11 or the provisional determination area Ar12. On the other hand, when set to "ineffective use of confirmed area mode", as described above, the estimated drug is sorted directly into the provisional determination area Ar12 without being temporarily placed in the standby tray 15.

[0095] (In the case of (vi) in Figure 5) If the sorting control unit 62 receives a determination result indicating that a drug is not to be sorted, it determines that either the drug after determination is registered in the drug database as a drug to be discarded, or that the object placed in the receiving area Ar1 after determination is a foreign object. Therefore, the sorting control unit 62 controls the transport and sorting unit 12 to transport the drug or foreign object to the collection tray 16.

[0096] In this way, the sorting control unit 62 stores all items contained in the first storage unit 11 into either the second storage unit 14, the standby tray 15, or the recovery tray 16, regardless of the result of identifying the type of drug. Therefore, even if it is not possible to identify a single type of drug, or if foreign matter is mixed in the first storage unit 11, the sorting process can be continued without being stopped for these reasons.

[0097] Furthermore, if the drug being identified is registered in the drug database, it can be sorted into the confirmed area Ar11; if it is not registered, it can be sorted into the provisional determination area Ar12. Therefore, drugs can be sorted regardless of whether drug data is registered in the storage unit 80. In addition, since the sorting area can be changed depending on whether drug data is registered in the storage unit 80, the convenience of the drug registration process described later can be improved.

[0098] (Other configurations) Furthermore, the sorting control unit 62 uses the second camera 121 to image the drug placement platform 133a located in the receiving area Ar1 in order to retrieve the drug for which the discrimination process has been completed, thereby narrowing down the location of the drug. In addition, when transporting the drugs stored in the sorting cup 141 to the packaging mechanism 6, the sorting control unit 62 uses the second camera 121 to image the sorting cup 141 in order to retrieve the drug from the sorting cup 141, thereby narrowing down the drugs to be transported.

[0099] Furthermore, in the designated area Ar11, the sorting control unit 62 stores drug data related to the drugs stored in the sorting cup 141 in an RFID tag provided on the sorting cup 141 by the second RFID reader / writer unit 18.

[0100] The second RFID reader / writer unit 18, like the first RFID reader / writer unit 5, writes drug data to RFID tags or reads drug data stored in RFID tags. The sorting control unit 62 instructs the RFID control unit 68 to write data related to the drug each time a drug is placed in the sorting cup 141.

[0101] The second RFID reader / writer unit 18 is located below the second storage section 14. Specifically, it is positioned to face the bottom of each sorting cup 141 when reading or writing data related to the medication stored in the RFID tag of each sorting cup 141.

[0102] (Example image) During drug sorting processing, or when drug sorting processing is stopped, the display control unit 67 can display sorting image Im1, as shown in Figure 6, on the display unit 32.

[0103] Each of the multiple sorting locations where the drugs are sorted, the sorting cup 141 placed at that sorting location, and the drug data (or data including at least a part of the target characteristics) related to the drugs contained in the sorting cup 141 are linked and stored in the storage unit 80. In addition, the number of drugs contained in the sorting cup 141 and the image data of those drugs are also linked and stored in the storage unit 80.

[0104] Therefore, the display control unit 67 can display a sorting image Im1 that reflects multiple sorting positions in the second storage unit 14 and the sorting status at each sorting position (e.g., the number of drugs stored).

[0105] Furthermore, the display control unit 67 displays the inspection results, etc., at the location where the drugs are sorted in the sorting image Im1. The display control unit 67 displays either "Not Visually Inspected" indicating that visual inspection has not been performed, or "Visually Inspected" indicating that inspection has been performed, as the inspection result. The display control unit 67 also displays "Provisional Sorting" indicating that the drugs have been sorted into the provisional judgment area Ar12 because the drug data has not been registered. These displays allow the user to confirm which sorting cup 141 contains drugs that have not yet been inspected, or which sorting cup 141 contains drugs that require registration in the drug database.

[0106] The display control unit 67 receives user input regarding the sorting position of the determined area Ar11 shown in the sorting image Im1, and displays the drug inspection image Im2 (see Figure 7) associated with that sorting position on the display unit 32. This allows the display of the drug inspection image Im2 of the drug that the user wishes to visually inspect.

[0107] Furthermore, the display control unit 67 receives user input regarding the sorting position of the provisional judgment area Ar12 shown in the sorting image Im1, and displays the drug confirmation image Im3 associated with that sorting position on the display unit 32. This allows the display of the drug confirmation image Im3 (see Figure 8) for the drug that the user wishes to register in the drug database.

[0108] [Drug registration process] Next, the drug registration process, which registers drugs sorted into the provisional judgment area Ar12 into the drug database, will be explained using Figures 1, 6, and 8-10. Figures 9(a) and (b) show examples of the display of the search image (search screen) Im4, and (c) shows an example of an image captured by the first camera 131. Figure 10(a) shows an example of the registered image (registration screen) Im5, and (b) is a diagram to explain an example of the image adjustment process.

[0109] As described above, the display control unit 67 receives user input for the sorting position of the provisional judgment area Ar12 shown in the sorting image Im1 shown in Figure 6, and displays a confirmation image Im3 as shown in Figure 8. As shown in Figure 8, the confirmation image Im3 includes at least an image display area Ar31 and a "Master Registration" button.

[0110] Image display area Ar31 is an area where images (images captured by the first camera 131) of the drug stored in the sorting cup 141, which are linked to the sorting position and stored in the memory unit 80, are displayed for each drug stored in the sorting cup 141. In this example, image display area Ar31 displays images of two drugs stored in the sorting cup 141 located at position F-7. The "Master Registration" button accepts user input to start registering the drug selected in image display area Ar31 to the drug database.

[0111] When a user input is received via the "Master Registration" button with one image data selected, the control unit 60a performs the drug registration process corresponding to that image data. Specifically, as shown in Figure 1, the control unit 60a includes a registration unit 70. The registration unit 70 comprehensively performs the process of registering drug data related to drugs sorted into the provisional determination area Ar12 into the drug database. In other words, for drugs for which the discrimination unit 64 has determined that no drug data corresponding to the image data exists, the registration unit 70 registers the drug data related to the image data, as identified by the user, and links it to the image data.

[0112] Specifically, the registration unit 70 controls the display control unit 67 to display the search image Im4 shown in Figure 9(a) on the display unit 32. The search image Im4 is an image showing the search results for the drugs stored in the sorting cup 141.

[0113] As shown in Figure 9(a), the search image Im4 includes at least a text input area Ar41, an image display area Ar42, a search results list area Ar43, and a "Select" button. The text input area Ar41 is an area where text can be entered to search for drugs displayed in the image display area Ar42. The image display area Ar42 is an area that displays the image captured by the first camera 131 (the same image as the image selected in Figure 8). The search results list area Ar43 is an area that displays the search results when user input is received via the "Search" button. The "Select" button determines the selection of one drug data from among the drug data displayed in the search results list area Ar43.

[0114] Here, the first camera 131 images the drug placed on the drug placement platform 133a located in the placement area Ar2. Therefore, the orientation of the information attached to the drug (e.g., marking information or printed information) in the image data stored in the storage unit 80 differs for each drug. The image display area Ar42 displays the image shown by the image data stored in the storage unit 80 (the image captured by the first camera 131) as is. Therefore, the image display area Ar42 displays an image with the marking information facing downwards, for example, as shown in Figure 9(a). Also, for example, if the marking information is captured in a sideways orientation, the image with the marking information facing sideways will be displayed in the image display area Ar42, as shown in Figure 9(c). The same applies to the inspection image Im2 shown in Figure 7 and the confirmation image Im3 shown in Figure 8.

[0115] When the display control unit 67 displays the search image Im4 shown in Figure 9(a), the user recognizes the engraved information by confirming the image displayed in the image display area Ar42. The user inputs at least a portion of the recognized engraved information into the character input area Ar41.

[0116] If the registration unit 70 receives user input via the "Search" button after at least a portion of the engraved information has been entered into the character input area Ar41, it performs a search in the comprehensive drug database based on the characters entered into the character input area Ar41.

[0117] A comprehensive drug database manages drug data for multiple types of drugs. This database is managed by a data management device 500 (see Figure 13) that can communicate with the drug sorting device 1 and centrally manages multiple types of drugs. The data management device 500 is, for example, a device used by the manufacturer of the drug sorting device 1. The comprehensive drug database includes drug data for all drugs that may be handled by the drug sorting device 1 used in various locations (hospitals, wards, or pharmacies, etc.) and by devices other than the drug sorting device 1 (e.g., dispensing machines).

[0118] On the other hand, the drug database is a database managed by the drug sorting device 1, or by the hospital, ward, or pharmacy where the drug sorting device 1 is used. As mentioned above, the drug database is managed, for example, by the storage unit 80. Since the number of drug data managed in the comprehensive drug database is enormous, it is not practical to include all of it in the drug database. Therefore, the drug database extracts and manages drug data from the drug data included in the comprehensive drug database that is expected to be used by each drug sorting device 1, or by each hospital, ward, or pharmacy. In other words, drug data that does not exist in the drug database may exist in the comprehensive drug database. Therefore, the registration unit 70 performs a search in the comprehensive drug database.

[0119] Furthermore, the comprehensive drug database and the drug data registered in the drug database include image data of drugs in which the identification information attached to the drug (e.g., engraved information or printed information) has been adjusted to a specified direction and size. This direction and size are set, for example, for each type or size of drug.

[0120] Suppose the user enters "SW" from the information contained in the image into the text input area Ar41 and then presses the "Search" button. In this case, as shown in Figure 9(b), the registration unit 70 displays the search results for the text "SW" in the comprehensive drug database in the search results list area Ar43. The user then selects the drug data that matches the information "SW344" contained in the image in the search results list area Ar43.

[0121] When the registration unit 70 receives user input to the "Select" button while one drug data displayed in the search results list area Ar43 is selected, it controls the display control unit 67 to display the registration image Im5 on the display unit 32. At the same time, the registration unit 70 controls the discrimination unit 64 (feature extraction unit 64a) to extract marking information from the image captured by the first camera (the same image as the image selected in Figure 8). If the image contains sec lines, the registration unit 70 also extracts the sec lines. Known techniques can be used to extract the marking information.

[0122] As shown in Figure 10, the registered image Im5 includes at least an image display area Ar51, a drug information display area Ar52, an image adjustment area Ar53, an operation panel display area Ar54, and a "Confirm" button.

[0123] Image display area Ar51 is the area that displays the image captured by the first camera 131. The same image as the one selected in Figure 8 is displayed in image display area Ar51. However, image display area Ar51 may display images of the same drug captured from multiple directions. In Figure 10, four images of the same drug captured from different directions are displayed.

[0124] The drug information display area Ar52 displays drug data (e.g., image data, drug name, and marking information (e.g., identification code)) extracted from the comprehensive drug database. The image adjustment area Ar53 is for adjusting the orientation or size of the image. The control panel display area Ar54 displays the control panel for adjusting the orientation or size of the image displayed in the image adjustment area Ar53. The "Confirm" button confirms registration to the drug database.

[0125] When one of the images displayed in the image display area Ar51 is selected, the registration unit 70 displays that image in the image adjustment area Ar53. The registration unit 70 also displays the engraved information extracted when the user input to the "Select" button of the search image Im4 is received in the image adjustment area Ar53. In other words, the registration unit 70 displays the extracted engraved information and the selected image superimposed in the image adjustment area Ar53.

[0126] The registration unit 70 displays the extracted marking information in the image adjustment area Ar53. The registration unit 70 displays the extracted marking information in the image adjustment area Ar53 with its orientation and size adjusted to match the orientation and size specified in the drug database. Therefore, by changing the orientation and size of the selected image to match the marking information displayed in the image adjustment area Ar53, image data containing marking information with the orientation and size specified in the drug database can be registered in the drug database.

[0127] In the image adjustment area Ar53, with the extracted engraving information and the selected image superimposed, the user operates the operation unit displayed in the operation unit display area Ar54. This allows the user to rotate the selected image, move it vertically or horizontally, or change its size. The registration unit 70 sequentially displays the image in the image adjustment area Ar53, reflecting the user's input to the operation unit. This allows the user to change the direction, size, and position of the selected image so that it roughly matches the direction and size of the extracted engraving information, while checking the image adjustment area Ar53.

[0128] For example, in the case of Figure 10(a), as shown in Figure 10(b), the registration unit 70 displays the extracted marking information in the image adjustment area Ar53, and then displays the selected image in the image adjustment area Ar53. In this example, the marking information in the image captured by the first camera 131 is facing downwards. In other words, in the image adjustment area Ar53, the extracted marking information and the marking information in the selected image are facing in opposite directions. In Figure 10(b), to ensure clear distinction, each character of the extracted marking information "SW344" is shown in bold, and each character of the marking information "SW344" in the selected image is shown with a dotted line.

[0129] In this state, the user operates the control panel displayed in the control panel display area Ar54 to change the orientation, size, and position of the selected image, thereby roughly matching the orientation and size of the extracted engraved information contained in the selected image. Once the orientation and size of this engraved information roughly match, the user presses the "Confirm" button.

[0130] When the registration unit 70 receives user input via the "Confirm" button, it links the image data (adjusted image data) showing the image adjusted in the image adjustment area Ar53 with the drug data selected as a result of the search and registers it in the drug database.

[0131] In this embodiment, the discrimination unit 64 (feature extraction unit 64a) extracts the marking information (identification information) indicated on the drug contained in the image captured by the first camera 131. The display control unit 67 displays the image and marking information on the display unit 32. Specifically, the image and marking information are displayed in the image adjustment area Ar53 of the registered image Im5. The registration unit 70 then registers image data showing the image when the direction of the marking information indicated on the drug contained in the image is aligned with a predetermined direction (a predetermined direction defined in the drug database) when the extracted marking information is displayed on the display unit 32.

[0132] This allows image data containing marking information with direction and size specified in the drug database to be registered in the drug database. Therefore, the accuracy and speed of matching using the drug database by the discrimination unit 64 can be improved.

[0133] Furthermore, as shown in Figure 10(a), if multiple images are displayed in the image display area Ar51, the registration unit 70 may perform the drug registration process described above for each image. In this case, multiple image data will be registered in the drug database for a single drug. Alternatively, the registration unit 70 may register the adjusted image data in the drug database only for one image selected from the multiple images (for example, an image that the user has determined to clearly show the engraved information).

[0134] [Drug registration process for capsules] Next, the drug registration process when the drug is in capsule form will be explained using Figures 11 and 12. Figure 11 shows an example of registration image Im6 when registering a capsule. Figure 12 shows an example of registration image Im7 when registering a different capsule.

[0135] If the drug is in the form of a capsule, the registration unit 70 controls the display control unit 67 to display multiple images captured from multiple positions around the capsule on the display unit 32.

[0136] Unlike tablets, capsules do not necessarily have printed information (e.g., identification code) on either the front or back surface. Therefore, the registration unit 70 displays multiple images, allowing the user to select the image that clearly contains the printed information as the image to be registered. Thus, even in the case of capsules, image data suitable for registration in the drug database can be registered.

[0137] As shown in Figure 11, the registered image Im6 includes at least an image display area Ar61, a drug information display area Ar62, an image adjustment area Ar63, an operation panel display area Ar64, and a "Confirm" button. Each area and the "Confirm" button has the same function as the image display area Ar51, drug information display area Ar52, image adjustment area Ar53, operation panel display area Ar54, and "Confirm" button shown in Figure 10(a). However, the image display area Ar61 displays multiple images (seven images in this example) captured from multiple positions around the capsule.

[0138] In the example shown in Figure 11, printed information is attached to each of the two divided regions of the capsule. The user selects the image from the seven images above in which the printed information is displayed near the center of each divided region. In other words, for each region, the user selects the image containing printed information that is as similar as possible to the printed information contained in the image data displayed in the drug information display area Ar62. In this example, the user selects the third and sixth images. Subsequently, the drug registration process is performed in the same manner as described using Figure 10.

[0139] In other words, in the image adjustment area Ar63, the user adjusts the orientation, size, and position of the image selected in the image display area Ar61 so that the print information of the image approximately matches the print information extracted from the captured drug image and displayed facing a predetermined direction. After that, when the print information of the selected image and the extracted print information approximately match, the user presses the "Confirm" button. Upon receiving user input to the "Confirm" button, the registration unit 70 registers the adjusted image data in the drug database, linking it with the drug data selected as a result of the search. In this example, drug registration processing is performed for both the third and sixth images.

[0140] In the image data registered in the drug database, as shown in the drug information display area Ar62, the print information in one area is oriented upwards, and the print information in the other area is oriented downwards. Therefore, the registration unit 70 displays the print information in the image adjustment area Ar63 so that the print information in one area is oriented upwards, and the print information in the other area is oriented downwards. Accordingly, the user adjusts the orientation, size, and position of each image so that the print information of the third image roughly matches the upward-oriented print information, and the print information of the sixth image roughly matches the downward-oriented print information.

[0141] In addition, the capsule may contain printed information in the shorter direction. In this case as well, the registration unit 70 displays the images captured from multiple directions on the display unit 32, similar to Figure 11.

[0142] As shown in Figure 12, the registered image Im6 includes at least an image display area Ar71, a drug information display area Ar72, an image adjustment area Ar73, an operation panel display area Ar74, and a "Confirm" button. Each of these areas and the "Confirm" button has the same functionality as the image display area Ar61, drug information display area Ar62, image adjustment area Ar63, operation panel display area Ar64, and the "Confirm" button shown in Figure 11.

[0143] The user selects the image containing the most printed information in each of the two divided regions from the seven images contained in the image display area Ar71. In other words, for each region, the user selects the image containing printed information that is as similar as possible to the printed information contained in the image data displayed in the drug information display area Ar72.

[0144] In this example, the user selects the third, fourth, and fifth images for one region, and the fourth and fifth images for the other region. Then, as explained using Figure 11, adjustments are made to the third, fourth, and fifth images for one region, and adjustments are made to the fourth and fifth images for the other region. The user presses the "Confirm" button for the adjusted image data that has the highest degree of match between the extracted print information and the print information contained in the selected images. As a result, the registration unit 70 registers the adjusted image data with the highest degree of match in the drug database, linking it to the drug data selected as a result of the search.

[0145] Thus, even when the drug is in capsule form, image data including printing information with the orientation and size specified in the drug database can be registered in the drug database.

[0146] Furthermore, users are not required to select all images that contain the most printed information. For example, for each area, the user may select only one image that contains printed information as similar as possible to the printed information contained in the image data displayed in the drug information display area Ar72.

[0147] Furthermore, in the image data registered in the drug database, as shown in the drug information display area Ar72, the printed information in one area is "ABCD(E)" and the printed information in the other area is "5mg," both facing left. Therefore, when the registration unit 70 displays the printed information in both areas, it displays the left-facing printed information in the image adjustment area Ar73.

[0148] [Data Management System] Next, we will explain the data management system using Figure 13. Figure 13 is a diagram showing an example of a data management system.

[0149] The data management system includes multiple drug sorting devices 1 and a data management device 500 that can communicate with each of the drug sorting devices 1. The drug sorting devices 1 and the data management device 500 transmit and receive data via an internet connection or a dedicated VPN (Virtual Private Network) connection. Note that the data management system may include only one drug sorting device 1.

[0150] The drug sorting device 1 includes a control unit 60a and a storage unit 80 as shown in Figure 1, as well as a transmitting / receiving unit 101 that transmits and receives data with a data management device 500. The transmitting / receiving unit 101 transmits, for example, image data of drugs sorted into the provisional determination area Ar12 to the data management device 500.

[0151] The data management device 500 comprises a transmitting / receiving unit 501, a control unit 502, a touch panel 503, and a storage unit 504. The transmitting / receiving unit 501 transmits and receives data with the drug sorting device 1. For example, the transmitting / receiving unit 501 receives image data from the transmitting / receiving unit 101. The control unit 502 comprehensively controls the data management device 500 and mainly comprises a registration unit 521. The registration unit 521 has the same functions as the registration unit 70 shown in Figure 1. The touch panel 503 comprises an operation unit 531 and a display unit 532. The touch panel 503, operation unit 531, and display unit 532 have the same functions as the touch panel 3, operation unit 31, and display unit 32 shown in Figure 1, respectively. The storage unit 504 stores a comprehensive drug database and drug databases. The drug database may be dedicated to each drug sorting device 1 or may be common to each drug sorting device 1.

[0152] For example, in the data management device 500, the transmitting / receiving unit 501 receives image data of drugs sorted into the provisional determination area Ar12 in each drug sorting device 1 from each drug sorting device 1. Then, the drug registration process described above is performed on each image data. The registration unit 521 registers the adjusted image data in the drug database, linking it to the drug data identified by the user.

[0153] The control unit 502 controls the transmitting / receiving unit 501 to transmit the drug database containing the adjusted image data to each drug sorting device 1. Alternatively, the control unit 502 may transmit only the data containing the adjusted image data and the drug data associated with that image data to each drug sorting device 1. Furthermore, the control unit 502 may transmit the drug database only to the drug sorting device 1 that transmitted the image data.

[0154] Thus, the data management device 500 includes a transmitting / receiving unit 501 that receives image data of drugs for which drug data corresponding to the image data has been determined not to exist in the drug sorting device 1, and a registration unit 521 that registers drug data of drugs related to the image data, as identified by the user, in association with the image data. As a result, even if the drug sorting device 1 does not have a registration unit 70 (even if drug registration processing is not performed in the drug sorting device 1), the image data of the estimated drug can be registered in the drug database.

[0155] Furthermore, in this data management system, the data management device 500 manages the drug database used in each drug sorting device 1. Therefore, it is not necessary to manage the drug database in the storage unit 80 of each drug sorting device 1.

[0156] Furthermore, data transmission and reception between the drug sorting device 1 and the data management device 500 does not necessarily have to be performed using the aforementioned line. For example, data transmission and reception with the data management device 500 may be performed using a communication device different from the drug sorting device 1 (e.g., a PC (Personal Computer)). Alternatively, a storage medium (e.g., an HDD (Hard Disk Drive) or DVD (Digital Versatile Disc)) containing the data to be sent to the recipient may be sent to the recipient. When a communication device or storage medium is used, the drug sorting device 1 does not need to have a transmitting / receiving unit 101. Also, the data management device 500 does not need to have a transmitting / receiving unit 501.

[0157] Furthermore, when managing a comprehensive drug database in a hospital, ward, or pharmacy, the data management device 500 may transmit the comprehensive drug database to a data management device installed in the hospital, ward, or pharmacy. In this case, the comprehensive drug database can be managed in the hospital, ward, or pharmacy. Additionally, storage media containing the comprehensive drug database may be distributed to the hospital, ward, or pharmacy.

[0158] [Embodiment 2] Other embodiments of the present invention will be described below. For the sake of clarity, components having the same function as those described in the above embodiments will be denoted by the same reference numerals, and their descriptions will not be repeated. The same applies to the following embodiments. Figure 14(a) is a plan view showing an example of a drug placement platform 133a moved to the placement area Ar2, and (b) and (c) are plan views showing an example of a drug placement platform 133a after the position of the drug has been adjusted.

[0159] The drug sorting device 1 of this embodiment does not need to have a registration unit 70. In other words, it is not necessary for the second storage unit 14 to have two areas, the confirmed area Ar11 and the provisional determination area Ar12. In this case, the control unit 60a sorts the drugs whose type it has been able to identify, as well as the estimated drugs, into one of the sorting positions (sorting cups 141) in the second storage unit 14. In other words, even estimated drugs will be sorted into the second storage unit 14 without being sorted into the standby tray 15, as long as there is space in the sorting cup 141.

