Drug sorting device

Abstract

This invention relates to a drug sorting device that automatically recognizes the orientation and posture of drugs, as well as their properties such as shape, size, type, and expiration date, and stores them with a high degree of freedom. [Solution] The drug supply device 1 comprises a recognition unit 300 and a storage unit 500. The storage area is set during storage according to the size included in the properties of the drug recognized by the recognition unit 300. The drug is stored in the storage unit 500 by associating the drug identification information with the storage area. Furthermore, the drug supply device 1 has a determination processing unit that can determine whether or not the drug is suitable for handling based on the properties of the drug recognized by the recognition unit 300.

Description

Technical Field

[0001] The present invention relates to a drug sorting device.

Background Art

[0002] Drugs prescribed to patients may be returned to the department that manages drug prescriptions within a medical institution due to reasons such as prescription changes (returned drugs). In Patent Document 1, for improving the efficiency of the processing work of returned drugs and preventing human errors in this work, a returned drug sorting device that automatically recognizes and stores returned drugs is disclosed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Generally, returned drugs have various properties such as type, shape, size, expiration date, etc. However, in conventional returned drug sorting devices, including those disclosed in Patent Document 1, for storing returned drugs with various properties while ensuring a high degree of freedom in consideration of factors such as the efficiency of subsequent dispensing operations, no special consideration has been given. More specifically, for storing returned drugs with various properties while ensuring a high degree of freedom so that, for example, free dispensing according to prescription information is possible, no special consideration has been given.

[0005] Also, the returned drug sorting device of Patent Document 1 takes an image of the returned drug and analyzes its contour. This detects the location of the returned medication. Then, based on the detected location, the returned medication is absorbed. It will be loaded, transported, and automatically returned to its storage location. However, the location of the returned medication to be transported must be confirmed. When checking, if the returned medications are in contact with each other or partially overlap, their outlines This can lead to unclear information, making it difficult to accurately detect the location of a single drug.

[0006] Furthermore, the apparatus of Patent Document 1 includes a returned drug storage section for storing returned drugs. The medication storage section has multiple storage cassettes separated by type of returned medication, The returned medications are sorted and stored in storage cassettes that are pulled out from the unit. Therefore, the apparatus in Patent Document 1 requires a separate storage cassette for each type of returned drug. Therefore, it requires a large number of storage cassettes. Furthermore, when storing returned medications, storage cassettes Space is needed to pull it out from the returned medication storage area. As a result, the returned medication storage area is large It becomes standardized. On the other hand, the storage section of conventional ampoule dispensing devices has a dedicated cassette for each type of drug. The system is designed so that a pharmacist can take out the bottles, open the lids, and store them one by one. Therefore, each cassette is equipped with a storage container, lid, and ejection mechanism, so one cassette The set has been enlarged, and since multiple types of it are installed, it has become even larger.

[0007] Therefore, the present invention The section The title is, Efficient dispensing of returned medications. The objective is to provide a drug sorting device. [Means for solving the problem]

[0008] The aforementioned The present invention for solving the problem state Mr. / Ms. A drug rotating unit capable of rotating the drug around its axis, The aforementioned A storage tray for storing medications, A transfer unit for transferring the aforementioned drug to the storage tray, A control device that controls the drug rotation unit and the transfer unit, Equipped with, The storage tray has a linear arrangement groove for laying the drug down, The aforementioned drug rotating section is equipped with a barcode reader positioned above the drug and for reading the barcode of the drug, The control device rotates the drug around its axis, and when the barcode reader can read the barcode from above the drug, it determines that the barcode is facing upwards, and stops the rotation of the drug when the barcode is facing upwards. The control device controls the transfer unit to hold the drug while maintaining an orientation in which the barcode displayed on the drug faces upward, and to place the drug into the placement groove. Provide a drug sorting device.

[0009] The aforementioned medication is a returned medication that was prescribed and then returned.

[0010] The aforementioned drug has a circular cross-section.

[0011] The aforementioned arrangement grooves can accommodate the drug in multiple rows.