[0160] In other words, the drug sorting device 1 of this embodiment only needs to have at least the following basic configuration. The same applies to subsequent embodiments. • A first storage section 11 for storing multiple types of drugs in a mixed state. • A second storage section 14 for storing drugs sorted by type. • An imaging unit 13 for imaging the drug removed from the first storage section 11. A discrimination unit 64 that determines the type of drug based on the image captured by the imaging unit 13. Based on the discrimination results from the discrimination unit 64, the transport and sorting unit 12 stores the drugs by type into the second storage unit 14.

[0161] As described in Embodiment 1, the swivel mechanism 133b shown in Figures 3(a) and 3(b) is capable of vibrating the drug placement platform 133a. By vibrating the drug placement platform 133a with the swivel mechanism 133b, the engraved information or printed information can be directed in a predetermined direction.

[0162] Here, as shown in Figure 14(a), when the drug placement platform 133a rotates and moves from the receiving area Ar1 to the placement area Ar2 by the rotation mechanism 133b, the centrifugal force acting on the drug may cause it to move to the edge of the drug placement platform 133a. In this case, if a constant vibration is performed regardless of the size or shape of the drug, the drug may repeatedly collide with the edge of the drug placement platform 133a, making it impossible to orient the drug in the predetermined direction. If it is not possible to orient the drug in the predetermined direction, the number of imaging sessions may increase, or only images from which it is difficult to extract marking or printing information may be captured.

[0163] In the drug sorting device 1 of this embodiment, the swirling mechanism 133b (oscillating mechanism) oscillates (vibrates) the drug placement platform 133a located in the placement area Ar2 based on the size and shape of the drug placed on the drug placement platform 133a.

[0164] Specifically, the imaging control unit 63 identifies the length (size) and shape of the drug contained in the image based on the image captured by the first camera 131. Known techniques can be used for this identification. The memory unit 80 stores the drug length, shape, vibration amount (magnitude of vibration) of the drug placement platform 133a, and vibration frequency per unit time, all linked together. The vibration amount and frequency are set, for example, through experiments.

[0165] If the drug is a tablet, as shown in Figure 14(b), the amount and frequency of vibration are set so that, for example, from the state shown in Figure 14(a), the drug is placed near the center of the inclined surface 133ab when one of the inclined surfaces 133ab is made approximately horizontal. If the drug is a capsule, as shown in Figure 14(c), the amount and frequency of vibration are set so that, for example, from the state shown in Figure 14(a), the drug is placed near the center of the bottom surface 133aa when the bottom surface 133aa is made approximately horizontal. For example, the smaller the length (size) of the drug, the greater the amount of movement of the drug placement platform 133a due to vibration, so the amount of vibration is set to be smaller.

[0166] The imaging control unit 63 vibrates the drug placement platform 133a in the placement area Ar2 with a vibration amount and frequency linked to the length or shape of the drug identified from the captured image. This allows the drug to be placed in a position where the first camera 131 can easily capture the engraved or printed information, as shown in Figure 14(b) for tablets and as shown in Figure 14(c) for capsules. Therefore, an increase in the number of imaging cycles can be prevented.

[0167] Furthermore, by vibrating the drug placement platform 133a based on the size and shape of the drug, it is possible to prevent the drug from flying off the platform due to the vibration of the platform 133a. In addition, the vibration of the platform 133a prevents the drug from continuously colliding with the edge of the platform 133a. Therefore, the possibility of damage to the drug due to collision can be reduced (the stress on the drug can be reduced).

[0168] [Embodiment 3] In this embodiment, we will describe how to speed up the discrimination process. Figure 15 is a diagram showing an example of an image captured by the second camera 121 of the first housing unit 11.

[0169] The drug sorting device 1 of this embodiment, in addition to the basic configuration described in Embodiment 2, also includes, similar to Embodiment 1, an adsorption mechanism (extraction mechanism) for extracting drugs stored in the first storage section 11, and a second camera 121 (second imaging section) for imaging the drugs when the adsorption mechanism extracts them.

[0170] The transport control unit 61 determines which drug to be adsorbed by the adsorption mechanism from among the multiple types of drugs stored in the first storage unit 11, based on the analysis results of the imaging control unit 63 of the image captured by the second camera 121. The transport control unit 61 may also determine which drug to be adsorbed by the adsorption mechanism based on the size of the outline of the drug (object) contained in the image, as detected by the imaging control unit 63. Known techniques may be used for outline detection. The order in which the drugs are taken out is predetermined. For example, it may be set to take out drugs in order from largest to smallest outline.

[0171] When the drug extraction order is determined based on the size of the drugs, the adsorption mechanism is likely to extract drugs of the same type consecutively. For example, as shown in Figure 15, suppose the image captured by the second camera 121 contains drugs "A" to "E" of different types (sizes). The sizes are assumed to be drug "A" > drug "B" > drug "C" > drug "D" > drug "E".

[0172] As described above, when the order in which the drugs are extracted is set, in the example shown in Figure 15, the adsorption mechanism first extracts drug "A" in succession. Once the extraction of drug "A" is complete, it then extracts drug "B" in succession. After that, it extracts drug "C" in succession, then drug "D" in succession, and finally drug "E" in succession. In other words, the adsorption mechanism extracts each of drugs "A" through "E" in succession.

[0173] In this case, the discrimination unit 64 is highly likely to perform discrimination processing for the same type of drug consecutively. Therefore, in the drug sorting device 1 of this embodiment, the discrimination unit 64 determines whether the degree of agreement between the contour of the drug extracted by the adsorption mechanism this time and the contour of the drugs extracted by the adsorption mechanism in previous instances is greater than or equal to a predetermined value in the image captured by the second camera 121. If the discrimination unit 64 determines that the degree of agreement is greater than or equal to a predetermined value, it applies the drug data that was applied when discriminating the type of drug extracted in previous instances to discriminating the type of drug extracted this time.

[0174] The predetermined value should be set to such an extent that, for example, by conducting an experiment, it can be determined that drugs with the same type of drug contours are the same type of drug when comparing their contours. Furthermore, known techniques may be used to calculate the degree of agreement. The determination of the degree of agreement may also be performed, for example, by the transport control unit 61.

[0175] Specifically, the imaging control unit 63 detects the outlines of all the drugs contained in the first storage unit 11 by analyzing the images captured by the second camera 121. The transport control unit 61 determines which drugs to extract according to a preset drug extraction order. The transport control unit 61 stores the outline data of the drugs selected for extraction in the storage unit 80.

[0176] Similar to Embodiment 1, the discrimination unit 64 extracts characteristics of the extracted drug from the image captured by the first camera 131 and identifies the type of drug by comparing these characteristics with the drug database. The discrimination unit 64 stores the identified type of drug (drug data) in the storage unit 80, linking it to the contour data of the drug.

[0177] The transport control unit 61 retrieves the next drug according to a preset drug retrieval order and stores the contour data of the drug in the storage unit 80. The discrimination unit 64 compares the contour data of the previously retrieved drug with the contour data of the currently retrieved drug to calculate the degree of agreement between the contours of these drugs and determines whether the degree of agreement is equal to or greater than a predetermined value. If the discrimination unit 64 determines that the degree of agreement is equal to or greater than a predetermined value, it determines the type of drug by comparing the characteristics of the currently retrieved drug with the drug data linked to the contour data of the previously retrieved drug.

[0178] If the discrimination unit 64 can determine the type of drug being extracted using the drug data of the previously extracted drug, it repeats the above process. In other words, if the degree of agreement between the contour data of the drug being extracted this time and the contour data of previously extracted drugs stored in the storage unit 80 is greater than a predetermined value, the discrimination unit 64 compares the characteristics of the drug being extracted this time with the drug data of previously extracted drugs.

[0179] As described above, if the same type of drug is stored in the first storage unit 11, the same type of drug will be retrieved consecutively. In this embodiment, if the degree of agreement is above a predetermined value, it is assumed that the same type of drug as the previous one has been retrieved, and the type of drug retrieved this time is determined using the drug data of the drugs retrieved up to the previous time. This eliminates the need to compare the characteristics of the drug extracted from the image captured by the first camera 131 with the drug database for each drug of the same type, as in Embodiment 1. Therefore, it is possible to shorten the processing time required to determine the type of drug.

[0180] Furthermore, if the discrimination unit 64 determines that the degree of agreement is less than a predetermined value, it determines that a different type of drug has been retrieved from the previous drug, and, as in Embodiment 1, uses the drug database to determine the type of drug. Based on this determination result, the transport control unit 61 updates the drug contour data stored in the storage unit 80 with the contour data of the drug retrieved this time. The discrimination unit 64 uses the updated contour data in subsequent processing. Note that the transport control unit 61 may also perform the contour data update process.

[0181] In this case, drugs of different types but approximately the same size may be stored in the first storage section 11. In this case, the size of the drug extracted this time may be approximately the same as the drugs extracted previously, but the type of drug extracted this time may be different from the type of drug extracted previously. In this case, the discrimination unit 64 determines that the degree of agreement is above a predetermined value, but even if a comparison is performed using the drug data of the drugs extracted previously, the type of drug extracted this time cannot be determined.

[0182] If drugs of roughly the same size but different types are successively extracted, the system determines each time whether the degree of similarity is above a predetermined value and performs a comparison using drug data from previously extracted drugs. Each time the comparison fails, the discrimination unit 64, as in Embodiment 1, uses the results of analyzing the image captured by the first camera 131 of the drug extracted this time and the drug database to determine the type of drug. Therefore, if drugs of roughly the same size but different types are successively extracted, it will actually increase the processing time.

[0183] Therefore, if the discrimination unit 64 fails to determine the type of drug after a predetermined number of attempts using the drug data applied when determining the type of drug extracted in previous attempts, it may discontinue applying the drug data. In this case, even if drugs of roughly the same size but different types are extracted sequentially, the increase in processing time can be suppressed. The predetermined number of attempts should be set to a number that does not significantly affect the increase in processing time (e.g., 3 times).

[0184] Furthermore, if the discrimination unit 64 discontinues applying the drug data that was used to determine the type of drug extracted in the previous instance, it will determine the type of drug extracted this time by using the results of analyzing the image captured by the first camera 131 for the drug extracted this time and the drug database, similar to Embodiment 1.

[0185] As described above, the drug sorting device 1 of this embodiment has the following configuration.

[0186] In other words, the drug sorting device 1 according to one aspect of this embodiment includes a first storage section 11 for storing multiple types of drugs in a mixed state, a second storage section 14 for storing drugs sorted by type, an imaging unit 13 (imaging unit) for imaging the drugs, a discrimination unit 64 for determining the type of drug based on the image captured by the imaging unit 13, a transport and sorting unit 12 (sorting unit) for storing the drugs by type in the second storage section 14 based on the discrimination result by the discrimination unit 64, an adsorption mechanism (extraction mechanism) for taking out the drugs stored in the first storage section 11, and a second camera 121 (second imaging unit) for imaging the drugs when the adsorption mechanism takes out the drugs. The discrimination unit 64, when the degree of agreement between the contour of the drug taken out by the adsorption mechanism this time and the contour of the drug taken out by the adsorption mechanism in previous instances is greater than or equal to a predetermined value in the image captured by the second camera 121, applies the drug data applied when determining the type of drug taken out in previous instances to determine the type of drug taken out this time.

[0187] Furthermore, in one aspect of this embodiment, the drug sorting device 1, in the above-described embodiment, may discontinue the application of the drug data if, when applying the drug data used to determine the type of drug extracted in previous instances to determine the type of drug extracted this time, it fails to determine the type of drug more than a predetermined number of times.

[0188] [Embodiment 4] In this embodiment, an example of the packaging machine 700 will be described. Figure 16 is a diagram illustrating an example of the packaging machine 700, where (a) is a front view of the packaging machine 700, (b) is a diagram showing an example of the cassette storage mechanism 705, and (c) and (d) are diagrams illustrating examples of the use of the replenishment table 703. Figure 17 is a block diagram illustrating an example of the packaging machine 700.

[0189] The packaging machine 700 is used to package pharmaceuticals and, as shown in Figures 16(a) and 17, is equipped with a barcode reader 701, a variable cassette mounting section 702, a replenishment table (filling table) 703, and a touch panel 704. The packaging machine 700 is the return destination for pharmaceuticals sorted by the pharmaceutical sorting device 1. Also, as shown in Figures 16(b) and 17, a cassette storage mechanism 705 is provided inside the packaging machine 700 when the opening / closing door 710 is opened.

[0190] The barcode reader 701 reads the information contained in the barcode attached to the journal issued by the drug sorting device 1 or the packaging machine 700, or the barcode attached to the drug box containing the drug. The barcode is, for example, a GS1 code to which identification information such as the drug name is attached.

[0191] The variable cassette mounting section 702 drives the mounted variable cassette 801. The variable cassette 801 dispenses the inserted drug to a dispensing mechanism (not shown) built into the dispensing machine 700.

[0192] As shown in Figure 16(c), the replenishment table 703 is a platform on which a fixed cassette 800 can be placed. When the replenishment table 703 is pulled out to the front side (the side from which the fixed cassette 800 is removed) of the packaging machine 700, which is equipped with an opening / closing door 710, one of the multiple fixed cassettes 800 stored in the cassette storage mechanism 705 is placed on the replenishment table 703. An RFID reader is provided on the replenishment table 703 at the position where the fixed cassette 800 is placed.

[0193] An RFID tag is provided at the bottom of the fixed cassette 800. The RFID tag stores drug data (e.g., identification information) of the drug contained in the fixed cassette 800. When the fixed cassette 800 is placed on the replenishment table 703, the RFID reader reads the drug data stored in the RFID tag.

[0194] The touch panel 704 accepts various user inputs and displays various images.

[0195] The cassette storage mechanism 705 comprises multiple fixed cassette mounting sections 705b (cassette storage sections) capable of storing fixed cassettes 800 containing pharmaceuticals. The multiple fixed cassette mounting sections 705b (and the fixed cassettes 800 stored in each fixed cassette mounting section 705b) are rotatable about the Z-axis so that they can all be positioned on the front side of the dispensing machine 700. In other words, the cassette storage mechanism 705 comprises a shaft section 705a that rotates about the Z-axis, and multiple fixed cassette mounting sections 705b provided substantially perpendicular to the shaft section 705a.

[0196] Furthermore, as shown in Figure 17, the packaging machine 700 includes a control unit 706 that controls various parts of the packaging machine 700, and a storage unit 707 that stores various data. The storage unit 707 stores, for example, the position of each fixed cassette mounting section 705b, the cassette number assigned to each fixed cassette 800, and the identification information of the drug contained in each fixed cassette 800, all linked together.

[0197] When a fixed cassette 800 is filled with medication (or returned), the barcode reader 701 reads the identification information contained in the barcode attached to the journal or medication box. The control unit 706 refers to the storage unit 707 to identify the cassette number associated with the read identification information and to identify the storage location of the fixed cassette 800 with the identified cassette number. The control unit 706 rotates the shaft 705a so that the identified storage location is on the front side of the dispensing machine 700. This allows the user to easily remove the fixed cassette 800 to which the medication will be filled.

[0198] The user can fill the fixed cassette 800, which is located on the front side of the packaging machine 700 and will be used as the filling destination for the drug, with the drug by placing it on the replenishment table 703. At this time, the RFID reader reads the identification information contained in the RFID tag, and the control unit 706 compares the identification information read by the RFID reader with the identification information read by the barcode reader 701. This makes it possible to determine whether the fixed cassette 800 is the appropriate fixed cassette 800 for filling the drug, even before the drug is filled.

[0199] If we do not consider the filling of the drugs sorted by the drug sorting device 1 into the packaging machine 700, then, as described above, the shaft 705a can be rotated when the barcode reader 701 reads the identification information. In other words, in this case, it is not necessary to rotate the shaft 705a when the RFID reader on the replenishment table 703 reads the identification information.

[0200] However, when considering the filling of drugs sorted by the drug sorting device 1 into the packaging machine 700, it is necessary to rotate the shaft portion 705a when the identification information stored in the RFID tag of the sorting cup 141 is read. This is because it is necessary to use the identification information stored in the RFID tag of the sorting cup 141 to position a fixed cassette 800 containing the same type of drug as the drug contained in the sorting cup 141 on the front side of the packaging machine 700, and to make the fixed cassette 800 removable.

[0201] When filling the fixed cassettes 800 stored in the packaging machine 700 with drugs sorted by the drug sorting device 1, the user carries the sorting cups 141 containing the drugs to be filled into the fixed cassettes 800 to the packaging machine 700. Then, as shown in Figure 16(d), the user places them on the replenishment table 703 of the packaging machine 700. In other words, the replenishment table 703 can also be described as a stand on which the sorting cups 141 can be placed.

[0202] In the drug sorting device 1, the identification information (drug data) of the sorted drugs is stored in the RFID tag of the sorting cup 141. Therefore, when the sorting cup 141 is placed on the replenishment table 703, the RFID reader reads the identification information stored in the RFID tag of the sorting cup 141.

[0203] In this case, the control unit 706 refers to the memory unit 707 to identify the cassette number associated with the identification information read by the RFID reader from the RFID tag on the sorting cup 141, and also identifies the storage location of the fixed cassette 800 to which the identified cassette number is attached. In other words, triggered by the reading of the identification information by the RFID reader, the control unit 706 rotates the shaft 705a so that the identified storage location (fixed cassette mounting section 705b) is positioned on the front side of the packaging machine 700.

[0204] The user can fill the fixed cassette 800, which is located on the front side of the packaging machine 700 and serves as the destination for filling the medication contained in the sorting cup 141, with the medication by placing it on the replenishment table 703.

[0205] Furthermore, the reading of identification information by the RFID reader on the replenishment table 703 only needs to be performed if a sorting cup 141 is provided. For example, if a weighing device (not shown) is provided on the replenishment table, the control unit 706 may determine that it is a sorting cup 141 if the weight is less than a predetermined value, and rotate the shaft portion 705a using the identification information read by the RFID reader.

[0206] <Variation> The cassette storage mechanism 705 is a mechanism in which multiple fixed cassette mounting sections 705b rotate around a shaft section 705a, but it is not limited to this. For example, it may be a non-rotating type cassette storage mechanism in which multiple fixed cassette mounting sections do not rotate.

[0207] Figures 18(a) and (b) show an example of a non-rotating cassette storage mechanism 705A. Figure 18(a) is a front view of the cassette storage mechanism 705A, and (b) is a perspective view of the cassette storage mechanism 705A with the cassette storage shelf 7051 extended. Figures 18(c) and (d) show an example of a non-rotating cassette storage mechanism 705B. Figure 18(c) is a front view of the cassette storage mechanism 705B, and (d) is a perspective view of the cassette storage mechanism 705B with the cassette storage shelf 7055 extended.

[0208] As shown in Figure 18(a), the cassette storage mechanism 705A is equipped with multiple cassette storage shelves 7051 that can be pulled out to the front side of the packaging machine 700. As shown in Figure 18(b), the cassette storage shelves 7051 are provided with multiple partition plates 7052 that are parallel to the bottom 7053. Multiple fixed cassette mounting sections are formed by the multiple partition plates 7052 and the bottom 7053.

[0209] An alert unit 7054a is provided on the front of the cassette storage shelf 7051. In addition, an alert unit 7054b is provided on each of the multiple fixed cassette mounting sections of the partition plate 7052 and the bottom section 7053. The alert units 7054a and 7054b are components for indicating the storage location of the fixed cassette 800 that has been identified as the destination for drug filling, and are implemented, for example, by LEDs (Light Emitting Diodes). As described above, when the control unit 706 identifies the storage location of the fixed cassette 800 that will be the destination for drug filling by referring to the memory unit 707, it lights up the alert unit 7054a of the cassette storage shelf 7051 where that storage location is located, and the alert unit 7054b of that storage location.

[0210] Furthermore, as shown in Figure 18(c), the cassette storage mechanism 705B includes a plurality of cassette storage shelves 7055 that can be pulled out to the front side of the packaging machine 700. As shown in Figure 18(d), the cassette storage shelves 7055 are provided with a partition plate 7057 that divides the bottom portion 7056 into two in the depth direction (pull-out direction). The bottom portion 7056 has a plurality of fixed cassette mounting sections formed on both sides of the partition plate 7057 and in the depth direction, on which fixed cassettes 800 can be placed.

[0211] The front of the cassette storage shelf 7055 is provided with an alert unit 7058a having the same function as the alert unit 7054a. In addition, each of the multiple fixed cassette mounting sections on the bottom 7056 is provided with an alert unit 7058b having the same function as the alert unit 7054b. As described above, the control unit 706, by referring to the memory unit 707, identifies the storage position of the fixed cassette 800 as the destination for drug filling, and then illuminates the alert unit 7058a of the cassette storage shelf 7055 where that storage position is located, and the alert unit 7058b of that storage position.

[0212] Furthermore, the non-rotating cassette storage mechanism is not limited to the configuration shown in Figure 18. For example, there may be only one cassette storage shelf. Also, in the configuration of Figure 18(a), one cassette storage shelf may be divided by a partition plate extending in the depth direction, and fixed cassettes 800 may be placed in two rows in the depth direction. Also, in the configuration of Figure 18(c), one cassette storage shelf may not be divided by a partition plate, and fixed cassettes 800 may be placed in one row in the depth direction.

[0213] Furthermore, the non-rotating cassette storage mechanism does not necessarily have to be configured with multiple fixed cassette mounting sections on a single cassette storage shelf. For example, all of the multiple fixed cassette mounting sections may be arranged so that they face the front of the packaging machine 700 and can be pulled out to the front. In this case, each of the multiple fixed cassette mounting sections is provided with an alert unit.

[0214] As described above, the non-rotating cassette storage mechanism according to this modified example is equipped with a notification unit, which allows the user to remove the desired fixed cassette 800.

[0215] The notification unit may also be a touch panel 704. In this case, for example, an image showing each storage position is displayed on the touch panel 704, and when the control unit 706 identifies the storage position of the fixed cassette 800 as the destination for filling the drug, it highlights that storage position. Furthermore, if multiple fixed cassette mounting sections are provided in one cassette storage shelf as shown in Figure 18, in addition to the storage position, the cassette storage shelf in which the storage position is located is also highlighted.

[0216] [Embodiment 5] The drug sorting device 1 may display a user-defined image (user-defined screen) Im8 as shown in Figure 19. Figure 19 is a diagram showing an example of a user-defined image Im8.

[0217] As shown in Figure 19, the user-configured image Im8 includes sorting condition setting areas Ar81, Ar82, and Ar83, which allow setting sorting conditions for disposing of the drugs stored in the first storage unit 11 without returning them to the packaging machine 700 or drug shelf.

[0218] The sorting condition setting area Ar81 is an area that can accept input of the number of days elapsed since the last packaging date issued by the packaging machine 700. Information indicating the last packaging date for each drug can be obtained from the packaging machine 700. The control unit 60a does not perform discrimination processing for drugs whose sorting date is more than the number of days entered since the last packaging date indicated by the acquired information, and transports them to the collection tray 16.

[0219] When medication is returned to the fixed cassette 800 of the dispensing machine 700, it will be placed on top of the medication already contained in the fixed cassette 800 at the time of return. If medication with an older manufacturing date is returned than the medication contained in the fixed cassette 800, that medication will be placed above the fixed cassette 800. Generally, medication is dispensed from the bottom of the fixed cassette 800, so if medication with an older manufacturing date is returned, it will take a long time to be dispensed. Therefore, it is undesirable from a medication operation or safety standpoint for medication with an older manufacturing date to be placed above it. The same applies when returning medication with an older manufacturing date to a medication container on a medication shelf, or when dispensing it in dispensing paper and returning it to a medication shelf.

[0220] In this embodiment, the number of days elapsed can be set as a sorting condition in the sorting condition setting area Ar81, so that older pharmaceuticals can be transported to the recovery tray 16. Therefore, these pharmaceuticals can be discarded, thus avoiding their use.

[0221] Furthermore, the sorting condition setting area Ar82 is an area that can accept input of drug prices as sorting conditions. The drug price for each drug is stored in the storage unit 80, for example, linked to the drug data. If a drug price is entered in the sorting condition setting area Ar82, the control unit 60a does not perform discrimination processing for drugs with a drug price below that amount and transports them to the collection tray 16.

[0222] Furthermore, the sorting condition setting area Ar83 is an area where the user can input the name of the drug they wish to discard as part of the sorting conditions. If a drug name is entered in the sorting condition setting area Ar83, the control unit 60a will not perform any discrimination processing on that drug and will transport it to the collection tray 16.

[0223] In this way, the chemicals corresponding to the information entered in the sorting condition setting areas Ar82 and Ar83 can be transported to the collection tray 16. In other words, just as when using the sorting condition setting area Ar81, the chemicals that the user wishes to discard can be transported to the collection tray 16. Therefore, the chemicals can be discarded, and their use can be avoided.

[0224] [Embodiment 6] In this embodiment, the configuration for shortening the time required for drug sorting will be explained using Figure 1. The drug sorting device 1 of this embodiment only needs to have the basic configuration described in Embodiment 2. In other words, as in Embodiment 2, it is not necessarily required to have a registration unit 70, and it is not necessarily required that the second storage unit 14 has two areas, a confirmed area Ar11 and a provisional determination area Ar12.

[0225] As described in Embodiment 1 with reference to Figure 1, the discrimination unit 64 determines the type of drug based on the image captured by the first camera 131. For example, the discrimination unit 64 extracts drug characteristics such as size, shape, markings, prints, slits, and representative colors by analyzing visible light images and ultraviolet light images, and compares these drug characteristics with the drug database. Specifically, the discrimination unit 64 uses at least one of the extracted drug characteristics to narrow down candidate drug data from the drug database, then reads identification information such as markings or prints, and further narrows down the type of drug from the candidates using pattern matching or the like.

[0226] Here, an increase in the number of drug data entries registered in the drug database means an increase in the number of drug data entries that must be compared with the characteristics of the extracted drugs. Therefore, the more drug data entries there are, the longer the time required to compare the characteristics of the extracted drugs with the drug database, which in turn increases the processing time for drug sorting.

[0227] In the drug sorting device 1 of this embodiment, the discrimination unit 64 has the following functions in order to suppress the increase in processing time. Specifically, the discrimination unit 64 determines the type of drug by comparing the characteristics of the drug extracted from the image captured by the first camera 131 with drug data relating to drugs that have been packaged by the packaging machine 700 within a predetermined period (e.g., within one month) from among the drug data relating to multiple types of registered drugs. In other words, the discrimination unit 64 uses drug data relating to drugs that have been packaged by the packaging machine 700 within a predetermined period as the target for comparison of the characteristics of the drug extracted from the captured image.

[0228] The packaging machine 700 (see Figure 16) and the drug sorting device 1 manage the date and time of packaging by the packaging mechanism 6 of the packaging machine 700 and the drug sorting device 1, respectively, by linking it to the drug data to be packaged. If the drug sorting device 1 and the packaging machine 700 are connected in a communication-enabled manner, the drug sorting device 1 can manage not only the date and time of packaging by the packaging mechanism 6, but also the date and time of packaging by the packaging machine 700. Note that the management of the date and time of packaging by the packaging machine 700 and the packaging mechanism 6 of the drug sorting device 1 may be performed by a higher-level system that is connected in a communication-enabled manner to the packaging machine 700 and the drug sorting device 1. Alternatively, the drug sorting device 1 may identify the date and time of packaging by the packaging machine 700 or the packaging mechanism 6 based on the received prescription data (e.g., prescription information for one patient).

[0229] The discrimination unit 64 extracts drug data from the drug database whose packaging date and time fall within a predetermined period, and uses the extracted drug data as the target for comparison with the drug characteristics extracted from the captured image. As a result, it is not necessary to include all drug data registered in the drug database as the target for comparison, thus reducing the comparison time (the processing time for determining the type of drug).

[0230] The drugs sorted by the drug sorting device 1 are either packaged by the packaging mechanism 6 or the packaging machine 700, or returned to the drug shelves. In other words, the sorted drugs are used for prescription. Therefore, older drugs (e.g., drugs packaged outside the specified period) are subject to disposal (not subject to packaging or return), and are unlikely to require sorting by the drug sorting device 1. For this reason, even if drug data related to drugs packaged within the specified period is used as the comparison target, there is a high probability that the type of drug stored in the first storage unit 11 can be identified.

[0231] Furthermore, if the drug data for drugs packaged within a predetermined period does not include the characteristics of the drug contained in the captured image, the transport / sorting unit 12 may transport the drug to the standby tray 15. In the case of Embodiment 1, the transport / sorting unit 12 may also transport the drug to the standby tray 15 or to the provisional determination area Ar 12 set in the second storage unit 14. In addition, the discrimination unit 64 may use all drug data registered in the drug database (excluding the drug data targeted for comparison) as the comparison target.

[0232] [Embodiment 7] In this embodiment, the configuration for shortening the time required for drug sorting will be explained using Figure 1. The drug sorting device 1 in this embodiment only needs to have the same basic configuration as in Embodiment 6, as described in Embodiment 2.

[0233] As shown in Figure 1, the drug sorting device 1 of this embodiment includes a standby tray 15 and a sorting control unit 62 in addition to the basic configuration described above. The standby tray 15 is a tray (temporary storage unit) for temporarily storing drugs that could not be stored in the second storage unit 14, as explained in Embodiment 1. The sorting control unit 62 determines the sorting position of the drugs based on the discrimination result by the discrimination unit 64, as explained in Embodiment 1. In addition, the sorting control unit 62 stores the determined sorting position and the drug data used for verification by the discrimination unit 64 in the storage unit 80.

[0234] Furthermore, in the drug sorting device 1 of this embodiment, the discrimination unit 64 performs the following processing when storing drugs contained in the standby tray 15 in the second storage unit 14 (re-sorting). That is, the discrimination unit 64 determines the type of drug by comparing the image of the drug taken out of the standby tray 15 and captured by the first camera 131 with drug data associated with the standby tray 15 as a sorting position determined by the sorting control unit 62.

[0235] Note that the above processing for re-sorting may be performed by a different discrimination unit (second discrimination unit) than the discrimination unit 64. In this embodiment, however, this processing is described as being performed by the discrimination unit 64 (i.e., the discrimination unit 64 has the function of the second discrimination unit).

[0236] If the second storage unit 14 does not have a confirmed area Ar11 and a provisional determination area Ar12, the type of drug that has been identified is stored in the sorting cup 141 of the second storage unit 14 according to its type. When all sorting cups 141 are filled with drugs, if it is determined that a drug is of a different type than the drugs stored in the sorting cups 141, that drug is stored in the standby tray 15. Also, if the second storage unit 14 has a confirmed area Ar11 and a provisional determination area Ar12, and it becomes impossible to store drugs in the confirmed area Ar11, drugs that would subsequently be subject to storage in the confirmed area Ar11 may be stored in the standby tray 15.

[0237] The drugs stored in the standby tray 15 are re-sorted after a slot becomes available in the sorting cup 141 of the second storage unit 14. In other words, the drugs stored in the standby tray 15 are imaged again by the first camera 131, and then, based on the discrimination result by the discrimination unit 64, are stored in an empty sorting cup 141.

[0238] In this case, the discrimination unit 64 may extract the characteristics of the drug from the captured image and compare those characteristics with all drug data registered in the drug database. However, comparing with all drug data requires processing time equal to the number of registered drug data entries. Furthermore, since the type of drug can be determined as a result of the above comparison before being placed in the standby tray 15, it is not necessarily required to perform the same comparison with all registered drug data after being removed from the standby tray 15.

[0239] Therefore, when the discrimination unit 64 performs a re-sorting of the drugs contained in the standby tray 15, it compares the image of the drug taken after it is removed from the standby tray 15 with the drug data in which the standby tray 15 is registered as a sorting location among all the registered drug data. Specifically, the discrimination unit 64 extracts the characteristics of the drug from the image of the drug and compares the extracted characteristics of the drug with the drug data in which the standby tray 15 is registered as a sorting location.

[0240] In other words, the discrimination unit 64 stores the determined sorting position (waiting tray 15) and the drug data used by the discrimination unit 64 to match the drug as the discrimination result (identification result) of the drug stored in the waiting tray 15. As a result, when a drug whose type has been successfully identified once is placed in the waiting tray 15, the discrimination unit 64 can determine the type of the drug using only the drug data related to the drug stored in the waiting tray 15 and whose type has already been identified when determining the type for re-sorting. Therefore, the discrimination processing time can be shortened and the drug identification rate can be improved.

[0241] [Embodiment 8] In this embodiment, an example of processing on the packaging machine 700 side will be explained using Figures 16, 17, and 20 to 22.

[0242] The dispensing machine 700 dispenses the medication supplied from the fixed cassette 800, the variable cassette 801, and the manual dispensing unit 709 in its own dispensing mechanism (not shown). The dispensing machine 700 dispenses the medication in predetermined dispensing units (e.g., by administration period) based on prescription data (e.g., prescription information for one patient). The dispensing machine 700 may also be equipped with a powder dispensing unit for dispensing powdered medication.

[0243] As described in Embodiment 4, when the packaging machine 700 fills the drugs sorted by the drug sorting device 1 into fixed cassettes 800 stored in the packaging machine 700, the user carries the sorting cups 141 containing the drugs to be filled into the fixed cassettes 800 to the packaging machine 700. The user then places them on the replenishment table 703 of the packaging machine 700, as shown in Figure 16(d). The RFID reader (cassette verification reader) on the replenishment table 703 reads information about the drugs contained in the sorting cups 141 (e.g., identification information (e.g., YJ code) and the number of drugs) from the RFID tag on the sorting cups 141. The control unit 706, triggered by the reading of the identification information by the RFID reader, uniformly rotates all fixed cassette mounting units 705b so that the specified storage position (fixed cassette mounting unit 705b) is positioned on the front side of the packaging machine 700.

[0244] In Embodiment 4, the packaging machine 700 is equipped with a shaft portion 705a, and the control unit 706 rotates the shaft portion 705a so that the specified fixed cassette mounting portion 705b is positioned on the front side, but it is not limited to this. The packaging machine 700 described herein does not necessarily need to be equipped with a shaft portion 705a. In other words, the packaging machine 700 only needs to be equipped with a rotation mechanism that rotates all of the specified fixed cassette mounting portions 705b uniformly in the circumferential direction so that the specified fixed cassette mounting portions 705b are positioned on the front side.

[0245] In the packaging machine 700 of this embodiment, upon reading identification information by an RFID reader, the drug contained in the sorting cup 141 may be filled not only into the fixed cassette 800, but also into the variable cassette 801 and the manual dispensing unit 709 for packaging.

[0246] The fixed cassette 800, the variable cassette 801, and the manual dispensing unit 709 are described below.

[0247] <Fixed Cassette> The Fixed Cassette 800 is a cassette (drug cassette) that dispenses a predetermined type of drug. It can also be described as a dedicated cassette whose dispensing is limited to a specific type of drug. In other words, the Fixed Cassette 800 contains a specific type of drug (a predetermined drug).

[0248] Here, "specific type" refers not only to drug types classified based on drug name (ingredients), etc., but also to drugs that are identical in at least one of various indicators, such as drug size (weight), drug shape, drug surface condition (texture), drug hardness, etc. In other words, the fixed cassette 800 is limited to dispensing drugs that are identical in at least one of the following indicators: drug type, size, shape, surface condition, and hardness. Note that the surface condition of the drug refers to its tactile feel, such as being smooth or rough.

[0249] The fixed cassette 800 is capable of dispensing the contained medication in unit amounts (e.g., one tablet at a time). For example, the fixed cassette 800 comprises a medication storage section in which the medication is stored, and a medication dispensing section located below the medication storage section for dispensing the medication stored in the medication storage section individually.

[0250] <Variable Cassette> Figure 20(a) is a perspective view showing an example configuration of the variable cassette 801. The variable cassette 801 is a cassette (drug cassette) that dispenses the type of drug indicated by the dispensing instruction. The variable cassette 801 can also be described as a general-purpose cassette whose dispensing target is not limited to a specific type of drug. In other words, the variable cassette 801 contains one type of drug out of several types. Unlike the fixed cassette 800, the variable cassette 801 does not contain a predetermined specific type of drug; for example, the drug contained in the variable cassette 801 can be changed as appropriate according to prescription data. The variable cassette 801 can dispense any type of drug contained in it in unit amounts by changing the driving conditions. Furthermore, the variable cassette 801 can also be described as a cassette in which the width of the drug passage path can be changed according to the type of drug contained.

[0251] The variable cassette 801 can be removably mounted on the variable cassette mounting unit 702. The variable cassette mounting unit 702 is a mounting unit (motor base) on which the variable cassette 801 can be mounted. The variable cassette mounting unit 702 receives a drug dispensing instruction from the control unit 706 and supplies driving force to the drug drive mechanism in order to dispense the drug from the mounted variable cassette 801. In other words, the control unit 706 controls the variable cassette 801 via the variable cassette mounting unit 702.

[0252] When dispensing medication, the medication to be dispensed is assigned to one of the variable cassettes 801 owned by the user. Subsequently, if the variable cassette 801 is located in the variable cassette mounting unit 702, the lock on the variable cassette mounting unit 702 is released, and the variable cassette 801 becomes removable from the variable cassette mounting unit 702. After the user places the assigned medication into the variable cassette 801, the user returns the variable cassette 801 to the variable cassette mounting unit 702, thereby enabling the dispensing of medication from the variable cassette 801.

[0253] As shown in (a) of FIG. 20, the variable cassette 801 mainly includes a first rotating body 8011, a second rotating body 8012, a height regulating body 8013, and a width regulating body 8014. The first rotating body 8011 and the second rotating body 8012 are a drug conveying mechanism that conveys the input drug to the discharge port 8015 by rotating. The height regulating body 8013 and the width regulating body 8014 are members that define a passage path (passage path width; transfer height h1 and transfer width w1) on the second rotating body 8012 through which the drugs can be conveyed in a line to the discharge port 8015.

[0254] <Manual Dispensing Unit> FIG. 20(b) is a perspective view showing a configuration example of the manual dispensing unit 709. The manual dispensing unit 709 is a unit into which the user can input the drug to be dispensed. As shown in FIG. 20(b), the manual dispensing unit 709 includes a plurality of manual storage portions 709a (mats) into which the drug is input by the user in sub-packaging units, and a manual discharge portion 709b that discharges the drug stored in each manual storage portion 709a for each manual storage portion 709a.

[0255] The plurality of manual storage portions 709a are arranged in a matrix. The manual discharge portion 709b is provided, for example, on the bottom surface of each manual storage portion 709a so that each manual storage portion 709a can be individually opened and closed. The user stores the drug in each manual storage portion 709a while checking an instruction manual indicating which drug is stored in which manual storage portion 709a. Then, under the control of the control unit 706, in accordance with the timing of sub-packaging by the sub-packaging mechanism of the own machine, each manual storage portion 709a is individually opened, and the drug stored in each manual storage portion 709a is discharged.

[0256] The instruction sheet is issued by the control unit 706. The control unit 706 identifies from which unit (e.g., fixed cassette 800, variable cassette 801, manual dispensing unit 709) the drug contained in the sorting cup 141 or the drug included in the prescription data is to be dispensed. When the control unit 706 identifies the manual dispensing unit 709 as the dispensing destination, for each sorting cup 141 or based on the prescription data, it identifies the position of the manual storage unit 709a that stores the drug. By this identification, the control unit 706 prints the position of the manual storage unit 709a that stores the drug on the instruction sheet.

[0257] <Processing in this embodiment> Next, an example of the processing when returning the drug contained in the sorting cup 141 to the drug shelf (not shown) will be described. FIG. 21 is a flowchart showing an example of the sorting process in the packaging machine 700.

[0258] First, the user places the sorting cup 141 on the replenishment table 703. The RFID reader of the replenishment table 703 reads the identification information of the drug contained in the sorting cup 141 from the RFID tag of the sorting cup 141 (S1).

[0259] Next, the control unit 706 identifies whether the filling destination of the designated drug is the variable cassette 801 or the manual dispensing unit 709 (S2).

[0260] Here, the information of the drugs implemented in the packaging machine 700 is stored in the drug sorting device 1. Therefore, when the drug sorting device 1 determines based on the said information that the drug contained in the sorting cup 141 is not implemented in the packaging machine 700, it designates the variable cassette 801 or the manual dispensing unit 709 as the filling destination of the drug. And it issues a journal on which the filling destination information (return destination information) indicating the designated filling destination is printed. It may be determined for each type of drug, for example, which of the variable cassette 801 and the manual dispensing unit 709 is designated.

[0261] Furthermore, the drug sorting device 1 also stores information about the variable cassettes 801 that can be used in the packaging machine 700. Therefore, the drug sorting device 1 can specify which variable cassette 801 to use for distributing the drugs contained in the sorting cups 141. If a user owns multiple packaging machines 700, the drug sorting device 1 stores information about the variable cassettes 801 that can be used in each packaging machine 700.

[0262] The control unit 706 identifies the filling destination of the medicine contained in the sorting cup 141 by referring to the filling destination information of the journal read by, for example, the barcode reader 701. At this time, the control unit 706 determines whether the journal to be referred to is appropriate by referring to the identification information read in S1.

[0263] If the specified drug is to be filled into the variable cassette 801 (YES in S2), the control unit 706 identifies the variable cassette 801, indicated in the filling destination information read from the journal, as the component for dispensing the drug contained in the sorting cup 141 (S3). Subsequently, the control unit 706 makes the identified variable cassette 801 removable.

[0264] Next, the control unit 706 notifies the user to fill the identified variable cassette 801 with the drug. After the user places the drug contained in the sorting cup 141 into the identified variable cassette 801, the user performs a user operation, such as starting the dispensing process. As a result, the control unit 706 performs the dispensing process for the drug (S4). In other words, the drug that was contained in the sorting cup 141 can be dispensed from the variable cassette 801 and dispensed, for example, to be returned to the medicine shelf.

[0265] If the designated drug is to be filled into the manual dispensing unit 709 (NO in S2), the control unit 706 identifies the manual dispensing unit 709 as the component for dispensing the drug contained in the sorting cup 141 (S5). In this case, the control unit 706 determines the position of the manual dispensing storage section 709a that will contain the drug and issues an instruction sheet reflecting this determination. The user, while checking the instruction sheet, places the drug contained in the sorting cup 141 into the manual dispensing storage section 709a and then performs a user operation, for example, to start dispensing. As a result, the control unit 706 performs the dispensing process for the drug (S6). In other words, the drug that was contained in the sorting cup 141 can be dispensed from the manual dispensing unit 709 and dispensed, for example, to be returned to the medicine shelf.

[0266] In this way, the variable cassette 801 or the manual dispensing unit 709 is identified as the destination for filling the medication contained in the sorting cup 141. The dispensing machine 700 then packages the medication dispensed from the variable cassette 801 or the manual dispensing unit 709 for return to the medication shelf. In other words, the medication contained in the sorting cup 141 is packaged on the premise that it is not a medication that is loaded into the dispensing machine 700 (a non-loaded medication). Therefore, the user can fill the medication contained in the sorting cup 141 into the medication shelf without having to consider whether or not it is loaded into the dispensing machine 700.

[0267] When dispensing using the dispensing mechanism 6 of the drug sorting device 1, it is necessary to adsorb each drug contained in the sorting cup 141 one by one using the adsorption mechanism and transport it to the dispensing mechanism 6. When using the variable cassette 801 or manual dispensing unit 709, the drugs contained in the sorting cup 141 can be placed into the variable cassette 801 or manual dispensing unit 709 at once and dispensed sequentially from the variable cassette 801 or manual dispensing unit 709. Therefore, the processing time can be shortened compared to dispensing using the dispensing mechanism 6. In addition, the sorting cup 141 can be emptied early and used to sort drugs of a different type than the drug it originally contained.

[0268] Furthermore, since the packaging mechanism 6 is an optional function of the drug sorting device 1, it may not be provided in the drug sorting device 1. Even in this case, the drugs contained in the sorting cup 141 can be packaged by the packaging machine 700.

[0269] Furthermore, the amount of chemicals contained in each of the multiple sorting cups 141 can be stored in each variable cassette 801, corresponding to the number of usable variable cassettes 801. Also, the amount of chemicals contained in each of the multiple sorting cups 141 can be stored in each hand-dispensing storage section 709a of the hand-dispensing unit 709, corresponding to the number of hand-dispensing storage sections 709a of the hand-dispensing unit 709. Therefore, it becomes possible to dispense the chemicals contained in each of the multiple sorting cups 141 at the same time.

[0270] Note that the processes S2, S4, and S5 may be performed by the user. For example, the user may identify the destination of the drug contained in the sorting cup 141 by checking the journal issued by the drug sorting device 1. In this case, the control unit 706 displays the identification information read from the sorting cup 141 on the touch panel 704. This allows the user to confirm whether or not it is the journal for the drug in question.

[0271] Furthermore, in the above process, the drug contained in the sorting cup 141 is not contained in the fixed cassette 800. However, by attaching an empty fixed cassette 800 capable of dispensing the drug to the fixed cassette mounting section 705b, the control unit 706 may identify the fixed cassette 800 as the destination for filling the drug contained in the sorting cup 141.

[0272] <Alternative processing in this embodiment> Another example of the packaging process in the packaging machine 700 will be described. Figure 22 is a flowchart showing another example of the packaging process in the packaging machine 700.

[0273] This section describes the case where the dispensing machine 700 dispenses medication based on prescription data. It is assumed that, even if there is no fixed cassette 800 containing the medication to be dispensed, the medication to be dispensed is present among the medications sorted by the medication sorting device 1.

[0274] First, when the control unit 706 receives prescription data (S21), it determines whether or not there is a fixed cassette 800 containing the medication included in the prescription data (the medication to be dispensed) (S22). If the control unit 706 determines that the corresponding fixed cassette 800 exists (YES in S22), it identifies the fixed cassette 800 as the cassette for dispensing the medication (S23).

[0275] If the control unit 706 determines that there is no corresponding fixed cassette 800 (NO in S22), it determines whether there is a usable variable cassette 801 among the variable cassettes 801 owned by the user (S24).

[0276] If the control unit 706 determines that a usable variable cassette 801 exists (YES in S24), it identifies the variable cassette 801 as the cassette for dispensing the drug to be dispensed (S25). In other words, the control unit 706 assigns identification information of the drug to be dispensed to the variable cassette 801.