Advantages of the Invention

[0012] According to the present invention state as follows The control device, upon detecting that the barcode reader can read the barcode, determines that the barcode is facing upwards. It then maintains this upward orientation while the transport unit holds the medication in place and places it in the placement groove, enabling efficient dispensing of returned medications. Furthermore, because the medication is placed in the placement groove with the barcode facing upwards, the medication can be quickly recognized from this upward-facing position. .

Brief Description of the Drawings

[0013] [Figure 1] Schematic front view of the returned drug dispensing device according to an embodiment of the present invention. [Figure 2] Schematic diagram showing the layout of the returned drug dispensing device as viewed from line II-II of FIG. 1. [Figure 3] Schematic diagram showing the layout of the returned drug dispensing device as viewed from line III-III of FIG. 1. [Figure 4] Perspective view showing the appearance of the returned drug dispensing device according to an embodiment of the present invention. [Figure 5] Perspective view showing the returned drug dispensing device with the exterior panel removed. [Figure 6] Front view of the returned drug dispensing device with the exterior panel removed. [Figure 7] Schematic front view of the receiving part. [Figure 8] Schematic plan view of the return tray. [Figure 9] Perspective view of the return tray. [Figure 10] A schematic front view of the lifting / lowering section. [Figure 11] A schematic front view of an orthogonal robot. [Figure 12A] A front view showing part of an orthogonal robot. [Figure 12B] A side view showing part of an orthogonal robot. [Figure 12C] Figure 12B shows a cross-sectional view taken from the line XII'-XII'. [Figure 12D] Figure 12A shows a cross-sectional view taken from the line XII-XII. [Figure 13] A schematic plan view of the recognition unit and the non-storage drug placement unit. [Figure 14] A schematic plan view of the label reading unit. [Figure 15] A schematic plan view of a scalar robot and support tray. [Figure 16] A schematic side view of a scalar robot and support tray. [Figure 17A] Front view showing part of a scalar robot. [Figure 17B] Side view showing part of a scalar robot. [Figure 17C] Cross-sectional view from line XVII-XVII in Figure 17B. [Figure 17D] Cross-sectional view as seen from the line XVII'-XVII' in Figure 17A. [Figure 18A] An upward perspective view of the suction pad. [Figure 18B] A downward oblique view of the suction pad. [Figure 19A] Front view showing the state of the small diameter return drug being adsorbed by the suction pad. [Figure 19B] A side view showing the state in which a small diameter return drug has been adsorbed by the suction pad. [Figure 20A] A front view showing a part of a scalar robot with a different type of suction pad attached. [Figure 20B] A side view showing a part of a scalar robot with a different type of suction pad attached. [Figure 21] A schematic front view of the storage compartment. [Figure 22]A schematic front view of the storage compartment. [Figure 23A] Perspective view of the storage tray (S size). [Figure 23B] Perspective view of the storage tray (M size). [Figure 23C] Perspective view of the storage tray (L size). [Figure 24A] A schematic, partially enlarged cross-sectional view of Figure 23A. [Figure 24B] A schematic, partially enlarged cross-sectional view of Figure 23B. [Figure 24C] A schematic, partially enlarged cross-sectional view of Figure 23C. [Figure 25] A schematic plan view of the storage tray. [Figure 26A] A diagram showing a SCARA robot transferring returned medication to a return tray. [Figure 26B] Figure 26A shows the state in which the returned medication is placed in the return tray. [Figure 27] A diagram illustrating the scanning operation of a storage tray by a scalar robot. [Figure 28A] This figure shows a binarized camera image of the returned medications being handled. [Figure 28B] This figure shows a binarized camera image containing returned medications that are not covered by the service. [Figure 29] A perspective view of an example of a resin ampoule. [Figure 30] A diagram illustrating how to measure the size of returned medication. [Figure 31] Further diagrams illustrating how to measure the size of returned medication. [Figure 32] A perspective view showing the translucent plate of the recognition unit. [Figure 33] A plan view of the temporary storage area showing that the returned medication extends beyond the analysis range. [Figure 34] An explanatory diagram showing a method for moving returned drugs within the analysis range using a transfer unit. [Figure 35] A flowchart illustrating the process of determining whether a returned medication is positioned in the temporary storage area, and, if not, repositioning the returned medication. [Figure 36] A schematic diagram illustrating the concept of adsorption position. [Figure 37] A conceptual diagram illustrating a method for determining the adsorption position when the convexity value is low. [Figure 38] A conceptual diagram showing a method for determining the adsorption position when the convexity value is high. [Figure 39] Schematic diagram of the recognition unit. [Figure 40A] A schematic diagram showing the original image to illustrate the binarization process. [Figure 40B] A schematic diagram showing a binarized image to explain the binarization process. [Figure 41A] An explanatory diagram of a method for handling returned medications using a transfer unit. [Figure 41B] An explanatory diagram of a method for handling returned medications using a transfer unit. [Figure 42] Figure 41B shows the direction in which the returned medication is tilted during the operation. [Figure 43] A flowchart illustrating part of the processing in the recognition unit 300. [Figure 44] Front view of the label reading unit. [Figure 45A] Cross-sectional view of the label reading section when the returned medication is in contact with the stopper. [Figure 45B] Cross-sectional view of the label reading section in the comparative example, where the returned medication is in contact with the stopper. [Figure 46] A diagram illustrating the method for determining the laser irradiation direction of the label reading device in the label reading section. [Figure 47] A diagram showing examples of different laser irradiation directions for label readers. [Figure 48] A diagram illustrating a method for organizing multiple non-storage drugs. [Figure 49A] A flowchart illustrating the first half of the process from the temporary storage area of ​​the recognition unit to the storage unit or the non-storage unit where returned medications are placed. [Figure 49B] A flowchart illustrating the latter half of the process from the temporary storage area of ​​the recognition unit to the storage unit or the non-storage unit where the returned medication is placed. [Figure 50] A schematic partial perspective view of an alternative storage unit. [Modes for carrying out the invention]