[0277] In addition, the control unit 706 notifies the user to fill the identified variable cassette 801 with the drug. The user takes out the dispensing cup 141 that stores the drug from the drug dispensing device 1 and places the dispensing cup 141 on the replenishment table 703. Thereby, the RFID reader of the replenishment table 703 reads the identification information stored in the RFID tag of the dispensing cup 141 (S26). When the control unit 706 determines that the read identification information matches the identification information assigned to the identified variable cassette 801, the control unit 706 sets the variable cassette 801 to a state where the drug can be loaded (for example, unlocks the variable cassette mounting part 702). Thereafter, after the user stores the drug stored in the dispensing cup 141 in the variable cassette 801, the user performs a user operation for starting the packaging, for example. Thereby, the drug to be dispensed can be dispensed from the variable cassette 801.

[0278] When the control unit 706 determines that there is no available variable cassette 801 (NO in S24), the control unit 706 specifies the hand - pouring unit 709 as the unit for dispensing the drug to be dispensed (S27). In this case, based on the prescription data, the control unit 706 determines the position of the hand - pouring storage part 709a that stores the drug to be dispensed and issues an instruction sheet reflecting the determination result. The user stores the drug (the drug to be dispensed) stored in the dispensing cup 141 in the hand - pouring storage part 709a while checking the instruction sheet, and then performs a user operation for starting the packaging, for example. Thereby, the drug to be dispensed can be dispensed from the hand - pouring unit 709.

[0279] The control unit 706 specifies the dispensing destination for all the drugs included in the prescription data as described above. Thereafter, based on the prescription data, the control unit 706 dispenses the drugs from the fixed cassette 800, the variable cassette 801, and / or the hand - pouring unit 709 and performs the packaging (S28).

[0280] Furthermore, if the medication stored in the fixed cassette 800 becomes empty, the control unit 706 may notify the user that the medication will be stored in the fixed cassette 800. In this case, the user confirms the notification, removes the sorting cup 141 containing the medication from the medication sorting device 1, and places it on the replenishment table 703. As a result, the control unit 706 rotates all the fixed cassette mounting units 705b so that the corresponding fixed cassette 800 is positioned on the front side of the packaging machine 700, allowing the user to store the medication stored in the sorting cup 141 in the fixed cassette 800.

[0281] In the above procedure, the usability of the fixed cassette 800 is determined first, then the usability of the variable cassette 801, and then the usability of the manual dispensing unit 709 is determined, but this is not limited to this procedure. The control unit 706 may specify which of the fixed cassette 800, variable cassette 801, and manual dispensing unit 709 to dispense each type of drug included in the prescription data. For example, the control unit 706 may specify the dispensing destination of the drug according to predetermined dispensing destination information for each type of drug. In this case, the control unit 706 can specify the dispensing destination of the drug included in the prescription data without determining the usability of the fixed cassette 800 and variable cassette 801, thus shortening the dispensing processing time compared to the processing method shown in Figure 22.

[0282] [Embodiment 9] In this embodiment, an example of the discrimination process will be explained using Figure 1. As described in Embodiment 1, the sorting control unit 62 determines the sorting position in the provisional determination area Ar12 based on at least one of the color, shape, or information attached to the estimated drug in the image. Specifically, the sorting control unit 62 determines the sorting position so that the sorting positions of estimated drugs that are considered to match in terms of color, shape, or information attached to the drug are the same.

[0283] The threshold used to determine whether or not they match is not a fixed value, but may be changeable by the user. In other words, the threshold used to determine whether or not at least one of the following matches—the color, shape, or information attached to the estimated drug—matches can be set to be variable, and the sorting control unit 62 may use this threshold to make the above determination when determining the sorting position in the provisional determination area Ar12.

[0284] In the provisional judgment area Ar12, the criteria for determining whether items should be placed in the same sorting cup 141 vary among users. For example, some users may want to place items in the same sorting cup 141 even if their size or shape is slightly different, as long as they are white. Other users may believe that items cannot be placed in the same sorting cup 141 unless their color, size, and shape match to a certain extent. Furthermore, some users may believe that items cannot be placed in the same sorting cup 141 unless the markings on the front and back match to a certain extent.

[0285] By using thresholds set by the user, drugs can be sorted in the provisional judgment area Ar12 according to each user's criteria.

[0286] Furthermore, by setting a strict threshold that does not tolerate even slight differences in color or shape, for example, it becomes possible to narrow down the candidate drug types as much as possible, even if the type of drug cannot be identified. As a result, drugs with a relatively high degree of characteristic matching can be placed in the same sorting cup 141 located in the provisional determination area Ar12.

[0287] In particular, in the case of medications brought in by the user, since they are not medications prescribed by the user, the search range for identifying their type becomes much wider and more extensive compared to medications prescribed by the user. Therefore, especially in the case of medications brought in by the user, by setting a threshold so that medications with a relatively high degree of similarity are placed in the same sorting cup 141 located in the provisional determination area Ar12, it becomes possible to narrow the search range in the next type identification.

[0288] Furthermore, even if the sorting control unit 62 cannot identify the type of medication, it stores the image of the medication placed in the sorting cup 141, linking it to the medication data of that medication. This makes it possible to retain evidence for medications whose type could not be identified. For example, identifying medications brought by the user is often difficult because they were not prescribed by the user. By storing the image, the image can be effectively used to identify medications brought by the user.

[0289] Furthermore, the number of sorting cups 141 in the provisional judgment area Ar12 is finite and small. By setting a threshold that allows for a certain degree of difference in color or shape, the number of sorting cups 141 used in the provisional judgment area Ar12 can be reduced.

[0290] Furthermore, thresholds can be set for multiple criteria, each with its own level of precision. For example, if the criterion is color, the threshold is set to the range of chromaticity that will be considered a match; if the criterion is shape, the threshold is set to the range of shape that will be considered a match. It is also possible to set whether to use thresholds for multiple criteria. For example, if the criterion is both color and shape, you can choose to use only color, only shape, or both color and shape as the criteria to be judged.

[0291] Various types of control units can be used to adjust the above levels, including touch-sensitive LED level bars, dial-type controls, and quick-wheel-type controls. Specific examples of the criteria for judgment include the color and shape of the drug, as well as, for example, the presence or absence of markings, the position of the markings, and the size of the drug. If the position of the markings is set to "one side," drugs with markings on one side are extracted as candidates for the same type of drug. If it is set to "both sides," only drugs with markings on both sides are extracted as candidates for the same type of drug. The threshold for drug size can be set in 1mm increments.

[0292] [Embodiment 10] In this embodiment, the configuration for shortening the time required for drug sorting will be explained using Figure 1. The drug sorting device 1 in this embodiment only needs to have the same basic configuration as in Embodiment 6, as described in Embodiment 2.

[0293] If all sorting cups 141 are filled with chemicals, it is not possible to sort any different type of chemical into a sorting cup 141 until an empty sorting cup 141 is created.

[0294] The control unit 60a of the drug sorting device 1 identifies drugs contained in sorting cups 141 as targets for packaging, regardless of the number of drugs contained in the sorting cups 141, provided that predetermined conditions are met. For example, the control unit 60a identifies a sorting cup 141 containing drugs not loaded by the packaging machine 700 (unloaded drugs), or a sorting cup 141 selected by the user, as a sorting cup 141 containing drugs to be packaged. In this case, the more drugs identified as targets for packaging, the longer the packaging process will take.

[0295] In this embodiment, a predetermined number is set to determine whether or not the drugs contained in the sorting cups 141 are to be packaged. When all sorting cups 141 are filled with drugs, the control unit 60a identifies the sorting cups 141 in which the number of drugs contained is less than or equal to the predetermined number. The control unit 60a then identifies the drugs contained in the identified sorting cups 141 as drugs to be packaged.

[0296] Therefore, sorting cups 141 occupied by a small number of chemicals can be preferentially emptied (made available for sorting the next chemical). As a result, even when all sorting cups 141 are filled with chemicals, empty sorting cups 141 can be prepared in a shorter time, thus shortening the time required for chemical sorting.

[0297] Furthermore, if all sorting cups 141 are filled with medication, the user needs to operate, for example, the packaging mechanism 6, to empty one of the sorting cups 141. Alternatively, the user needs to remove the sorting cup 141 and fill the medication contained in it into the packaging machine 700 or medication shelf. These tasks can be burdensome, especially for users who want to avoid packaging medication as much as possible.

[0298] As described above, when all sorting cups 141 are filled with medication, the control unit 60a determines that the medications in the sorting cups 141 whose number of medications is less than or equal to a preset number will be packaged by the packaging mechanism 6. In other words, empty sorting cups 141 can be prepared automatically without user intervention. Therefore, the burden on the user from the above-mentioned work can be reduced.

[0299] The same applies when a confirmed area Ar11 and a provisional determination area Ar12 are set. In other words, when all sorting cups 141 in confirmed area Ar11 are filled with drugs, the control unit 60a identifies the sorting cup 141 in which the number of drugs filled is less than or equal to a preset number. The control unit 60a may then use the drugs in the identified sorting cup 141 as targets for packaging by the packaging mechanism 6. The same applies when all sorting cups 141 in provisional determination area Ar12 are filled with drugs.

[0300] [Embodiment 11] In this embodiment, the configuration for preventing the forgetting to attach the adsorption pad 122c will be described using Figures 1 and 23. Figures 23(a) and (b) show examples of the operation of the adsorption mechanism 122a. The drug sorting device 1 of this embodiment only needs to have the basic configuration described in Embodiment 2, similar to Embodiment 6.

[0301] As described in Embodiment 1 with reference to Figure 1, the adsorption / shutter mechanism 122 includes an adsorption mechanism 122a that adsorbs the drug identified as the target of transport. As shown in Figure 23(a), the adsorption mechanism 122a includes an air pipe 122b through which air flows, and an adsorption pad 122c at the tip of the air pipe 122b that comes into contact with the drug to be transported. The adsorption pad 122c is connected via the air pipe 122b through which air flows to a vacuum pump (not shown) that generates a vacuum (suctions air).

[0302] The suction pad 122c can be removed from the air pipe 122b for cleaning. After cleaning, the suction pad 122c is reattached to the air pipe 122b. To prevent forgetting to attach the suction pad 122c, the transport control unit 61 lowers the suction mechanism to a predetermined height from the bottom of the first storage section 11 or the base 19 (reference surface) when the drug sorting device 1 starts operation. The predetermined height is set to a height at which the suction pad 122c contacts the reference surface when the suction pad 122c is attached.

[0303] The transport control unit 61 measures the flow rate in the air pipe 122b by performing suction at a predetermined height. If there is a change in the flow rate, it is determined that the suction pad 122c is attached; if there is no change in the flow rate, it is determined that the suction pad 122c is not attached.

[0304] However, when determining whether or not the adsorption pad 122c is installed using the above method, it is necessary to strictly define a predetermined height and the size of the adsorption pad 122c for each drug sorting device 1. Therefore, adjusting the predetermined height and measuring the size of the adsorption pad 122c for each drug sorting device 1 requires time and effort. In addition, there is a possibility of misjudgment due to individual differences in the adsorption pad 122c.

[0305] In this embodiment, the position of the tip surface of the suction mechanism 122a to which the suction pad 122c is attached is defined such that when the tip surface of the suction mechanism 122a is brought close to the reference surface, the distances between the reference surface and at least two points on the tip surface are different.

[0306] Specifically, as shown in Figure 23(a), the base 19 is provided with an inclined platform 21. The inclined platform 21 has an inclined surface 21a that is inclined with respect to the front surface of the suction mechanism 122a (or the bottom surface of the suction pad 122c if a suction pad 122c is attached). The inclined surface 21a is the reference surface.

[0307] Let's consider the case where the suction mechanism 122a is brought close to the inclined surface 21a to a predetermined height and then used for suction. The predetermined height is defined as the position at which a part of the suction pad 122c (in this case, the first part Pr1) makes contact when the suction pad 122c is attached.

[0308] When the suction pad 122c is attached, there is almost no gap between the first part Pr1 and the inclined surface 21a, so the change in flow rate in the first part Pr1 becomes large. In this case, the transport control unit 61 can determine that the change in flow rate has become above a threshold (the flow rate has fallen below a threshold), and can determine that the suction pad 122c is attached.

[0309] Furthermore, the amount of change in flow rate at each position differs depending on the distance between each position on the suction pad 122c and the inclined surface 21a. This difference in the amount of change in flow rate causes the shape of the suction pad 122c to change. Specifically, the shape of the suction pad 122c changes so that the change in flow rate at the suction pad 122c becomes larger as the distance decreases (for example, the change in flow rate in the first part Pr1 becomes larger than that in the second part Pr2). Therefore, the flow rate in the first part Pr1 is more likely to change than that in the second part Pr2.

[0310] However, even if the shape of the suction pad 122c changes, the suction pad 122c will still adhere to the inclined surface 21a. Therefore, even when using the inclined platform 21, the transport control unit 61 can determine whether or not the suction pad 122c is attached based on the change in flow rate.

[0311] On the other hand, if the suction pad 122c is not attached, a gap equal to the thickness of the suction pad 122c will be created between the first part Pr1 and the inclined surface 21a, and there will be almost no change in flow rate in the first part Pr1. Therefore, the transport control unit 61 can determine that the change in flow rate is below the threshold (the flow rate remains above the threshold), and can determine that the suction pad 122c is not attached.

[0312] Alternatively, as shown in Figure 23(b), it is also possible to determine whether or not the suction pad 122c is attached by bringing the suction mechanism 122a closer to the wall surface 11a of the first housing section 11. In this case, the wall surface 11a is the reference surface.

[0313] Let's consider the case where the suction mechanism 122a is lowered into the first housing section 11, then brought close to the wall surface 11a to a predetermined distance, and then sucked. The predetermined distance is defined as the position at which a part of the suction pad 122c (in this case, the second part Pr2) makes contact when the suction pad 122c is attached.

[0314] When the suction pad 122c is attached, there is almost no gap between the second section Pr2 and the wall surface 11a, so the change in flow rate in the second section Pr2 becomes large. In this case, the transport control unit 61 can determine that the change in flow rate has exceeded a threshold and can determine that the suction pad 122c is attached. As described above, the shape of the suction pad 122c changes because the amount of change in flow rate in the suction pad 122c differs depending on the distance between each position on the suction pad 122c and the wall surface 11a. As a result, the flow rate in the second section Pr2 is more likely to change significantly than the flow rate in the first section Pr1.

[0315] On the other hand, if the suction pad 122c is not attached, at least no change in flow rate occurs due to a change in the shape of the suction pad 122c. Therefore, even if a change in flow rate occurs, the change will be smaller than when the suction pad 122c is attached. As a result, the transport control unit 61 can determine that the change in flow rate is below the threshold and can determine that the suction pad 122c is not attached.

[0316] With the above configuration, it becomes unnecessary to strictly define the travel distance of the suction mechanism 122a to the inclined surface 21a or wall surface 11a. This is because, when the suction pad 122c is attached, the change in flow rate becomes larger due to the change in the shape of the suction pad 122c. Therefore, the time and effort required to strictly define the above travel distance can be reduced.

[0317] Furthermore, it is possible to set a predetermined height or distance slightly away from the contact point between the reference surface and the suction pad 122c. Due to individual differences in the suction pads 122c or design changes to the suction pads 122c, it is conceivable that suction pads 122c of various shapes or sizes may be used in combination. By setting a predetermined height or distance as described above, the transport control unit 61 can reliably detect whether or not the suction pads 122c are attached, regardless of the various shapes or sizes of the suction pads 122c.

[0318] [Embodiment 12] In this embodiment, a configuration for accurately identifying the type of drug having a predetermined shape will be described using Figures 1, 3, 4, 14, and 24. Figure 24 shows an example of a drug with an elongated shape, where (a) is a plan view and (b) is a side view. The drug sorting device 1 of this embodiment may have the same basic configuration as in Embodiment 6, as described in Embodiment 2.

[0319] As described in Embodiment 1, the swivel mechanism 133b shown in Figures 3(a) and 3(b) can vibrate the drug placement platform 133a. By vibrating the drug placement platform 133a with the swivel mechanism 133b, the engraved or printed information can be directed in a predetermined direction (for example, upward (+Z axis direction)). Furthermore, by vibrating the drug placement platform 133a, drugs that are not located near the center of the drug placement platform 133a can be moved to approximately the center. Also, if the drug is a tablet, as shown in Figure 14(b), the swivel mechanism 133b rotates the shaft portion 133c so that the inclined surface portion 133ab of the drug placement platform 133a becomes approximately horizontal.

[0320] Then, as shown in Figures 4(a) and 4(b), the rotation mechanism 133b rotates the imaging mechanism, including the first camera 131 and the illuminator 134, so as to rotate around the placement area Ar2. As a result, the first camera 131 can image the drug placed on the drug placement platform 133a from four locations in the placement area Ar2, for example, at θ=0°, 45°, 135°, and 180°.

[0321] However, depending on the shape of the drug, if the vibration of the swirling mechanism 133b attempts to move the drug approximately to the center, the vibration may cause the engraved or printed information to face in a direction other than the predetermined direction (an unintended direction). For example, in the case of drug MDs (e.g., Sotacol®) as shown in Figures 24(a) and (b), the engraved information (in Figure 24(a), "AAA 000") may face in an unintended direction.

[0322] In the drug MD, the top surface MDt has engraved information, but the side MDs do not. Furthermore, not only the top surface MDt and bottom surface MDu, but also the side MDs have a planar shape with an area greater than a predetermined area. Therefore, regardless of whether the top surface MDt, bottom surface MDu, or side MDs faces the bottom of the drug mounting base 133a, the drug will stand upright. Drugs with this shape are often elongated, as shown in Figures 24(a) and (b).

[0323] When the drug is upright due to the side MDs facing the bottom of the drug placement platform 133a, the engraved information will be oriented laterally (approximately perpendicular to the Z-axis direction). Since the first camera 131 takes images from a predetermined position (e.g., the four locations mentioned above), depending on its orientation, it may not be possible to capture images sufficient to identify the engraved information.

[0324] In the drug sorting device 1 of this embodiment, the swivel mechanism 133b changes the magnitude of vibration applied to the drug placement table 133a and the rotational speed of the shaft portion 133c for changing the inclination angle of the inclined surface portion 133ab, based on the shape of the drug.

[0325] Specifically, the discrimination unit 64 analyzes the captured image to obtain the length of the long side L1 and the length of the short side L2 of the drug, and calculates the aspect ratio of the drug. Based on the aspect ratio of the drug, the discrimination unit 64 determines whether the ratio of the length of the long side L1 to the length of the short side L2 (length of long side L1 / length of short side L2) is greater than or equal to a predetermined value. The predetermined value should be set to a size that allows for the detection of a drug standing upright with its side MDs facing downwards, for example, after experiments.

[0326] If the discrimination unit 64 determines that the ratio of the length of the long side L1 to the length of the short side L2 is greater than or equal to a predetermined value (i.e., if it determines that the drug is one that stands upright with its side MDs facing downwards), it sets the vibration magnitude and rotation speed according to the set value when the ratio is greater than or equal to the predetermined value. The imaging control unit 63 controls the rotation mechanism 133b to vibrate and rotate the drug mounting platform 133a with the vibration magnitude and rotation speed set according to the set value.

[0327] For example, the above setting values ​​result in lower vibration and rotational speed compared to the setting values ​​when the ratio of the length of the long side L1 to the length of the short side L2 is less than a predetermined value. For example, the vibration is set to 0.

[0328] Thus, when the ratio of the length of the long side L1 to the length of the short side L2 is greater than or equal to a predetermined value, the vibration and rotation speed can be reduced, allowing the drug mounting platform 133a to move so that the drug, which would otherwise stand upright with its side MDs facing downwards, does not stand upright on the drug mounting platform 133a. Therefore, the movement of the drug mounting platform 133a prevents the engraved information from facing in directions other than the predetermined direction, making it possible to accurately identify the type of drug (drug identification).

[0329] Furthermore, it is possible to prevent the drug from standing upright with its lateral MDs facing downwards. Therefore, it is possible to suppress the occurrence of repeated imaging and type identification of the drug caused by this condition. Consequently, it becomes possible to efficiently identify and sort the drugs.

[0330] [Embodiment 13] In this embodiment, the configuration for shortening the time required for packaging will be explained using Figures 1, 20, and 25. Figure 25(a) is a diagram showing an example configuration of a modified drug sorting device 1A, and (b) and (c) are diagrams illustrating the shape and operation of the tip of the sorting cup transport mechanism 125.

[0331] The drug sorting device 1A differs from the drug sorting device 1 in that it includes a sorting cup transport mechanism 125 and a variable cassette 801, as shown in Figure 25(a). In other words, the drug sorting device 1A has the same configuration and function as the drug sorting device 1, except for the components of the sorting cup transport mechanism 125 and the variable cassette 801. The drug sorting device 1A only needs to have at least the basic configuration described in Embodiment 2.

[0332] The drug sorting device 1A includes a packaging mechanism 6. The packaging mechanism 6 includes a packaging hopper 6a for temporarily holding the drug and a heater roller 6b for heat-sealing the packaging paper containing the drug. The drug dispensed from the variable cassette 801 is transferred to the heater roller 6b via the packaging hopper 6a, and then packaged into packaging paper by the heater roller 6b.

[0333] Furthermore, the drug sorting device 1A includes a variable cassette 801 as shown in Figure 20(a). The variable cassette 801 dispenses the drug one tablet at a time from the drug input port 17. The variable cassette 801 is installed below the drug input port 17 so that the drug inserted from the drug input port 17 can be received by the first rotating body 8011. The variable cassette 801 is also installed above the packaging hopper 6a so that the packaging hopper 6a can receive the drug dispensed from the dispensing port 8015 by the second rotating body 8012. The drug sorting device 1A also includes a variable cassette mounting unit (not shown) that mounts and drives the variable cassette 801.

[0334] The adsorption / shutter mechanism 122 comprises an adsorption mechanism (e.g., the adsorption mechanism 122a in Figure 23) and a sorting cup transport mechanism 125 as shown in Figure 25(a). Both the adsorption mechanism and the sorting cup transport mechanism 125 are movable in the ±Z axis direction. The adsorption mechanism adsorbs the drug identified as the target of transport. Therefore, the transport control unit 61 or the sorting control unit 62 controls the movement of the adsorption mechanism in the ±Z axis direction when transporting the drug. On the other hand, the sorting cup transport mechanism 125 moves the sorting cup 141 between the second storage section 14 and the drug input port 17. Therefore, the sorting control unit 62 controls the movement of the sorting cup transport mechanism 125 in the ±Z axis direction when dispensing the drug with the dispensing mechanism 6.

[0335] As shown in Figure 25(b), the sorting cup transport mechanism 125 comprises, for example, a gripping part 125a, a rotating part 125b, and a support part 125c. The gripping part 125a grips the sorting cup 141. In the example in Figure 25(b), the gripping part 125a is realized by two claws that can open and close. The rotating part 125b has a rotation axis that extends in a direction substantially perpendicular to the Z-axis direction and rotates the gripping part 125a. The support part 125c supports the gripping part 125a at its tip.

[0336] When the sorting control unit 62 is to package the medicine contained in the sorting cup 141 using the packaging mechanism 6, it controls the transport mechanism 123 to move the sorting cup transport mechanism 125 onto the sorting cup 141 containing the medicine. Subsequently, the sorting control unit 62 moves the sorting cup transport mechanism 125 downward and causes the gripping part 125a to grip the sorting cup 141.

[0337] The sorting control unit 62 moves the sorting cup transport mechanism 125 above the drug input port 17 while the gripping unit 125a is gripping the sorting cup 141, and then drives the rotating unit 125b to rotate the gripping unit 125a upward. This allows the drug contained in the sorting cup 141 to be put into the drug input port 17.

[0338] Before the drug is loaded into the variable cassette 801, the control unit 60a drives the height regulator 8013 and the width regulator 8014 to adjust the transport height h1 and transport width w1 based on the size of the drug. Then, when the drug is loaded into the variable cassette 801, for example, the control unit 60a rotates the first rotating body 8011 and the second rotating body 8012 to dispense the loaded drug one tablet at a time into the packaging hopper 6a. This allows the dispensing mechanism 6 to package the drug.

[0339] When dispensing the medication contained in the sorting cup 141 to the dispensing mechanism 6 using the adsorption mechanism, it is necessary to adsorb each medication contained in the sorting cup 141 one by one and transport it to the medication input port 17. Therefore, the more medications there are, the longer it takes to dispense them. In addition, it also takes time to prepare an empty sorting cup 141.

[0340] As with the drug sorting device 1A, by making the variable cassette 801 attachable below the drug input port 17, the drugs contained in the sorting cups 141 can be loaded into the variable cassette 801 all at once. Therefore, even when all the sorting cups 141 are filled with drugs, empty sorting cups 141 can be prepared in a short time for sorting the next batch of drugs, thus shortening the drug sorting process time. The time required for dispensing can also be shortened.

[0341] Furthermore, the drug sorting device 1A is equipped with a sorting cup transport mechanism 125, which allows the drug contained in the sorting cup 141 to be automatically dispensed to the dispensing mechanism 6. Therefore, when dispensing using the dispensing mechanism 6, the user does not have to carry the sorting cup 141 to the drug input port 17 and pour the drug contained in the sorting cup 141 into the drug input port 17, thus reducing the effort required of the user.

[0342] Although the sorting cup transport mechanism 125 has been described as being provided with the transport and sorting unit 12, it is not limited to this configuration and may be provided separately from the transport and sorting unit 12 in the pharmaceutical sorting device 1.

[0343] [Embodiment 14] In this embodiment, the configuration for improving the accuracy of the discrimination process will be described using Figure 1. The drug sorting device 1 of this embodiment only needs to have the basic configuration described in Embodiment 2, similar to Embodiment 6.

[0344] Among the medications prescribed, some drugs, even if they are of different types, have similar colors and sizes. For example, some users have approximately 70-80% of their prescribed medications as white tablets of a specific size (e.g., 7mm in diameter).

[0345] When the discrimination unit 64 determines the type of drug stored in the first storage unit 11, it compares the characteristics of the drug extracted from the image captured by the first camera 131 with multiple drug data registered in the drug database. For example, the discrimination unit 64 calculates a score for the degree of agreement between the drug characteristics and the drug data, and ranks the drug data in descending order of score. The discrimination unit 64 then identifies the drug data up to the set rank (e.g., drug data ranked 1st to 10th) as candidate drug data (candidate data) to be used to identify the type of drug.

[0346] When drugs stored in the drug sorting device 1 differ in size, color, etc., depending on the type, the score of the drug data ranked 1st will often be significantly higher than the scores of the drug data ranked 2nd and below. Therefore, in this case, the discrimination unit 64 can sufficiently identify the type of drug by identifying up to the rank set as described above (e.g., 10th place) as candidate data.

[0347] However, when identifying candidate data as described above, it may not be possible to accurately identify the type of drug if they are different in type but similar in size and color. In other words, if there are many drugs with similar size and color, the scores are likely to be similar even at ranks lower than the set rank (for example, if the set rank is 10th, then ranks 11th and below). Therefore, there is a possibility that drug data that should be identified exists at those lower ranks.

[0348] Therefore, in order to accurately identify the type of drug, the discrimination unit 64 compares the characteristics of the drug extracted from the image with the registered drug data, and identifies drug data whose degree of agreement with the characteristics is above a predetermined value as candidate data. Then, the discrimination unit 64 determines the type of drug by comparing the characteristics of the drug extracted from an image of the drug captured again with the candidate data.

[0349] For example, the discrimination unit 64 calculates a degree of match (score) between each drug data in the drug database and the drug features extracted from the image, and identifies the drug data with the highest score. The discrimination unit 64 identifies all drug data within a pre-set range of the difference between the score of the drug data with the highest-scoring drug data as candidate data. Then, the discrimination unit 64 sets a flag on the drug data identified as candidate data.

[0350] For example, suppose the score is defined as being between 0 and 100 (the higher the number, the higher the degree of agreement). If, for example, the score of the first-ranked drug data is 97.5 and the pre-set difference value is 0.3, the discrimination unit 64 identifies all drug data with a score of 97.2 (=97.5-0.3) or higher as candidate data.

[0351] Subsequently, the first camera 131 captures images of the drug again, and the discrimination unit 64 calculates a score by comparing the characteristics of the drug contained in the captured images with the identified candidate data. Then, candidate data whose scores fall within a predetermined difference range are identified as further candidate data.

[0352] The discrimination unit 64 uniquely identifies drug data by repeating this process. The decision of whether or not to image the drug again (number of imaging attempts) may be determined by the number of identified candidate data, etc.

[0353] In this way, by narrowing down drug data with scores above a predetermined value to candidate data, it is possible to identify all drug data that should be extracted without omission. Therefore, it becomes possible to identify the type of drug with high accuracy.

[0354] Furthermore, when imaging the same drug repeatedly, the drug's position may differ each time imaging is performed. If the drug is imaged at a different position than in the previous imaging, the imaging conditions may be better than those of the previous imaging. Therefore, by repeatedly imaging the same drug, it may be possible to calculate the score with greater accuracy.

[0355] Furthermore, the discrimination unit 64 may perform the following repeated process of matching the characteristics of the drug contained in the image with candidate data in order to uniquely identify the drug data.

[0356] For example, in the first matching, the discrimination unit 64 calculates a score for all candidate data by matching the characteristics of the drug contained in the image with all the identified candidate data. The discrimination unit 64 identifies candidate data with higher scores (e.g., within the top 75% of candidate data (i.e., drug data with a score above a predetermined value)) from the calculated scores as candidate data to be matched in the second round. This allows candidate data with lower scores (e.g., within the bottom 25% of candidate data) to be excluded from the candidate data to be matched in the second round. Similarly, in the second matching, the discrimination unit 64 identifies candidate data with higher scores (e.g., within the top 75% of candidate data) from the scores calculated as the scores to be matched in the third round.

[0357] For example, if the characteristics of a drug contained in an image are marking information, the discrimination unit 64 identifies drug data with marking information that matches the marking information of the drug contained in the image at a predetermined value or higher (e.g., a matching degree of 75% or higher) as candidate data for the next matching.

[0358] In this way, by reducing the number of candidate data to be matched and performing the matching process while uniquely identifying the drug data, it becomes possible to efficiently identify the drug data. Note that the above 75% is merely an example; the value should be set to a level that allows for efficient identification of the drug data through experiments, etc.

[0359] [Embodiment 15] In this embodiment, another example of the packaging process will be described using Figure 1. The drug sorting device 1 of this embodiment only needs to be equipped with a packaging mechanism 6 in addition to the basic configuration described in Embodiment 2.

[0360] After medication has been packaged by a dispensing machine 700 or similar based on prescription data, there may be situations where the prescription changes and the contents of the packages need to be changed urgently. For example, if a prescription change requires the removal of one type of medication, the user can tear open each package, remove the medication, and then reseal each package with adhesive tape or similar. While this manual repackaging by the user is possible when the number of packages is small, it becomes practically impossible when the number of packages is large. Therefore, when the number of packages to be repackaged is large, in practice, all packages may be discarded and repackaged based on the revised prescription data using a dispensing machine 700 or similar.

[0361] In this embodiment, the drug sorting device 1 may perform the packaging process using the packaging mechanism 6 based on prescription data. For example, if a change in prescription occurs after the drug packaging process based on prescription data, the user puts the drugs contained in each drug packet into the first storage section 11. The drug sorting device 1 sorts the drugs contained in the first storage section 11 into sorting cups 141 in the second storage section 14 according to type. After sorting by type is complete, the drug sorting device 1 packages the drugs sorted into the second storage section 14 using the packaging mechanism 6 based on the revised prescription data (prescription data reflecting the above changes).

[0362] Thus, the drug sorting device 1 can repackage medications according to any changes in the prescription. Therefore, if a prescription change occurs, for example, by removing one type of medication, it eliminates the need for manual work such as removing the medication from each packet and then sealing the packets with adhesive tape. It also makes it possible to repackage medications without discarding all of the original packets.

[0363] It should be noted that the drug sorting device 1 does not necessarily need to sort the drugs into the second storage section 14 according to their type. For example, the drug sorting device 1 may store drugs that are to be repackaged into the same drug packets in the same sorting cup 141 based on the revised prescription data. In this case as well, the drug sorting device 1 sorts the drugs into the second storage section 14 and then packages the drugs using the packaging mechanism 6 based on the revised prescription data.

[0364] Here, for example, in the drug sorting device 1A shown in Embodiment 13 (Figure 25), as described above, the sorting cup 141 can be transported to the drug input port 17. In other words, in the drug sorting device 1A, the drugs contained in one sorting cup 141 can be put into the drug input port 17 at once. Therefore, if drugs to be repackaged into the same drug package are contained in the same sorting cup 141, the drugs for one drug package can be put into the packaging mechanism 6 at once, making the packaging process even more efficient.

[0365] In the above explanation, the packaging mechanism 6 of the drug sorting device 1 was described using the example of its use in packaging based on revised prescription data. However, it is not limited to this, and may also be used for packaging for pre-preparation. In other words, if the contents of the pre-preparation data change after the drugs have been placed in each drug package (packaging band) based on pre-preparation data by the packaging machine 700, etc., the drug sorting device 1 may perform packaging based on the revised pre-preparation data, similar to packaging based on revised prescription data. Pre-preparation data refers to data created for pre-preparation, specifically data on how the drugs are placed in each packaging band.

[0366] Furthermore, while the above explanation used the example of a prescription change involving the removal of a drug, a prescription change involving the addition of a drug is also possible. In this case, the user places the drug to be added into the sorting cup 141 and places the sorting cup 141 in the second storage section 14. This allows the drug sorting device 1 to repackage the drug using the packaging mechanism 6 based on the revised prescription data, even when a prescription change involving the addition of a drug occurs.

[0367] [supplement] As described above, the second storage section 14 stores drugs by type. The meaning of storing drugs by type in the second storage section 14 includes, if the type of drug can be uniquely (completely) identified, storing the drug in the same position (the same sorting cup 141) for each uniquely identified type. In addition, this also includes, if the type of drug cannot be uniquely identified, but can be identified as drugs with somewhat similar characteristics (estimated drugs) based on the color, shape, etc., storing the drugs in the same position for each drug with somewhat similar characteristics.

[0368] [Embodiment 16] In this embodiment, the operation of the drug sorting device 1 at startup will be described. The drug sorting device 1 of this embodiment has at least the basic configuration described in Embodiment 2. The same applies to subsequent embodiments.

[0369] <Department Head> First, the control unit 60b will be described using Figure 26. Figure 26 is a block diagram showing an example of the control unit 60b. As shown in Figure 26, the control unit 60b includes, in addition to the configuration of the control unit 60a, a drive control unit 71, an object presence / absence determination unit 72, a flow rate determination unit 73, and a packaging control unit 74. In this embodiment and subsequent embodiments, the control unit may have the control unit 60a as its basic configuration and may include at least one of the above-mentioned components necessary for the operation and processing of each embodiment.

[0370] The drive control unit 71 controls the movement of the housing (hereinafter referred to as the drug transport unit 120), which includes the second camera 121 and the suction / shutter mechanism 122, and the movement of the obstacle detection mechanism 22. Specifically, the drive control unit 71 moves the obstacle detection mechanism 22 in conjunction with the movement of the drug transport unit 120.

[0371] The object presence / absence determination unit 72 determines whether or not an object to be placed on the base 19 exists. Examples of objects to be determined include the sorting cup base 14a (see Figure 27), the standby tray 15 (see Figure 27), the collection tray 16 (see Figure 27), and the suction pad 122c (see Figures 23 and 31).

[0372] The flow rate determination unit 73 determines whether or not damage or other issues (suction abnormality) have occurred in the adsorption mechanism 122a by determining whether or not the flow rate in the adsorption mechanism 122a (see Figures 23 and 31) is below a predetermined value.

[0373] The packaging control unit 74 controls the operation of the packaging mechanism 6. The packaging control unit 74 also controls the operation of the drug transport unit 120, which transports the drug stored in the sorting cup 141 to the drug input port 17 (drug input unit), or returns the drug that has been put into the drug input port 17 to the sorting cup 141.

[0374] It should be noted that throughout this specification, the term "packaging" as used at least in the description of the drug sorting device 1 encompasses both the meaning of "packaging drugs separately according to their administration time based on prescription data" and the meaning of "simply packaging drugs sorted into the second storage section 14, regardless of prescription data."

[0375] <Obstacle detection mechanism> First, the obstacle detection mechanism 22 will be explained using Figures 26 to 28. Figure 27(a) is a perspective view showing another example of the drug sorting device 1, and (b) is a schematic plan view showing the said other example. Figures 28(a) and (b) are diagrams for explaining the upper space US.

[0376] As shown in Figures 27(a) and (b), the drug sorting device 1 of this embodiment is equipped with an obstacle detection mechanism 22 and a reflective mirror 23.

[0377] The obstacle detection mechanism 22 detects if any obstacle is placed in the drug sorting area 2. Specifically, the obstacle detection mechanism 22 functions as an object detection unit that detects obstacles (objects) present in the upper space US (see Figure 28) of the sorting cup 141 that is placed (correctly placed) in the second storage section 14 in a specified state. As shown in Figure 27(a), the obstacle detection mechanism 22 is provided at one end of the drug sorting device 1 (base 19).

[0378] The obstacle detection mechanism 22 includes a light source (e.g., a laser light source) that emits light into the upper space US, and a sensor that receives the light emitted from the light source. When an obstacle is placed in the upper space US, the sensor detects that an obstacle has been placed in the upper space US because it can no longer receive the light emitted from the light source.

[0379] The reflective mirror 23 is located at the opposite end (the other end) from the obstacle detection mechanism 22 and reflects the light emitted by the obstacle detection mechanism 22 back towards the obstacle detection mechanism 22. When there are no obstacles in the upper space US, the sensor of the obstacle detection mechanism 22 receives the light emitted from the light source of the obstacle detection mechanism 22 and reflected by the reflective mirror 23. On the other hand, when there are obstacles in the upper space US, the sensor cannot receive the light emitted from the light source and reflected by the reflective mirror 23. In this case, the obstacle detection mechanism 22 detects the obstacle present in the upper space US. In other words, the object presence determination unit 72 determines that there are no obstacles in the upper space US if the obstacle detection mechanism 22 receives light, and determines that there are obstacles if it does not receive light.

[0380] Furthermore, the obstacle detection mechanism 22 moves horizontally under the control of the drive control unit 71 (or the transport control unit 61, sorting control unit 62, and packaging control unit 74). As shown in Figure 27(b), in this embodiment, the obstacle detection mechanism 22 moves in the y-axis direction (on the straight line connecting the drug extraction side and the back side of the drug sorting device 1). Therefore, the reflective mirror 23 is provided so as to extend in the y-axis direction at its other end.

[0381] In this way, by making the obstacle detection mechanism 22 movable in a predetermined direction, obstacles present in the upper space US can be detected throughout the entire second storage section 14 without the need to provide multiple obstacle detection mechanisms or a single obstacle detection mechanism that extends in a predetermined direction. In other words, an obstacle detection mechanism can be prepared at low cost.

[0382] The drug sorting device 1 is equipped with an imaging unit 13. Therefore, the reflective mirrors 23 are located on the inside of the housing (wall) of the drug sorting device 1, facing the obstacle detection mechanism 22, and on the imaging unit 13. The ends 23a of each reflective mirror 23 have a curved shape, as shown in Figure 27(b). By making the ends 23a curved in this way, it is possible to avoid false detection of obstacles that may occur if the ends 23a are not curved.

[0383] As shown in Figure 28(a), the upper space US is, for example, the space between the bottom of the drug transport unit 120 (the lowest surface facing the base 19) and the top surface of the sorting cup 141 when it is properly placed on the base 19.

[0384] The sorting cups 141 are detachably positioned in the second storage section 14. Therefore, as shown in Figure 28(b), the sorting cups 141 may not be placed correctly and may be placed at an angle to the base 19. Note that the state shown in Figure 28(a) is when all of the sorting cups 141 are placed correctly. In other words, the sorting cups 141 are placed so that their top surface is approximately horizontal.

[0385] The obstacle detection mechanism 22 detects an obstacle if the sorting cup 141 is not placed correctly on the base 19 and is placed at an angle, by detecting a portion of the sorting cup 141 that protrudes beyond the top surface (upper surface) of the sorting cup 141 when it is correctly placed on the base 19. At this time, since the obstacle detection mechanism 22 has not received the emitted light, the object presence determination unit 72 determines that an obstacle exists in the upper space DA. In this case, the display control unit 67 notifies the user to remove the obstacle (e.g., place the sorting cup 141 correctly). In addition, the drive control unit 71 (or transport control unit 61, sorting control unit 62, dispensing control unit 74) stops the drug transport unit 120 which is in a moving state.

[0386] In this way, the obstacle detection mechanism 22 and the object presence / absence determination unit 72 prevent the drug transport unit 120 from colliding with an obstacle (e.g., sorting cup 141) when it moves, as the presence of an obstacle in the upper space US can prevent damage to the drug transport unit 120 or the obstacle.

[0387] Furthermore, the obstacle detection mechanism 22 detects, for example, the medications that have piled up and protruded from the top surface of the standby tray 15 or sorting cup 141 as an obstacle. In other words, the obstacle detection mechanism 22 also functions as a mechanism to detect medications that have protruded from the top surface of the standby tray 15 or sorting cup 141. In this case, the display control unit 67 notifies the user that the standby tray 15 or sorting cup 141 is full of medications. This prevents medications from spilling out of the standby tray 15 or sorting cup 141.

[0388] It is not necessary to provide the reflective mirror 23. In this case, the obstacle detection mechanism 22 detects an obstacle in the upper space US when it receives light emitted by itself (i.e., when it receives light that has been reflected by an obstacle). In other words, the object presence determination unit 72 determines that an obstacle exists in the upper space US.

[0389] <Positioning operation of the drug transport unit> Next, using Figures 26 and 29, we will explain the positioning operation of the drug transport unit 120, which is performed when the drug sorting device 1 is started. Figures 29(a) to (d) are diagrams illustrating the positioning operation of the drug transport unit 120.

[0390] In this embodiment, the obstacle detection mechanism 22 has two obstacle detection units. One obstacle detection unit is equipped with a light source 22a1 and a sensor 22b1, and the other obstacle detection unit is equipped with a light source 22a2 and a sensor 22b2. As shown in Figure 29(a), the two obstacle detection units are arranged with a distance (distance D1) greater than the width of the drug transport unit 120 so that the light La1 and La2 emitted from each unit does not irradiate the drug transport unit 120. In reality, the member located in the upper space US is the adsorption mechanism 122a. Therefore, the distance D1 only needs to be greater than the width of the adsorption mechanism 122a.

[0391] Furthermore, the drive control unit 71 moves the obstacle detection mechanism 22 in conjunction with the movement of the drug transport unit 120. In this embodiment, the obstacle detection mechanism 22 is movable in the y-axis direction. Therefore, the obstacle detection mechanism 22 moves in conjunction with the movement of the drug transport unit 120 in the y-axis direction. This prevents the light La1 and La2 emitted from the obstacle detection mechanism 22 from irradiating the drug transport unit 120.

[0392] When the drug sorting device 1 is started, it performs a positioning operation of the drug transport unit 120 relative to the second storage unit 14 (specifically, the sorting cup base 14a). This positioning operation allows the control unit 60b (in particular, the sorting control unit 62 and the packaging control unit 74) to accurately determine the positions of the multiple sorting cups 141 stored in the second storage unit 14.

[0393] In order to perform the positioning operation, it is necessary to move the drug transport unit 120 in the direction (x-axis and y-axis) in which each side constituting the area on which the sorting cup 141 is placed extends. Here, one end of the drug removal side in the second storage unit 14 (for example, the left end when viewed from the front of the drug sorting device 1) is set as the initial position for starting the positioning operation.

[0394] In this embodiment, as shown in Figure 29(a), the drive control unit 71 first moves the drug transport unit 120 to its initial position, and then starts the positioning operation. At this time, the drive control unit 71 turns on the obstacle detection mechanism 22, causing light La1 to be emitted from the light source 22a1 and light La2 to be emitted from the light source 22a2. If there are no obstacles in the upper space US, light La1 and La2 are reflected by the reflection mirror 23 and received by the sensor of the obstacle detection mechanism 22.

[0395] Next, as shown in Figure 29(a), the drive control unit 71 moves the drug transport unit 120 and the obstacle detection mechanism 22 in the y-axis direction by, for example, a distance exceeding D1. In this embodiment, this movement places the drug transport unit 120 in a position corresponding to the second row of sorting cups 141 in the y-axis direction. In other words, the drug transport unit 120 is in a position where it can move over the second row of sorting cups 141 in the x-axis direction. The distance of movement in the y-axis direction is not limited to this, and should be a distance such that the light La2 emitted from the light source 22a2 can detect the protrusion of the first row of sorting cups 141 (to the extent that the light La2 passes over the first row of sorting cups 141). The first row of sorting cups 141 refers to the sorting cups 141 that are shaded in Figure 29.

[0396] Here, the drive control unit 71 could also move the drug transport unit 120 from its initial position over the first row of sorting cups 141, and then move it in the y-axis direction. However, when the drug transport unit 120 is in its initial position, as shown in Figure 29(a), neither the light La1 emitted from the light source 22a1 nor the light La2 emitted from the light source 22a2 passes over the first row of sorting cups 141. Therefore, even if one of the sorting cups 141 in the first row is sticking out, the light La1 and La2 are not obstructed by the sticking-out sorting cup 141, and the obstacle detection mechanism 22 cannot detect the sorting cup 141. Consequently, if the drug transport unit 120 is moved from its initial position over the first row of sorting cups 141, and one of the sorting cups 141 in the first row is sticking out, the drug transport unit 120 will collide with the sticking-out sorting cup 141.

[0397] As shown in Figure 29(a), by moving the drug transport unit 120 and the obstacle detection mechanism 22 a predetermined distance in the y-axis direction from their initial positions, the object presence / absence determination unit 72 can confirm whether the first row of sorting cups 141 has popped out using the light La2 emitted from the light source 22a2, without moving the drug transport unit 120 over the first row of sorting cups 141.

[0398] Next, as shown in Figure 29(b), the drive control unit 71 moves the drug transport unit 120 along the x-axis direction over the sorting cups 141 to the other end of the second storage unit 14 (for example, the right end when viewed from the front of the drug sorting device 1). In this embodiment, the drug transport unit 120 moves along the x-axis direction over the second row of sorting cups 141 to the sorting cup 141 located on the other end. For the second row of sorting cups 141, while the drug transport unit 120 and the obstacle detection mechanism 22 are moving from their initial positions in the y-axis direction, the presence or absence of a protruding cup is checked by light La1 emitted from the light source 22a1. Therefore, if any of the second row of sorting cups 141 is detected to have protruding, the movement of the drug transport unit 120 is stopped, thus preventing the drug transport unit 120 from colliding with the protruding sorting cup 141.

[0399] Subsequently, as shown in Figures 29(c) and (d), the drive control unit 71 moves the drug transport unit 120 and the obstacle detection mechanism 22 along the y-axis direction on the sorting cup 141 located at the other end, thereby completing the positioning operation.