[0014] (Overview of the device) The following describes one embodiment of the present invention, using a returned drug supply device 1 that sorts and stores returned drugs as an example. The state will be explained. Figures 1 to 6 show a returned drug supply device (drug sorting device) according to an embodiment of the present invention. (Placement) 1 is shown. The returned drug supply device 1 consists of a receiving section 100, a lifting section 200, a recognition section 300, and a non It includes a drug storage and placement section 400, a storage section 500, and a dispensing section 600. It also includes a return drug supply section. Apparatus 1 consists of a Cartesian robot 700, a SCARA robot 800, and a support tray 90 It is equipped with a (transfer container). Furthermore, the return drug supply device 1 is a control device schematically shown in Figure 1. It is equipped with a 1000. The control device 1000 is a control panel 1001 (display shown in Figure 4) Based on input from (equipped with I1002), input from sensors and cameras, etc., return drug supply This system provides comprehensive control over the operation of the supply device 1.

[0015] The main functions of the returned drug supply device 1 are outlined below. The returned drug supply device 1 is, For example, the returned drug 2 (see Figure 8) consists of ampoule 2A, vial 2B, and resin ampoule 2C. It recognizes properties such as shape, size (length L1 and diameter or width W), type, and expiration date. In this embodiment, the returned drug 2 contains text information including information about the type, expiration date, etc. Label 3 with a code printed on it is attached. The return drug supply device 1 is attached to label 3. Read the displayed information. Also, the returned drug supply device 1 reads the returned drug 2 after recognition. This relates to the identification information of the returned medication 2 (unique information assigned to each individual returned medication 2). The prescription data is stored in a linked, temporary location, and then stored in a higher-level system (for example, an electronic medical record system). Dispensing is done based on information received from the Hospital Information System (HIS). During storage, the storage area is set according to the size of the returned medication 2 being stored. The storage is arranged in a designated storage area, and individual return medications 2 can be removed when dispensed. This is carried out in the manner described above. Furthermore, the returned drug supply device 1 will supply the returned drug 2 which has passed its expiration date. It discharges.