[0400] Furthermore, as shown in Figure 29(a), the drive control unit 71 also stops the drug transport unit 120 and the obstacle detection mechanism 22 if it detects that any of the sorting cups 141 in the first row have popped out while the drug transport unit 120 and the obstacle detection mechanism 22 are moving along the y-axis. Also, as shown in Figure 29(c), the drive control unit 71 stops the drug transport unit 120 and the obstacle detection mechanism 22 if it detects that any of the sorting cups 141 in the third to seventh rows have popped out while the drug transport unit 120 and the obstacle detection mechanism 22 are moving along the y-axis.

[0401] In this manner, during the positioning operation, the drug transport unit 120 moves through the area after the light La1 or La2 emitted from the light source 22a1 or 22a2 of the obstacle detection mechanism 22, which moves in conjunction with the drug transport unit 120, has passed over the second storage unit 14. This allows the drug sorting device 1 to determine the presence or absence of obstacles in the area where the drug transport unit 120 is scheduled to move before the drug transport unit 120 moves. Therefore, collisions between the drug transport unit 120 and the protruding sorting cup 141 can be avoided.

[0402] Note that the movement example shown in Figure 29 is merely one example. For example, if the initial position is set so that light La2 passes over the first row of sorting cups 141, the drug transport unit 120 may move along the x-axis direction over the first row of sorting cups 141, and then move along the y-axis direction over the sorting cups 141 located on the other end.

[0403] <Checking for filter clogging> When the chemical sorting device 1 is started, it checks for clogging of the filter (not shown) of the adsorption mechanism 122a with foreign matter such as dust. This filter is for collecting foreign matter such as dust that is sucked up from the adsorption pad 122c.

[0404] The adsorption mechanism 122a is equipped with a flow sensor (not shown) that detects the flow rate of air flowing through the air tube 122b (see Figures 23 and 31). In this case, the transport control unit 61 (or sorting control unit 62, packaging control unit 74) can determine that the drug has been adsorbed by the adsorption pad 122c based on the change in flow rate detected by the flow sensor.

[0405] The flow rate determination unit 73 determines whether the air flow rate in the air tube 122b when no drug is adsorbed is less than or equal to a first predetermined value (a predetermined flow rate). If the flow rate determination unit 73 determines that it is less than or equal to the first predetermined value, it determines that the filter is clogged. In this case, the display control unit 67 informs the user that the filter is clogged and that cleaning or replacement of the filter is necessary. The control unit 60b also stops the startup operation of the drug sorting device 1.

[0406] Furthermore, if it is determined that the value is below the first predetermined value, the display control unit 67 may notify the user that there is an abnormality in the suction pad 122c. This process may also be performed before the start of the drug sorting process.

[0407] Furthermore, the predetermined value determined by the flow rate determination unit 73 may be set in two stages: a first predetermined value and a second predetermined value. The first predetermined value is set as an indicator for determining that the filter has become clogged to the extent that cleaning is required. The second predetermined value is set as an indicator for determining that the filter has not yet become clogged to the extent that cleaning is required, but that it will become clogged to the extent that cleaning is required in the near future. Therefore, the second predetermined value is set higher than the first predetermined value.

[0408] In this case, the flow rate determination unit 73 determines whether the airflow rate in the air tube 122b when no chemical is adsorbed is below a second predetermined value. If the display control unit 67 determines that it is below the second predetermined value, it notifies the user that the filter will likely need to be cleaned in the near future. The control unit 60b temporarily stops the startup operation (or chemical sorting process) of the chemical sorting device 1, but resumes the operation when the operation input unit 66 receives user input indicating a restart.

[0409] <Checking for the presence or absence of sorting cup base> When the drug sorting device 1 is started, it checks whether the sorting cup base 14a is installed on the base 19. This process may be performed before the start of the drug sorting process. As shown in Figures 27(a) and (b), the sorting cup base 14a is a storage section that accommodates multiple sorting cups 141 in an aligned state.

[0410] Figures 30(a) and 30(b) are diagrams illustrating the object detection process using the indentation detection unit 126. The drug transport unit 120 includes the indentation detection unit 126, as shown in Figures 30(a) and 30(b). The indentation detection unit 126 detects when the suction mechanism 122a is pushed in the opposite direction to the extension direction when the suction mechanism 122a is extended from the drug transport unit 120 toward the base 19. In this embodiment, the indentation detection unit 126 has a substantially C-shape, and a light source 126a and a sensor 126b are provided inside it so as to face each other. The indentation detection unit 126 is provided above the suction mechanism 122a, and so as to be able to pass inside it.

[0411] As shown in Figure 30(a), the indentation detection unit 126 moves in conjunction with the extension movement of the suction mechanism 122a. As shown in Figure 30(b), when the suction pad 122c comes into contact with an object (e.g., sorting cup base 14a), the suction mechanism 122a is pushed up by the force of a spring (not shown) provided in the drug transport unit 120. As a result, the sensor 126b is no longer able to receive light emitted from the light source 126a. The object presence / absence determination unit 72 determines that the tip of the suction mechanism 122a has come into contact with an object when the sensor 126b is no longer able to receive light. In other words, the object presence / absence determination unit 72 determines that the object has come into contact with an object that should exist when the sensor 126b is no longer able to receive light, i.e., the object exists.

[0412] As shown in Figures 27(a) and (b), the sorting cup base 14a has an area where the sorting cup 141 is not accommodated. This area is used to determine whether the sorting cup base 14a is present or absent. Hereafter, this area will be referred to as the presence / absence determination area 14aa.

[0413] The drive control unit 71 lowers the suction mechanism 122a in the presence / absence determination area 14aa. The lowering distance at this time should be set so that, if the sorting cup base 14a is installed, the push detection unit 126 can detect contact with the presence / absence determination area 14aa, and so that, if the sorting cup base 14a is not installed, it does not come into contact with the base 19.

[0414] When the suction mechanism 122a is lowered, and as a result the suction mechanism 122a is pushed up, causing the sensor 126b to no longer receive light, the object presence determination unit 72 determines that the sorting cup base 14a is present. On the other hand, even if the suction mechanism 122a is lowered by the aforementioned lowering distance, if the suction mechanism 122a is not pushed up and the sensor 126b continues to receive light, the object presence determination unit 72 determines that the sorting cup base 14a is not present. In this case, the display control unit 67 notifies the user to place the sorting cup base 14a on the base 19.

[0415] <Check for suction abnormality> When the drug sorting device 1 is started, it checks whether it can properly detect when the adsorption mechanism 122a adsorbs a drug. This process may be performed before the start of the drug sorting process.

[0416] The flow rate determination unit 73 determines whether the flow rate of air in the air tube 122b when no drug is adsorbed is less than or equal to a third predetermined value. The third predetermined value may be set to, for example, the flow rate when the drug is adsorbed, which has been determined in advance through experiments or the like.

[0417] The drive control unit 71 lowers the adsorption mechanism 122a in the presence / absence determination area 14aa, for example, and brings it into contact with the sorting cup base 14a. In this state, if the flow rate determination unit 73 determines that the flow rate is below a third predetermined value, it determines that the drug can be adsorbed normally (i.e., the control unit 60b can normally detect the adsorption of the drug). On the other hand, if the flow rate determination unit 73 determines that the flow rate is not below the third predetermined value, it determines that the drug cannot be adsorbed normally. In this case, the display control unit 67 notifies the user that the adsorption mechanism 122a is unable to adsorb the drug normally. If the flow rate is not below the third predetermined value, it is considered that an abnormality such as damage to the air tube 122b or adsorption pad 122c has occurred. Notification to the user makes it possible to identify the damaged part and repair it.

[0418] <Checking for the presence of a standby tray> When the drug sorting device 1 is started, it checks whether the standby tray 15 is installed on the base 19. This process may be performed before the start of the drug sorting process.

[0419] The imaging control unit 63 uses the second camera 121 of the drug transport unit 120 to image the area where the standby tray 15 is to be installed. The object presence / absence determination unit 72 analyzes the image captured by the imaging control unit 63 to determine whether or not the standby tray 15 is included in the image. If the standby tray 15 is included in the image, the object presence / absence determination unit 72 determines that the standby tray 15 is installed on the base 19. On the other hand, if the standby tray 15 is not included in the image, the object presence / absence determination unit 72 determines that the standby tray 15 is not installed on the base 19. In this case, the display control unit 67 notifies the user to install the standby tray 15.

[0420] <Check for the presence of a collection tray> When the drug sorting device 1 is started, it checks whether the collection tray 16 is installed on the base 19. This process may be performed before the start of the drug sorting process.

[0421] As shown in Figures 27(a) and (b), the collection tray 16 is provided with protrusions 16a that project inward from each of its four corners. The object presence / absence determination unit 72 determines whether the collection tray 16 is installed by bringing the suction mechanism 122a into contact with one of the protrusions 16a provided at the four corners.

[0422] This process is carried out using the same method as the confirmation of the presence or absence of the sorting cup base 14a described above. Specifically, the drive control unit 71 lowers the suction mechanism 122a over the area where the collection tray 16 is installed. The lowering distance at this time should be set so that, if the collection tray 16 is installed, the push detection unit 126 can detect contact with the protruding portion 16a, and so that, if the collection tray 16 is not installed, it does not come into contact with the base 19.

[0423] When the suction mechanism 122a is lowered, and as a result the suction mechanism 122a is pushed up, causing the sensor 126b to no longer receive light, the object presence determination unit 72 determines that the collection tray 16 is present. On the other hand, even if the suction mechanism 122a is lowered by the aforementioned lowering distance, if the suction mechanism 122a is not pushed up and the sensor 126b continues to receive light, the object presence determination unit 72 determines that the collection tray 16 is not present. In this case, the display control unit 67 notifies the user to install the collection tray 16.

[0424] <Check for the presence of adhesive pads> The drug sorting device 1 checks whether the adsorption pad 122c is attached to the adsorption mechanism 122a when it is started. This process may be performed before the start of the drug sorting process. Figure 31 is a diagram illustrating the determination of whether or not the adsorption pad 122c is present.

[0425] The presence or absence of the suction pad 122c is determined by whether the airflow rate in the air tube 122b when no chemical is adsorbed is, for example, below a third predetermined value. Specifically, the drive control unit 71 lowers the suction mechanism 122a in the presence / absence determination area 14aa and brings it into contact with the sorting cup base 14a. In this state, if the flow rate determination unit 73 determines that it is below the third predetermined value, it determines that the suction pad 122c is attached to the suction mechanism 122a. On the other hand, if the flow rate determination unit 73 determines that it is not below the third predetermined value, it determines that the suction pad 122c is not attached to the suction mechanism 122a. In this case, the display control unit 67 notifies the user to attach the suction pad 122c to the suction mechanism 122a. This prevents users from forgetting to attach the suction pad 122c.

[0426] Here, the distance from the end of the drug transport unit 120 facing the base 19 (the initial position of the adsorption mechanism 122a) to the bottom of the sorting cup 141 correctly placed on the sorting cup base 14a is constant. Therefore, when performing this process in the presence / absence determination area 14aa, the descent distance of the adsorption mechanism 122a (the stopping position of the adsorption mechanism 122a) can be determined precisely (e.g., on the order of millimeters) by determining the descent distance of the adsorption mechanism 122a (the stopping position of the adsorption mechanism 122a) starting from the position of the bottom.

[0427] Specifically, as shown in Figure 31, the distance D11 from the reference line BL that defines the position of the bottom to the surface of the sorting cup base 14a is constant. Therefore, the distance D12 obtained by subtracting a value that takes into account the thickness of the suction pad 122c (e.g., half the thickness) from the distance D11 is also a constant value. Thus, the stopping position of the suction mechanism 122a can be determined by setting the position at a distance D12 from the reference line BL. In other words, the descent distance can be determined as the distance from the initial position of the suction mechanism 122a to the stopping position.

[0428] This allows the descent distance (stopping position) to be set to a distance (position) such that, when the suction pad 122c is attached, the suction pad 122c contacts the surface of the sorting cup base 14a, and when the suction pad 122c is not attached, the tip of the suction mechanism 122a does not contact the surface.

[0429] In other words, when the suction mechanism 122a is lowered by the specified distance, as shown in Figure 31, if the suction pad 122c is attached, the flow rate will be less than or equal to the third predetermined value due to the contact of the suction pad 122c with the surface of the sorting cup base 14a. On the other hand, if the suction pad 122c is not attached, a gap OP is created between the tip of the suction mechanism 122a and the surface of the sorting cup base 14a, so the flow rate will not be less than or equal to the third predetermined value. Therefore, the object presence / absence determination unit 72 can accurately determine the presence or absence of the suction pad 122c.

[0430] <Checking for dirt and remaining medication on the drug display stand> The drug sorting device 1 checks for contamination and residual drug on the drug placement table 133a when it is started. This check may be performed before the start of the drug sorting process. Figure 32 is a perspective view showing an example of the placement of the illuminator 134 and backlight 135.

[0431] In the imaging unit 13, the first irradiation unit 134a (visible light irradiation unit; bar illumination), the second irradiation unit 134b (visible light irradiation unit; ring illumination), and the ultraviolet light irradiation unit 134c are arranged as shown in Figure 32. Also, as shown in Figure 32, the receiving area Ar1 is provided with a backlight 135 that illuminates the drug placement stage 133a located in the receiving area Ar1 from below. When the adsorption mechanism 122a adsorbs the drug placed on the drug placement stage 133a located in the receiving area Ar1 (that is, when determining the adsorption position on the drug placement stage 133a), the backlight 135 is turned on. This allows for accurate determination of the adsorption position.

[0432] The imaging control unit 63 images the drug placement stage 133a located in the receiving area Ar1. The imaging control unit 63 analyzes the captured image and, if it detects an area with relatively low brightness, determines that there is dirt on the drug placement stage 133a. In this case, the display control unit 67 notifies the user that there is dirt on the drug placement stage 133a and instructs them to clean it. A known method, such as dynamic thresholding, can be used to detect this relatively low-brightness area.

[0433] Furthermore, the imaging control unit 63 analyzes the captured image to determine whether or not a drug is present on the drug placement platform 133a. For example, the imaging control unit 63 determines that a drug is placed on the drug placement platform 133a if the degree of agreement with the size and shape estimated to be a pre-identified drug is greater than or equal to a predetermined value. In this case, the drive control unit 71 controls the transport and sorting unit 12 to transport the drug placed on the drug placement platform 133a to the first storage unit 11. This prevents the drug sorting process from starting while the drug is still placed on the drug placement platform 133a. Also, by storing the drug in the first storage unit 11, the drug can be included in the sorting process, and there is no need to notify that a drug is placed on the drug placement platform 133a.

[0434] After checking for dirt and remaining medication on one medication stand 133a, the other medication stand 133a is checked for dirt and remaining medication.

[0435] <Example of operation> An example of operation at startup (or before the start of the drug sorting process) in the drug sorting device 1 will be described. The drive control unit 71 moves the drug transport unit 120 to the initial position where the positioning operation begins, and then performs the positioning operation. Once the positioning operation is complete, the drive control unit 71 moves the drug transport unit 120 to the first storage unit 11.

[0436] The drive control unit 71 performs an air sweeping process using the adsorption mechanism 122a above the first storage unit 11. This prevents the start of the chemical sorting process if chemicals are attached to the adsorption pad 122c, while the chemicals are still attached. Furthermore, by storing the chemicals attached to the adsorption pad 122c in the first storage unit 11, these chemicals can also be included in the sorting process, and there is no need to notify the system that chemicals are attached to the adsorption pad 122c.

[0437] Next, the drive control unit 71 moves the drug transport unit 120 to the presence / absence determination area 14aa. At this position, the following processes are performed: checking for the presence or absence of the sorting cup base 14a, checking for the presence or absence of the suction pad 122c, checking for suction abnormalities, and checking for filter clogging.

[0438] Next, the drive control unit 71 moves the drug transport unit 120 to the standby tray 15. This allows the system to check for the presence or absence of the standby tray 15. Next, the drive control unit 71 moves the drug transport unit 120 to the collection tray 16. This allows the system to check for the presence or absence of the collection tray 16. Finally, the drive control unit 71 moves the drug transport unit 120 to the receiving area Ar1. This allows the system to check for contamination and remaining drug on the drug placement platform 133a.

[0439] By performing the above-described process at startup (or before the start of the drug sorting process), the drug sorting device 1 can safely and reliably perform the drug sorting process.

[0440] [Embodiment 17] In this embodiment, the method of placing drugs in the standby tray 15 will be explained using Figure 33. Figure 33 is a diagram illustrating an example of drug placement in the standby tray 15. In Figure 33, drugs MD1 to MD5 are placed in the standby tray 15 in that order.

[0441] By imaging the inside of the standby tray 15, it is also possible to check the drug storage status in the standby tray 15. However, in practice, it is difficult to grasp the storage status by analyzing the captured images. Therefore, as described above, the obstacle detection mechanism 22 detects the presence of drug protruding from the top surface of the standby tray 15 (indicating that the tray is full of drug).

[0442] On the other hand, the method of arranging the drugs on the standby tray 15 can also be used to prevent the drugs from spilling out from the top surface of the standby tray 15. As shown in Figure 33(a), by staggering the positions of drugs MD1 to MD5, it is possible to prevent the drugs from stacking up on the standby tray 15. However, even in this case, the drugs overlap. Therefore, as shown in Figure 33(b), by arranging drugs MD1 to MD5 so that they do not overlap with at least one drug placed previously, it is possible to further prevent the drugs from stacking up on the standby tray 15. Specifically, the next drug is placed at a predetermined distance (e.g., about 2 mm) away from the drug that has been placed. The placement positions on the standby tray 15 are determined by the control unit 60b.

[0443] [Embodiment 18] In this embodiment, a method for switching adsorption methods and sorting methods according to the shape of the drug will be described. In addition to the general shapes and sizes of tablets and capsules (e.g., cross-sections that are roughly circular, roughly elliptical, or roughly rectangular), there are also other shapes and sizes such as the following.

[0444] (1) Half-tablet shape (a shape with one arc and two corners), (2) A shape different from the shape of a typical tablet or capsule (e.g., a drug with a deeper score line than a typical drug) (hereinafter referred to as "unconventional shape") (3) Drugs smaller than the size of typical tablets and capsules (hereinafter referred to as "small drugs"). Small drugs are defined as those with a predetermined number of pixels or less in an image; that is, those in which the number of pixels included in the area of ​​the drug image in the image is less than or equal to a predetermined number of pixels.

[0445] When adsorbing a drug, the control unit 60b performs an initial operation of lowering the adsorption mechanism 122a while simultaneously applying suction. By controlling it in this way, depending on the drug, it is possible to adsorb the drug before contact with it, thus enabling efficient drug sorting. However, when lowering the adsorption mechanism 122a while applying suction to a drug having the shapes or sizes described in (1) to (3) above, the airflow caused by the suction may cause the drug to move around before adsorption, making it impossible to adsorb the drug. Also, the airflow may cause the drug to move, preventing it from adsorbing at the appropriate position.

[0446] Therefore, when sorting drugs having the shape or size described above, the sorting control unit 62 switches the initial setting operation to a special setting operation in which the adsorption mechanism 122a is lowered, the adsorption pad 122c is brought into contact with (pressed against) the drug, and then suction is started. Contact with the drug can be determined by the change in flow rate.

[0447] For drugs with irregular shapes, information indicating that the drug has an irregular shape is registered in the drug database, linked to the drug data of that drug. When the discrimination unit 64 determines the type of drug based on the image captured by the first camera 131, it refers to the drug database to determine whether or not the drug is designated as a drug with an irregular shape. If it is determined that the drug has an irregular shape, the sorting control unit 62 switches the adsorption operation from the initial setting operation to the special setting operation.

[0448] Furthermore, the discrimination unit 64 identifies the shape and size of the drug placed in the placement area Ar2 based on the image captured by the first camera 131. If the discrimination unit 64 determines that the drug is half-tablet shaped or small, the sorting control unit 62 switches the adsorption operation from the initial setting operation to the special setting operation. Note that a drug is determined to be small if the number of pixels included in the area of ​​the drug image in the image is less than or equal to a predetermined number of pixels.

[0449] Thus, for drugs having special shapes or sizes as described in (1) to (3) above, switching the adsorption operation to a special setting operation can prevent situations where the drug cannot be adsorbed or is adsorbed at an inappropriate location.

[0450] Furthermore, if the sorting control unit 62 determines that the drug is in the shape of a half tablet, it may sort the half tablet into the same sorting cup 141.

[0451] [Embodiment 19] In this embodiment, the process when multiple drugs are placed on the drug placement stand 133a will be described.

[0452] When determining the type of drug, the discrimination unit 64 analyzes the image captured by the first camera 131. If this image analysis determines that there are multiple drugs on the drug placement table 133a, the drug type determination process is interrupted, and the imaging control unit 63 moves the drug placement table 133a from the placement area Ar2 to the receiving area Ar1. After moving the drug transport unit 120 onto the receiving area Ar1, the transport control unit 61 takes one of the multiple drugs placed on the drug placement table 133a based on the image captured by the second camera 121 and transports it to the first storage unit 11. The transport control unit 61 repeats this process until all of the multiple drugs placed on the drug placement table 133a have been transported to the first storage unit 11. If the transport control unit 61 determines that there are no drugs on the drug placement table 133a, it takes another drug from the first storage unit 11 and places it on the drug placement table 133a. This allows the drug type identification process, which had been temporarily interrupted, to resume.

[0453] In this way, if multiple drugs are placed on the drug placement table 133a, the drug sorting device 1 can reliably perform drug type identification processing one by one by returning the drugs to the first storage unit 11.

[0454] [Embodiment 20] In this embodiment, the configuration of the packaging mechanism 6 (packaging unit) for packaging the drug stored in the second storage unit 14 will be described using Figure 34. Figure 34 is a diagram showing an example of the configuration of the packaging mechanism 6. Figure 34(a) is a schematic diagram showing a part of the configuration of the packaging mechanism 6. Figures 34(b) and (c) are diagrams for explaining the opening and closing operation of the upper shutter mechanism 6d, and (d) and (e) are diagrams for explaining the opening and closing operation of the lower shutter mechanism 6e.

[0455] As shown in Figure 34(a), the packaging mechanism 6 includes a packaging hopper 6a, a heater roller 6b, a moving passage 6c, an upper shutter mechanism 6d, and a lower shutter mechanism 6e. The heater roller 6b, the upper shutter mechanism 6d, and the lower shutter mechanism 6e are controlled by the packaging control unit 74.

[0456] The packaging hopper 6a receives the drug that has passed through (fallen) the moving passage 6c and guides it to the packaging paper PP set on the heater roller 6b. Specifically, the packaging hopper 6a guides the drug that has passed through the moving passage 6c to the pre-packaging drug placement area MPAr, where the drug is placed before being packaged by the heater roller 6b. In Figure 34(a), the packaging paper PP is shown by a dashed line. The packaging hopper 6a has a tapered shape toward the heater roller 6b in order to place the drug near the bottom of the heater roller 6b in the pre-packaging drug placement area MPAr.

[0457] The heater roller 6b dispenses the medication into individual PP packaging sheets. Specifically, the heater roller 6b heat-seals the PP packaging sheets to dispense the medication. By placing one sachet of medication onto the PP packaging sheets in the pre-dispensing medication placement area MPAr, the medication can be dispensed into individual PP packaging sheets.

[0458] Furthermore, when the packaging mechanism 6 packages drugs taken from sorting cups 141 sorted by type, it may package all the drugs stored in one sorting cup 141 as one package. Alternatively, if the quantity of drugs stored in a sorting cup 141 is large, it may divide the drugs into multiple packages of a predetermined quantity each. When dividing the drugs into multiple packages, the packaging mechanism 6 may print the drug name on the packaging paper PP using a printing mechanism (not shown). In this case, the packaging control unit 74 reads the drug data from the RFID of the sorting cup 141 from which the drugs were taken, and prints the drug name on the packaging paper PP containing the drugs. This allows the user to confirm which type of drug is packaged in each package. Additionally, when the drugs are divided into multiple packages, the packaging mechanism 6 may print "1 / 2," "2 / 2," etc., on each package so that the user can confirm the total number of packages of the drug. Furthermore, the packaging mechanism 6 may print the date or time the sorting process was performed, or information such as the ward where the sorting process was performed, onto the PP packaging paper.

[0459] The transport passage 6c is located between the drug input port 17, into which the drugs sorted by the transport and sorting unit 12 (drugs to be packaged) are introduced, and the packaging hopper 6a. The transport passage 6c guides the drugs introduced from the drug input port 17 to the packaging hopper 6a. In other words, the transport passage 6c connects the drug input port 17 to the pre-packaging drug placement area MPAr, guiding the drugs introduced from the drug input port 17 to the pre-packaging drug placement area MPAr.

[0460] The upper shutter mechanism 6d is connected to the drug input port 17 and functions as a drug drop prevention unit to prevent drugs that are not to be packaged, which are placed in the drug input port 17, from falling into the packaging mechanism 6. As shown in Figure 34(b), the upper shutter mechanism 6d comprises an upper shutter 6da and an upper shutter drive unit 6db.

[0461] The upper shutter 6da is an openable and closable shutter that functions as the bottom of the drug input port 17. The upper shutter drive unit 6db controls the opening and closing operation of the upper shutter 6da by driving it. Figure 34(b) shows the upper shutter 6da in the open state, and (c) shows the upper shutter 6da in the closed state.

[0462] The upper shutter 6da is normally closed and opens when the drug to be packaged is placed into the drug input port 17. Specifically, the packaging control unit 74 controls the transport and sorting unit 12 to remove the drug to be packaged from the corresponding sorting cup 141 and transport it to the drug input port 17. After the drug is placed into the drug input port 17, the packaging control unit 74 controls the upper shutter mechanism 6d to open the closed upper shutter 6da. As a result, the drug placed into the drug input port 17 is guided to the packaging hopper 6a via the transport passage 6c. After a predetermined time has elapsed (sufficient time for the placed drug to fall into the transport passage 6c), the packaging control unit 74 closes the open upper shutter 6da.

[0463] In this way, by providing the upper shutter mechanism 6d, it is possible to prevent drugs (drugs that are not to be packaged) that accidentally fall into the drug input port 17 during the operation of the drug sorting device 1 from being packaged by the packaging mechanism 6.

[0464] Furthermore, the second camera 121 (drug imaging unit), under the control of the dispensing control unit 74, images the drug that has been placed in the drug input port 17 before the upper shutter 6da opens. The dispensing control unit 74 stores the image captured by the second camera 121 in the storage unit 80 as evidence of dispensing. This allows the user to verify whether the drug has been properly packaged using the image of the drug captured just before it is packaged by the dispensing mechanism 6.

[0465] The lower shutter mechanism 6e functions as a drug holding unit that temporarily holds the drug introduced from the drug inlet 17 until all of the drug contained in one package created by the packaging mechanism 6 has been introduced from the drug inlet 17. In other words, the lower shutter mechanism 6e prevents the drug from being introduced into the pre-packaging drug placement area MPAr until all of the drug contained in one package has been introduced from the drug inlet 17. Therefore, the lower shutter mechanism 6e (specifically, the lower shutter 6ea described later) only needs to be provided between the drug inlet 17 and the pre-packaging drug placement area MPAr. In this embodiment, the lower shutter mechanism 6e is provided between the packaging hopper 6a and the moving passage 6c, but it is not limited to this, and may be provided inside the packaging hopper 6a or the moving passage 6c, for example.

[0466] Furthermore, as shown in Figure 34(e), the lower shutter mechanism 6e is equipped with an openable and closable lower shutter 6ea (shutter). The lower shutter mechanism 6e is also equipped with a lower shutter drive unit (not shown). The lower shutter drive unit controls the opening and closing operation of the lower shutter 6ea by driving the lower shutter 6ea. Figure 34(d) shows the lower shutter 6ea in the open state, and (e) shows the lower shutter 6ea in the closed state.

[0467] The lower shutter 6ea is normally closed and opens when a package of medication is held on the lower shutter 6ea. Specifically, the dispensing control unit 74 opens the lower shutter 6ea after a predetermined time has elapsed since the last of the multiple medications contained in a package was put into the medication input port 17 and the upper shutter 6da was opened. This allows the medications from the package to be collectively guided to the packaging hopper 6a (i.e., the pre-dispensing medication placement area MPAr). However, if there is only one medication in the package, the last medication will be that single medication.

[0468] Here, the memory unit 80 stores information indicating the maximum number that can be contained in one package for each type of drug (or the size, shape, etc., of the drug). Specifically, for each type of drug, it stores information indicating the maximum number that can be contained in one package with a standard bag length (e.g., 80 mm). The dispensing control unit 74 reads the number of drugs stored in the sorting cup 141 from the RFID of the sorting cup 141, and by comparing this number with the maximum capacity, determines the bag length of one package and the quantity to be dispensed into one package.

[0469] For example, if the dispensing control unit 74 determines that the above number is less than the maximum capacity, it puts all the drugs stored in the sorting cup 141 into the drug input port 17 and shortens the length of the bag for each package containing the drugs stored in the sorting cup 141. For example, if the maximum capacity of a drug is set at 8 tablets when the standard bag length is 80 mm, and there are 7 tablets to be packaged in one bag, the bag length is changed to 70 mm. The bag length may be changed in stages, for example, between 70 mm, 76 mm, 80 mm (standard bag length), 90 mm, and 110 mm.

[0470] Furthermore, if the dispensing control unit 74 determines that the above number is equal to the maximum capacity, it puts all the drugs stored in the sorting cup 141 into the drug input port 17, and keeps the length of the bag for each package of drugs stored in the sorting cup 141 at the standard bag length.

[0471] Furthermore, if the dispensing control unit 74 determines that the above number is greater than the maximum capacity, it sets the length of one package to a larger bag length than the standard bag length (e.g., 110 mm) and calculates the amount of drug that can be dispensed into one package of that length, based on the type of drug. The calculated amount of drug can then be dispensed from the sorting cup 141 into the drug input port 17. The same process may also be performed if the user wishes to dispense as much drug as possible into one package (if the settings are configured for this).

[0472] In this way, the dispensing control unit 74 determines the quantity to be dispensed into one package, and based on that quantity, it can identify which drug in one package is being dispensed into the drug dispenser 17. Alternatively, the dispensing control unit 74 may also identify which drug in one package is being dispensed into the drug dispenser 17 based on prescription data.

[0473] Furthermore, the packaging control unit 74 executes a feeding operation for one packet of packaging paper PP when it has placed one packet's worth of drug on the pre-packaging drug placement area MPAr. After this feeding operation is completed, the heating roller 6b heat-seals the packaging paper PP for that one packet. This allows each packet of drug to be individually packaged in packaging paper PP.

[0474] The above predetermined time should be set to be sufficient time for the drug to reach the lower shutter 6ea via the transport passage 6c after the upper shutter 6da is opened. However, the dispensing control unit 74 opens the lower shutter 6ea while the feeding operation of the dispensing paper PP is stopped.

[0475] Furthermore, the packaging control unit 74 closes the open lower shutter 6ea after a predetermined time has elapsed (sufficient time for the drug placed on the lower shutter 6ea to fall into the packaging hopper 6a).

[0476] In this way, by providing the lower shutter mechanism 6e, the timing of placing one packet of drug onto the pre-packaging drug placement area MPAr and the timing of feeding the packaging paper PP can be synchronized. Therefore, the drug sorting device 1 can package one packet of drug at a time into the packaging paper PP using the heater roller 6b.

[0477] Furthermore, by temporarily holding the medication with the lower shutter mechanism 6e, one packet of medication can be dropped at once into the pre-packaging medication placement area MPAr. This avoids the phenomenon where medication gets stuck between the PP packaging paper before heat sealing and cannot fall to the pre-packaging medication placement area MPAr, which can occur when dropping medication one packet at a time.

[0478] If the above phenomenon occurs, the two PP packaging papers may become misaligned before heat sealing. If the PP packaging papers are heat-sealed by the heater roller 6b in this state, it will result in a packaging defect, requiring the drug to be repackaged. By providing the lower shutter mechanism 6e, the above phenomenon can be avoided, thus preventing packaging defects. Therefore, the drug sorting device 1 can efficiently package the drug.

[0479] In other embodiments, the packaging mechanism 6 may have a different configuration from that described in this embodiment. As mentioned above, for example, the packaging hopper 6a may temporarily hold the drug introduced from the drug input port 17. Also, the transport passage 6c may move the drug held in the packaging hopper 6a to the pre-packaging drug placement area MPAr.

[0480] [Embodiment 21] In this embodiment, the pre-processing for the packaging process will be described. It is possible that drugs that are not to be packaged remain on the upper shutter 6da and lower shutter 6ea shown in Figure 34, such as drugs used in the previous packaging process. To avoid packaging such drugs, the packaging control unit 74 opens the upper shutter 6da and lower shutter 6ea at the start of the packaging process. If drugs that are not to be packaged remain on the upper shutter 6da and lower shutter 6ea, this operation will cause those drugs to fall into the pre-packaging drug placement area MPAr. The packaging control unit 74 then packages the drugs placed in the pre-packaging drug placement area MPAr with packaging paper PP, thereby discharging the drugs sorted into the second storage section 14 to the outside of the drug sorting device 1 before packaging.

[0481] Generally, due to the limitations of the device, dispensing machines need to empty several PP dispensing papers at the start of the dispensing process, without dispensing any medication. The dispensing mechanism 6 can dispense the medication remaining on the upper shutter 6da and lower shutter 6ea into these empty PP dispensing papers (empty packages). Therefore, the dispensing mechanism 6 can effectively utilize the empty packages generated due to the device's limitations as recovery packages for the medication.

[0482] Furthermore, the packaging mechanism may be used to print the words "Recovery Packet" on the PP packaging paper to distinguish it from other packages. Alternatively, the packaging mechanism 6 may be equipped with an automatic line-drawing device (not shown) using a pen to draw a colored line on the package to indicate that it is a recovery package.

[0483] [Embodiment 22] In this embodiment, Figures 26 and 35 will be used to describe the process of dropping one drug at a time from the drug inlet 17 during the packaging process. Figure 35 is a flowchart illustrating this example of the process.

[0484] <Configuration of the drug sorting device> As shown in Figure 26, the packaging control unit 74 includes a quantity determination unit 741, a drug transfer determination unit 742, and a packaged drug transport control unit 743.

[0485] The quantity determination unit 741 determines the number of drugs inserted into the drug insertion port 17 based on the image of the inside of the drug insertion port 17 captured by the second camera 121 (input imaging unit). Specifically, if the quantity determination unit 741 determines that the image captured by the second camera 121 contains multiple drugs, and the image captured again by the second camera 121 after the drugs inserted into the drug insertion port 17 have been removed does not contain any drugs, then the quantity determination unit 741 determines that only one drug was inserted into the drug insertion port 17.

[0486] The drug transfer decision unit 742 determines to move the drug from the drug input port 17 to the packaging mechanism 6 when the quantity determination unit 741 determines that only one drug has been placed in the drug input port 17. When the drug transfer decision unit 742 determines this move, it drives the upper shutter drive unit 6db to open the upper shutter 6da. This allows the drug to be moved to the packaging mechanism 6 only when only one drug has been placed in the drug input port 17. In other words, the drugs can be dropped one at a time from the drug input port 17.

[0487] The packaged drug transport control unit 743 controls the transport and sorting unit 12 to transport the drugs stored in the second storage unit 14 to the drug input port 17. Furthermore, if the packaged drug transport control unit 743 determines that the image captured by the second camera 121 contains multiple drugs, and if the drug is still present in the image captured by the second camera 121 after the drug has been removed from the drug input port 17, the drug will be returned to the second storage unit 14.

[0488] In this case, the packaged drug transport control unit 743 returns one of the multiple drugs placed in the drug input port 17 to the sorting cup 141 from which that drug was removed. Specifically, the packaged drug transport control unit 743 returns the drug that was removed from the drug input port 17 in order to image the drug input port 17 again to the sorting cup 141 from which that drug was removed. The packaged drug transport control unit 743 repeats the drug return operation until only one drug remains in the drug input port 17. This ensures that even if multiple drugs are placed in the drug input port 17, the number of drugs present in the drug input port 17 can be reduced to one before the drugs are dropped from the drug input port 17 to the packaging mechanism 6.

[0489] <Processing by chemical sorting equipment> As shown in Figure 35, the packaged drug transport control unit 743 puts the drug to be packaged into the drug input port 17 (S31). The packaged drug control unit 74 controls the second camera 121 to image the inside of the drug input port 17 after the drug has been put in (S32). The quantity determination unit 741 analyzes the image captured by the second camera 121 to determine whether or not the image contains multiple drugs (S33).

[0490] If the quantity determination unit 741 determines that the image does not contain multiple drugs (NO in S33), the drug transfer determination unit 742 decides to transfer the drugs from the drug input port 17 to the packaging mechanism 6. In this case, the drug transfer determination unit 742 controls the upper shutter mechanism 6d to open the upper shutter 6da (S36).

[0491] On the other hand, if the quantity determination unit 741 determines that the image contains multiple drugs (YES in S33), the drug movement determination unit 742 keeps the upper shutter 6da closed. In this case, after the drug has been inserted into the drug inlet 17 (S34), the dispensing control unit 74 controls the second camera 121 to take another image of the inside of the drug inlet 17. The quantity determination unit 741 then analyzes the image taken again by the second camera 121 to determine whether or not the image contains drugs (S35).

[0492] If the quantity determination unit 741 determines that the image above does not contain any drug (YES in S35), the drug transfer determination unit 742 decides to transfer the drug from the drug input port 17 to the packaging mechanism 6. In other words, the drug transfer determination unit 742 assumes that there is one drug inserted into the drug input port 17 and controls the upper shutter mechanism 6d to open the upper shutter 6da (S36).

[0493] On the other hand, if the quantity determination unit 741 determines that the image contains the drug (NO in S35), the drug transfer determination unit 742 assumes that there are multiple drugs placed in the drug input port 17 and keeps the upper shutter 6da closed. In this case, the packaged drug transport control unit 743 returns the drug removed in S34 to the sorting cup 141 from which the drug was removed (S37). Then, the process returns to S32.

[0494] In S34, the transport and sorting unit 12 removes one unit of the drug that was placed in the drug input port 17. Therefore, if multiple units of drug were placed in the drug input port 17, at least one unit of drug will remain in the drug input port 17 even after one unit is removed in S34. On the other hand, if only one unit of drug was placed in the drug input port 17, there will be no drug left in the drug input port 17 after the drug is removed in S34.

[0495] Even if it is determined in S33 that the captured image contains multiple drugs, it may be determined in S35 that the captured image (the image after one drug has been removed) does not contain any drugs. This is because, depending on the type of drug (shape such as markings), the image processing may result in the image being determined to contain two drugs even though the image is of only one drug. In this case, since only one drug has been inserted into the drug input port 17, the drug movement determination unit 742 opens the upper shutter 6da to guide the drug to the dispensing mechanism 6.

[0496] On the other hand, if the image captured in S35 (the image after one drug has been removed) contains drug, it becomes certain that multiple drugs have been placed in the drug input port 17. Therefore, by returning the removed drug to the sorting cup 141, the amount of drug placed in the drug input port 17 can be reduced. Furthermore, even if three or more drugs are placed in the drug input port 17, by repeating the above process, the drug can be guided to the dispensing mechanism 6 with only one drug remaining in the drug input port 17.

[0497] In this way, the drug sorting device 1 can avoid dispensing multiple drugs simultaneously from the drug input port 17 to the packaging mechanism 6. Furthermore, even if, due to the accuracy of the image processing, it incorrectly determines that there are two drugs present when only one drug is actually placed in the drug input port 17, it can ultimately determine that there is one drug and dispense that single drug to the packaging mechanism 6. In other words, in the event of an incorrect determination, the drug will not be returned to the sorting cup 141 from the drug input port 17, nor will the user be notified that multiple drugs are present in the drug input port 17.

[0498] [Embodiment 23] In this embodiment, the process of checking the remaining medication in the sorting cup 141 will be explained using Figures 26 and 36. Figure 36 shows an example of a remaining medication confirmation image Im10.

[0499] As shown in Figure 26, the sorting control unit 62 includes a storage determination unit 621 and an information storage control unit 622.

[0500] The storage determination unit 621 determines whether or not a drug is stored in the sorting cup 141 based on the image of the inside of the sorting cup 141 captured by the second camera 121 (container imaging unit). The image analyzed by the storage determination unit 621 is the inside of an unused sorting cup 141 captured by the second camera 121 before the transport and sorting unit 12 sorts the drug. In other words, the storage determination unit 621 determines whether or not a drug is stored in the sorting cup 141 when an unused sorting cup 141 is determined to be the sorting position for the drug.

[0501] When the storage determination unit 621 determines that a drug is stored in the sorting cup 141, the information storage control unit 622 stores storage information indicating that a drug is stored in the sorting cup 141, linked to container identification information for identifying the sorting cup 141. Specifically, the information storage control unit 622 stores the storage information in the RFID tag provided on the sorting cup 141 that the storage determination unit 621 has determined to contain a drug. As a result, the storage information and container identification information are stored in the RFID tag in a linked state. However, the storage information and container identification information may also be stored in the storage unit 80 in a linked state.

[0502] Thus, when a drug is stored in an unused sorting cup 141, the drug sorting device 1 can identify that the sorting cup 141 is not unused by linking and storing the storage information with the container identification information. Therefore, the drug sorting device 1 can avoid sorting the drug into the sorting cup 141. Furthermore, even if the placement position of the sorting cup 141 is changed in the second storage section 14, the drug sorting device 1 can identify the placement position of the sorting cup 141.

[0503] Furthermore, if the storage determination unit 621 determines that a drug is stored in the sorting cup 141, the sorting control unit 62 interrupts the drug sorting process to the sorting cup 141. The sorting control unit 62 then transports the drug that the transport and sorting unit 12 has adsorbed to the first storage unit 11. In this case, the sorting control unit 62 may also determine another unused sorting cup 141 as the sorting location and sort the drug into that sorting cup 141.

[0504] Furthermore, as shown in Figure 26, the packaging control unit 74 includes a storage determination unit 744 and an information storage control unit 745. The storage determination unit 744 and the information storage control unit 745 have the same functions as the storage determination unit 621 and the information storage control unit 622, respectively. However, the image that the storage determination unit 744 analyzes is the inside of the sorting cup 141 after the transport and sorting unit 12 has dispensed all of the drugs stored in the sorting cup 141 to the packaging mechanism 6, as captured by the second camera 121.

[0505] Furthermore, the display control unit 67 displays a remaining medication confirmation image Im10 as shown in Figure 36. The remaining medication confirmation image Im10 displays the status of sorting the medication into the second storage unit 14, as well as the storage status, indicating whether or not the medication sorted by the sorting control unit 62 is stored there.

[0506] As shown in Figure 36, in this embodiment, the remaining medication confirmation image Im10 displays the image of each sorting cup 141 and indicates the storage status by color-coding the border of each sorting cup 141 image. For example, the display control unit 67 sets the border of the image of an unused sorting cup 141 to blue, and the border of the image of a sorting cup 141 containing medication sorted by the sorting control unit 62 to green. In addition, the display control unit 67 sets the border of the image of an unused sorting cup 141 to red if medication is stored in that sorting cup 141 (i.e., displays "remaining medication" for that sorting cup 141). Note that in Figure 36, the border in case (1) is represented by a dotted line, the border in case (2) by a double line, and the border in case (3) by a thick line.

[0507] In the sorting cup 141 in which the drugs sorted by the sorting control unit 62 are stored, the drug data of the drug is stored in the RFID tag. Therefore, the display control unit 67 can identify the sorting cup 141 in which the drug data is stored in the RFID tag as the sorting cup 141 in which the drugs sorted by the sorting control unit 62 are stored.

[0508] Furthermore, in unused sorting cups 141 containing medication, the storage information is stored in the RFID tag. Therefore, the display control unit 67 can identify a sorting cup 141 with storage information stored in the RFID tag as an unused sorting cup 141 containing medication.

[0509] Furthermore, the display control unit 67 can identify a sorting cup 141 in which drug data and storage information are not stored in the RFID tag as an unused sorting cup 141 that does not contain any drugs (but is capable of sorting drugs).

[0510] In this manner, the display control unit 67 (notification control unit) notifies the user if the storage determination unit 621 determines that a drug is stored in an unused sorting cup 141. This allows the user to confirm the unused sorting cup 141 in which the drug is stored.

[0511] Furthermore, unused sorting cups 141 containing medication will not be sorted (they will not be designated as a sorting location for medication) until the user performs a clear operation. In other words, the sorting control unit 62 recognizes the sorting cup 141 as a target for medication sorting only after it detects that the user has removed the sorting cup 141 and the operation input unit 66 receives user input indicating that the user has completed a visual inspection of the sorting cup 141.

[0512] Furthermore, when the control unit 60b receives user input to check remaining medication, it causes the second camera 121 to image the inside of each sorting cup 141. In this case, the control unit 60b may check the remaining medication in each sorting cup 141 based on whether or not medication is contained in the image of each sorting cup 141 and whether or not medication data is stored in the RFID tag of each sorting cup 141.

[0513] In this case, for example, the display control unit 67 displays the image border in green if the image contains a drug and drug data is stored in the RFID tag. Similarly, the display control unit 67 displays the image border in blue if the image does not contain a drug and drug data is not stored in the RFID tag. Furthermore, the display control unit 67 displays the image border in red if the image contains a drug and drug data is not stored in the RFID tag.

[0514] Furthermore, the display control unit 67 displays the status of drug sorting into the second storage unit 14, along with the status of drug removal from the sorting cup 141 by the packaging control unit 74, as a remaining drug confirmation image. For example, if there is still drug stored in a sorting cup 141 after all the drugs have been removed by the packaging control unit 74, the display control unit 67 sets the border of the image of that sorting cup 141 to a different color (e.g., red) than the other sorting cups 141. In other words, the display control unit 67 displays "remaining drug" for that sorting cup 141. The display control unit 67 can identify the sorting cup 141 in which storage information is stored on the RFID tag as the sorting cup 141 with "remaining drug".

[0515] [Embodiment 24] In this embodiment, a function to assist the user in cleaning the drug placement stand 133a will be described.

[0516] When the user inputs a request to check the status of the drug placement platform 133a, the drive control unit 71 moves the drug transport unit 120 onto the receiving area Ar1. Then, the imaging control unit 63 turns on the backlight 135 and uses the second camera 121 to image one of the drug placement platforms 133a. Once imaging of one drug placement platform 133a is complete, the imaging control unit 63 moves the other drug placement platform 133a to the receiving area Ar1 and then images that drug placement platform 133a. The display control unit 67 displays images of the two drug placement platforms 133a. This allows the user to check the status (level of contamination) of the drug placement platforms 133a.

[0517] Furthermore, when the user cleans a drug tray 133a, they select the drug tray 133a to be cleaned from the two drug trays 133a. Upon receiving user input indicating the selection of a drug tray 133a to be cleaned, the control unit 60b positions the drug tray 133a in the receiving area Ar1. Subsequently, the control unit 60b unlocks the opening / closing shutter. This allows the user to easily remove and clean the drug tray 133a selected for cleaning.

[0518] It is also possible for the user to manually rotate the drug tray 133a to move it to the receiving area Ar1 for cleaning. However, in this case, depending on the position in which the drug tray 133a is grasped, or the tilt of the drug tray 133a during rotation, there is a possibility of damaging the drug tray 133a. As described above, by automatically moving the drug tray 133a to the receiving area Ar1 (by control of the control unit 60b), damage to the drug tray 133a can be avoided.

[0519] [Embodiment 25] In this embodiment, the processing for similar drugs will be explained using Figures 26 and 37. Figure 37(a) is a diagram showing an example of a similar drug display image Im11, and (b) is a diagram showing an example of a similar drug selection image Im12.

[0520] The discrimination unit 64 determines the type of drug based on the image captured by the first camera 131. If the discrimination unit 64 determines that the drug in the image is similar to an image of a drug registered in the drug database, it identifies the drug being discriminated against and the drug registered in the drug database as similar drugs. The similarity determination is made based on whether the characteristics of the drug extracted from the image for drug type determination are similar to the characteristics of the drug registered in the drug database. The similarity determination criteria can be predetermined through experiments or other means.

[0521] When the discrimination unit 64 determines the type of drug, it compares the characteristics of the drug extracted from the image with the characteristics of all drugs registered in the drug database (including the characteristics of drugs registered in the similar drug list described later). If the discrimination unit 64 determines that the drug is not registered in the drug database (estimated drug), it determines whether there is a drug among the drugs registered in the drug database that has characteristics similar to those of the estimated drug.

[0522] If the discrimination unit 64 determines that there are drugs with similar characteristics, it identifies the characteristics of the estimated drug that was the target of type discrimination with drugs registered in the drug database that have similar characteristics, and identifies them as similar drugs. The discrimination unit 64 then registers the drug data of the estimated drug in the drug database and links the drug data of the two drugs identified as similar drugs, and registers these drugs in the similar drug list. The similar drug list is a list that shows which drugs registered in the drug database are similar to each other.

[0523] Furthermore, if the operation input unit 66 receives user input indicating that it wants to adopt the drug data of one of the drugs identified as similar drugs as the drug data of the similar drug, the discrimination unit 64 identifies the adopted (specified) drug data as the drug data of the similar drug. In this case, when the discrimination unit 64 determines the type of drug, only the specified drug data for similar drugs is compared with the drug data of the drug being determined. In other words, if no drug data for similar drugs is specified, all of the drug data for each drug identified as a similar drug is compared with the drug data of the drug being determined.

[0524] Furthermore, if the operation input unit 66 receives user input to delete the drug data of any of the drugs identified as similar drugs, the discrimination unit 64 deletes the drug data from the drug database. As a result, drugs for which no longer have similar drugs in the drug database are removed from the similar drug list.

[0525] Furthermore, the sorting control unit 62 stores drugs that are registered in the similar drug list in the same sorting cup 141. The display control unit 67 displays information indicating that similar drugs are stored in the sorting cup 141 where similar drugs are stored in the image displaying the sorting status of drugs to the second storage unit 14. For example, the display control unit 67 displays "Similar Drug" for the sorting cup 141 in the image. However, if one drug data is specified as the drug data for a similar drug, the display control unit 67 displays the drug name indicated by that drug data instead of displaying "Similar Drug".

[0526] As described above, by storing suspected drugs similar to drugs registered in the drug database in the same sorting cup 141 as the drug in question, users can perform a visual inspection of the suspected drugs together with the drug in question.

[0527] Furthermore, even for the same type of drug, differences in the distributor (or manufacturer) or the date of sale (old or new) may lead to the identification of different characteristics. For example, if the distributor changes, the YJ code may differ even if the marking information obtained from the image is the same. Therefore, if the YJ code after the distributor change is not registered in the drug database for such a drug, it may not be stored in the same sorting cup 141 as the drug with the YJ code before the distributor change. By storing suspected drugs similar to drugs registered in the drug database in the same sorting cup 141 as the drug in question, it is possible to avoid storing essentially the same type of drug in separate sorting cups 141. In addition, prompting visual inspection of such drugs allows for safer sorting.

[0528] <Specific example> For example, suppose the drug database stored in the memory unit 80 contains drug data for three types of drugs, each having the markings (features) "10", "8", and "XYZ". Furthermore, the drug data for the drug to be identified will have the markings (features) "B" or "13". The discrimination unit 64 analyzes the image and determines whether the markings are similar, and will determine that markings "8" and "B", or markings "B" and "13", are similar. The drugs with markings "10", "8", "XYZ", "B", and "13" will be referred to as the "10" drug, the "8" drug, the "XYZ" drug, the "B" drug, and the "13" drug, respectively.

[0529] When the discrimination unit 64 determines the type of drug "B", it compares the marking "B" with the markings "10", "8", and "XYZ" of drugs registered in the drug database, and determines that the marking "B" is similar to the marking "8". The discrimination unit 64 registers the drug data for drug "B" in the drug database and also registers drug "8" and drug "B" in the similar drug list.

[0530] Furthermore, the sorting control unit 62 stores drug "8" and drug "B" in the same sorting cup 141. The display control unit 67 displays "Similar Drugs" in the sorting status image for the sorting cup 141.

[0531] Subsequently, when the discrimination unit 64 determines the type of drug "13", it compares the marking "13" with the markings "10", "8", "XYZ", and "B" of drugs registered in the drug database, and determines that the marking "13" is similar to the marking "B". The discrimination unit 64 registers the drug data for drug "13" in the drug database and also registers drug "B" and drug "13" in the similar drug list.

[0532] In this case, the similar drug list has two entries: (1) drug "8" and drug "B", and (2) drug "B" and drug "13", and drug "B" is common to both (1) and (2). Therefore, the sorting control unit 62 stores drug "8", drug "B", and drug "13" in the same sorting cup 141. If the drug data for drug "B" is deleted from the drug database, drug "8" and drug "13" are not determined to be similar, so both (1) and (2) above will be deleted from the similar drug list.

[0533] <Example Display> Next, Figure 37 will be used to explain the similar drug display image Im11 and the similar drug selection image Im12.

[0534] The similar drug display image Im11 shows data related to drugs registered in the similar drug list. In the example in Figure 37(a), the similar drug display image Im11 displays the YJ code, drug name, and the image captured by the first camera 131 for each drug registered as a similar drug.

[0535] The similar drug selection image Im12 is an image used to select whether or not to adopt the drug data of any of the similar drugs registered in the similar drug list as the drug data for the similar drug. In the example in Figure 37(b), the similar drug selection image Im12 displays the image, drug name, and marking information of the drugs that make up the similar drug selected in the similar drug display image Im11, as well as the adopt buttons Bo11 and Bo12, and the deselect button Bo2.

[0536] The Adoption buttons Bo11 and Bo12 are displayed for each drug that makes up a similar drug, and are operation buttons used to determine which drug data to adopt as the drug data for the similar drug. For example, if the user touches the Adoption button Bo11 which displays "Adopt Similar Drug 1", the drug data for "Similar Drug 1" will be adopted as the drug data for the similar drug. The Cancel button Bo2 cancels the above adoption.

[0537] [Embodiment 26] This embodiment describes the process of approving registration to the drug database. Drug data is registered in the drug database after visual inspection by the user and subsequent user approval. Specifically, the drug sorting device 1 prompts the user to visually inspect the drug data when it is used for the first time after it has been provisionally registered in the drug database. After visually inspecting the provisionally registered drug data, the user makes a user input indicating their approval to formally register the drug data in the drug database. Upon receiving this user input, the drug sorting device 1 formally registers the drug data in the drug database.

[0538] In some cases, drug data may be registered in the drug database by a third party other than the user authorized to perform visual inspection (e.g., the distributor or manufacturer of drug sorting device 1). Therefore, requiring user approval before registering drug data in the drug database (official registration) can improve the security of drug sorting device 1.

[0539] For example, a third party might inquire about the types of drugs used at the delivery destination (e.g., a hospital) of the drug sorting device 1 and create a drug database. However, drugs for which the third party does not have information cannot be registered in the drug database. Therefore, the third party obtains data and images related to these unregistered drugs from the delivery destination and registers these unregistered drugs in the drug database. Even in such cases, the data for unregistered drugs is officially registered in the drug database after user approval upon first use.

[0540] [Embodiment 27] In this embodiment, the sorting process when a return source is selected will be described. Figure 38(a) shows an example of a sorting image Im15 before selecting a return source, and (b) shows an example of a return source registration image Im16 (facility master editing screen). Figure 39(a) shows an example of a return source selection image Im17, and (b) shows an example of a sorting image Im15 after selecting a return source. Figure 40(a) shows an example of printing on a packaging sheet, and (b) shows an example of printing on a journal.

[0541] In addition, the "Return Source" displayed in the sorting image Im15 shown in Figure 38(a) refers to the location where the drug was stored before being fed into the drug sorting device 1, such as a ward, department, or facility (e.g., a medical institution). In this embodiment, we will explain the case where the return source refers to each store in the case of a chain of pharmacies.

[0542] For example, if a pharmacy chain operates, and one store installs a drug sorting device 1 to sort and package returned drugs from that store and other stores in one place, the sorted drugs must be returned to their original stores. Since the drugs handled by each store may differ, it is essential to ensure that the sorted drugs are returned to their original stores without any errors. Traditionally, sorted drugs were placed in baskets prepared for each store to prevent them from being placed in baskets other than those of the designated store.

[0543] However, because the management was done manually, there was a possibility that the sorted medications might be placed in baskets other than those designated for the target store due to carelessness. Furthermore, there was no way to mechanically check if the medications had been placed in baskets other than those designated for the target store.

[0544] Therefore, in this embodiment, when one of the stores registered as the return source is selected based on user input, the drug sorting device 1 stores information indicating the selected return source.

[0545] Specifically, the drug sorting device 1 registers each store by inputting the store name and an ID (facility code) indicating the store name as the return source. As shown in Figure 38(a), when the drug sorting device 1 receives user input for the "Menu" button Bo3 in the sorting image Im15, it displays the respective menus. When the drug sorting device 1 receives user input for the "Facility Master," it displays the return source registration image Im16 shown in Figure 38(b). The drug sorting device 1 obtains the store name and facility code from the return source registration image Im16.

[0546] Subsequently, when drug sorting begins, the drug sorting device 1 receives user input for the "Select Return Source" button Bo4 on the sorting image Im15 and displays the return source selection image Im17 shown in Figure 39(a). When a return source store is selected from the multiple stores (registered stores) displayed on the return source selection image Im17, the drug sorting device 1 stores information indicating the selected store and displays the selected store name (Store B in this example) as shown in the sorting image Im15 shown in Figure 39(b). Then, based on the user input, the sorting process begins.

[0547] Then, when the drug sorting device 1 is dispensing by the dispensing mechanism 6, it prints information indicating the store from which the drug was returned, along with information indicating the packaged drug, on the dispensing paper or journal based on the stored information. This information is printed, for example, as text and in a format that can be read by information readers installed in each store (e.g., a barcode that can be read by a barcode reader). In the examples of Figures 40(a) and (b), the GS1 code Co1 indicating the type of drug and the store barcode Co2 indicating the store name are printed.

[0548] This allows the store from which the product was returned to perform visual inspection and mechanical verification using an information reader before refilling the medication. Therefore, even if the medication sorting device 1 is installed in one of several stores and returned medications from that store and other stores are sorted and packaged together using the device 1, the medication can be returned to the original store without any problems.

[0549] [Examples of implementation using software] The control blocks of the drug sorting devices 1 and 1A (in particular, the control units 60a and 60b) may be implemented by logic circuits (hardware) formed on an integrated circuit (IC chip) or by software.

[0550] In the latter case, the drug sorting devices 1 and 1A are equipped with a computer that executes instructions for a program, which is software that realizes each function. This computer is equipped with, for example, one or more processors and a computer-readable recording medium that stores the program. The object of the present invention is achieved when the processor reads the program from the recording medium and executes it in the computer. For example, a CPU (Central Processing Unit) can be used as the processor. As the recording medium, a "tangible medium that is not temporary," such as ROM (Read Only Memory), can be used, as well as tape, disk, card, semiconductor memory, programmable logic circuit, etc. It may also be further equipped with RAM (Random Access Memory) for deploying the program. Furthermore, the program may be supplied to the computer via any transmission medium capable of transmitting the program (such as a communication network or broadcast wave). In one aspect of the present invention, the program can also be realized in the form of a data signal embedded in a carrier wave, which is embodied by electronic transmission.

[0551] The same applies to the control block of the data management device 500 (especially the control unit 502) and the control block of the packaging machine 700 (especially the control unit 706).

[0552] [Additional Notes] The present invention is not limited to the embodiments described above, 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.

[0553] 〔summary〕 The present invention can also be expressed as follows:

[0554] A drug sorting device according to embodiment 1 of the present invention comprises: a first storage unit for storing multiple types of drugs; a second storage unit for storing the drugs sorted by type; an imaging unit for imaging drugs taken out of the first storage unit; a discrimination unit for determining the type of drug based on the image captured by the imaging unit; a sorting unit for storing the drugs by type in the second storage unit based on the discrimination result by the discrimination unit; a drug placement platform for placing the drugs in the imaging area of ​​the imaging unit; and a rocking mechanism for identifying the size and shape of the drugs from an image of the drugs placed on the drug placement platform, and rocking the drug placement platform with a vibration magnitude and vibration frequency per unit time associated with the identified size and shape of the drugs.

[0555] A drug sorting device according to aspect 2 of the present invention comprises: a first storage unit for storing multiple types of drugs; a second storage unit for storing the drugs sorted by type; a temporary storage unit for temporarily storing drugs that could not be stored in the second storage unit; an imaging unit for imaging drugs taken out of the first storage unit; a discrimination unit for determining the type of drug by comparing the image captured by the imaging unit with registered drug data relating to multiple types of drugs; a sorting control unit for determining the sorting position of the drug based on the discrimination result by the discrimination unit, and for storing the determined sorting position and the drug data used for comparison by the discrimination unit in a storage unit; and a second discrimination unit for determining the type of drug when storing drugs stored in the temporary storage unit in the second storage unit, by comparing the image of the drug taken out of the temporary storage unit and captured by the imaging unit with the drug data associated with the determined sorting position among all the drug data, without comparing it with all the registered drug data.

[0556] A drug sorting device according to aspect 3 of the present invention comprises: a first storage unit for storing multiple types of drugs; a second storage unit for storing the drugs sorted by type; an imaging unit for imaging drugs taken out of the first storage unit; a discrimination unit for identifying drug data that, as a result of comparing the characteristics of the drugs extracted from the image captured by the imaging unit with registered drug data relating to multiple types of drugs, have a degree of agreement with the characteristics of the drugs equal to or greater than a predetermined value, as candidate data for identifying the type of drug; and a sorting unit for storing the drugs by type in the second storage unit based on the discrimination result by the discrimination unit.

[0557] A drug sorting device according to aspect 4 of the present invention comprises: a first storage section for storing multiple types of drugs; a second storage section for storing the drugs sorted by type; an imaging section for imaging drugs taken out of the first storage section; a discrimination section for determining the type of drug based on the image captured by the imaging section; a sorting section for storing the drugs by type in the second storage section based on the discrimination result by the discrimination section; a packaging section for packaging the drugs stored in the second storage section; a drug input section connected to the packaging section and into which drugs to be packaged, sorted by the sorting section, are introduced; and a drug drop prevention section that functions as the bottom of the drug input section and includes a shutter that opens when the drugs to be packaged are introduced into the drug input section, thereby preventing drugs that are not to be packaged from falling into the packaging section.

[0558] A drug sorting device according to embodiment 5 of the present invention, in embodiment 4, is equipped with a drug imaging unit that images the drug introduced into the drug input unit before the shutter opens.

[0559] A drug sorting device according to aspect 6 of the present invention comprises: a first storage unit for storing multiple types of drugs; a second storage unit for storing the drugs sorted by type; an imaging unit for imaging drugs taken out of the first storage unit; a discrimination unit for determining the type of drug based on the image captured by the imaging unit; a sorting unit for storing the drugs by type in the second storage unit based on the discrimination result by the discrimination unit; a packaging unit for packaging the drugs sorted by the sorting unit; a drug input unit connected to the packaging unit into which the drugs sorted by the sorting unit are input; and a drug holding unit provided between the drug input unit and the pre-packaging drug placement area in the packaging unit, which has an openable and closable shutter and temporarily holds the drugs input from the drug input unit until all of the drugs contained in one package created by the packaging unit are input from the drug input unit.

[0560] A drug sorting device according to aspect 7 of the present invention comprises: a first storage unit for storing multiple types of drugs; a second storage unit for storing the drugs sorted by type; an imaging unit for imaging drugs taken out of the first storage unit; a discrimination unit for determining the type of drug based on the image captured by the imaging unit; a sorting unit for storing the drugs by type in the second storage unit based on the discrimination result by the discrimination unit; a sorting container detachably arranged in the second storage unit for storing the drugs sorted by the sorting unit; and an object detection unit that moves horizontally to detect objects in the space above the sorting container placed in the second storage unit in a defined state, wherein the object detection unit comprises a light source and a sensor for receiving light emitted from the light source, and moves in conjunction with the movement of the sorting unit, and the sorting unit moves in the area above the second storage unit after the light emitted from the light source has passed through.

[0561] A drug sorting device according to embodiment 8 of the present invention, in embodiment 7, is equipped with a temporary storage unit for temporarily storing drugs that could not be stored in the second storage unit, and the object detection unit detects drugs that have protruded from the upper surface of the temporary storage unit among the drugs temporarily stored in the temporary storage unit.

[0562] A drug sorting device according to aspect 9 of the present invention includes: a first storage unit for storing multiple types of drugs; a second storage unit for storing the drugs sorted by type; an imaging unit for imaging drugs taken out of the first storage unit; a discrimination unit for determining the type of drug based on the image captured by the imaging unit; a sorting unit for storing the drugs by type in the second storage unit based on the discrimination result by the discrimination unit; a sorting container detachably arranged in the second storage unit for storing the drugs sorted by the sorting unit; and before the sorting unit sorts the drugs. The system includes: a container imaging unit that images the inside of an unused sorting container, or the inside of a sorting container after all of the drugs stored in the sorting container have been dispensed to a packaging unit that packages the drugs; a storage determination unit that determines whether or not the drugs are stored in the sorting container based on the image captured by the container imaging unit; and an information storage control unit that, if the storage determination unit determines that the drugs are stored in the sorting container, stores storage information indicating that the drugs are stored in the sorting container, linked to container identification information for identifying the sorting container.

[0563] A drug sorting device according to embodiment 10 of the present invention, in embodiment 9, includes a notification control unit that notifies the user if the storage determination unit determines that the drug is stored in the sorting container.

[0564] Furthermore, a drug sorting device according to one aspect of the present invention includes a storage section capable of accommodating multiple sorting containers for storing drugs sorted by type, and a dispensing mechanism for automatically dispensing the drugs stored in the sorting cont...

Claims

1. A first storage section for storing multiple types of drugs, A second storage section for storing the aforementioned drugs sorted by type, An imaging unit for imaging the drug removed from the first storage unit, A discrimination unit that determines the type of drug removed from the first storage unit based on the image captured by the imaging unit, A sorting unit that stores the drugs by type in the second storage unit based on the discrimination result from the discrimination unit, A packaging unit for packaging the drugs sorted by the sorting unit, A drug input unit connected to the aforementioned packaging unit, into which the drugs sorted by the aforementioned sorting unit are loaded, A drug sorting device comprising a first shutter that can be opened and closed, provided between the drug input section and the drug placement area in the packaging section before packaging.

2. The drug sorting device according to claim 1, further comprising the first shutter and a drug holding unit for temporarily holding the drug that has been put in from the drug input unit until all of the drug contained in one package produced in the dispensing unit has been put in from the drug input unit.

3. The second storage section comprises a plurality of sorting containers for storing the drugs sorted by the sorting section. The drug sorting apparatus according to claim 1 or 2, wherein the packaging unit divides and packages a plurality of drugs contained in one sorting container into a plurality of packets.

4. The second storage section comprises a plurality of sorting containers for storing the drugs sorted by the sorting section. The aforementioned chemical sorting device is A second shutter, which is openable and closable, is located upstream of the first shutter between the drug dispensing section and the pre-packaging drug placement area, and functions as the bottom of the drug dispensing section. A drug transport unit that transports the drugs stored in the sorting container to the drug input unit, It comprises a control unit and, The drug sorting apparatus according to any one of claims 1 to 3, wherein the control unit opens the second shutter after the drug transport unit has loaded the drugs to be packaged, which are stored in the sorting container, into the drug input unit.

5. The drug sorting apparatus according to claim 4, wherein the control unit opens the first shutter after a predetermined time has elapsed since the last drug among the multiple drugs contained in one package produced in the packaging unit was put into the drug input unit and the second shutter was opened.

6. The second storage section comprises a plurality of sorting containers for storing the drugs sorted by the sorting section. The aforementioned chemical sorting device includes a control unit, The drug sorting apparatus according to any one of claims 1 to 5, wherein the control unit determines the length of one package and the quantity to be divided into one package based on the number of drugs stored in the sorting container and the maximum number of drugs that can be contained in one package, which is specified for each type of drug.

7. It includes a second imaging unit that images the inside of the drug injection unit, The drug sorting apparatus according to claim 4, wherein the control unit controls the second imaging unit to image the drug introduced into the drug input unit before the second shutter opens, and stores the image in the storage unit.

8. A second imaging unit that images the inside of the drug injection unit, It comprises a control unit and, The drug sorting device according to any one of claims 1 to 7, wherein the control unit determines the number of drugs put into the drug input unit based on the image captured by the second imaging unit.

9. A second shutter, which can be opened and closed, is located upstream of the first shutter between the drug dispensing section and the pre-packaging drug placement area, and functions as the bottom of the drug dispensing section. The drug sorting device according to claim 8, wherein the control unit determines that there is one drug introduced into the drug introduction unit, determines to move the drug from the drug introduction unit to the packaging unit, and opens the second shutter.

10. A first storage section for storing multiple types of drugs, A second storage section for storing the aforementioned drugs sorted by type, An imaging unit for imaging the drug removed from the first storage unit, Discrimination unit, Sorting department, The packaging section, A drug input unit connected to the aforementioned packaging unit, into which the drugs sorted by the aforementioned sorting unit are loaded, A first shutter, which can be opened and closed, is provided between the drug dispensing section and the pre-dispensing drug placement area in the dispensing section. A control method for a drug sorting device comprising a control unit, The discriminant unit determines the type of drug removed from the first storage unit based on the image captured by the imaging unit, The sorting unit, based on the discrimination result by the discrimination unit, stores the drugs in the second storage unit according to their type; The packaging unit performs the step of packaging the drugs sorted by the sorting unit, A method for controlling a drug sorting device, comprising the step of the control unit temporarily holding the drug dispensed from the drug dispenser in the drug holding unit equipped with a first shutter until all of the drug contained in one package produced in the dispensing unit has been dispensed from the drug dispenser.

Images