[0016] In this specification, "pharmaceuticals" refers to chemicals contained in a container, as shown in Figure 8. Therefore, "shape and size of the drug" means the shape and size of the container, and "the shape and size of the drug "Information such as type and expiration date" refers to information such as the type of medicine contained in the container and its expiration date. It tastes good. Also, in practice, the term "expiration date" is used instead of the term "use-by date". There may be cases where these terms are used interchangeably. However, these terms are essentially synonymous. Therefore, in this specification, To avoid confusion, use only "use-by date" and not "expiration date."

[0017] (Acceptance Department) As shown in Figures 1 to 3, the receiving section 100 is located in the upper left when viewing the returned drug supply device 1 from the front. It is positioned towards the front.

[0018] Referring also to Figure 7, the receiving section 100 is arranged in the horizontal direction (X direction in the figure) opposite each other. It includes a fixed rack member 101 positioned facing the direction. The rack member 101 has multiple return Multiple pairs of rail grooves 101 for holding trays (receiving containers) 4 in a multi-tiered arrangement. a,101a is provided.

[0019] Referring to Figures 8 and 9, the return tray 4 is a tray body 4 with an opening at the top in the figures. It comprises a and a flange-like portion 4b provided on the upper edge of the tray body 4a. As shown in Figure 8. Sea urchin, return medication 2 (e.g., ampoule 2A, vial 2B) contained in return tray 4, Resin ampoules (2C) have properties such as shape, size (length L1 and width W), type, and expiration date. They are different. Also, the orientation and position of the returned medications 2 contained in the return tray 4 are not aligned. They are not sorted and are different from each other. In other words, the returned medication 2 contained in the return tray 4 is not sorted. It is in a row state. Here, the orientation of the returned drug 2 is the length of the returned drug 2 in the XY plane in the figure. This refers to the direction in which the hand direction (axis A of returned drug 2) extends. The term refers to the direction in which the axis A of the returned drug 2 extends, as well as the direction in which the tip 2a and base 2b of the returned drug 2 are aligned. This may include the direction in which the returned medication 2 is contained in the return tray 4. The size, type, and expiration date may be standardized. Also, return tray 4 The orientation and position of the returned medications 2 contained within may be aligned. Drug 2 may partially overlap each other.

[0020] As shown in Figure 7, the rail grooves 101a, 101a provided in the rack member 101 The flange-shaped portion 4b of the return tray 4 is supported. The rail grooves 101a, 101a are In the diagram of the rack member 101, it is provided to penetrate from the front end face in the Y direction to the rear end face. Therefore, workers such as medical personnel should not access the front side of the returned drug supply device 1. Then, the return tray 4 can be inserted into and removed from the rail grooves 101a, 101a. Also, as will be described later... The lifting section 200 moves the return tray 4 from the rear side of the return drug supply device 1 into the rail groove 101a. It can be inserted into and removed from 101a.

[0021] The receiving section 100 is an operation preparation button 1 provided on the right rack member 101 in Figure 7. It is equipped with 02. One operation preparation button 102 is provided for each return tray 4 to be stored. After the worker places the return tray 4 into the receiving unit 100, the corresponding operation preparation button 10 By pressing button 2, the control device 1000 controls the lifting unit 200 to activate the pressed operation preparation button. The return tray 4 corresponding to n102 can be pulled out. In other words, the worker can return Even when the product tray 4 is placed in the receiving section 100, the operation preparation button 102 is not pressed. Therefore, the lifting unit 200 does not transport the corresponding return tray 4 from the receiving unit 100. Instead, A sensor is installed to automatically detect when the return tray 4 is placed in the receiving section 100. This may also be done. This sensor may be, for example, a weight sensor. This allows the control device 1 Based on the output of this sensor, 000 controls the lifting unit 200 to pull out the return tray 4. It can be started.

[0022] (Access point) As shown in Figures 1 to 3, the lifting section 200 is located at the back left when viewing the return drug supply device 1 from the front. It is located there.

[0023] Referring also to Figure 10, the lifting section 200 has a fixed linear guide 201 extending in the Z direction. And a carriage 202 that moves up and down along the linear guide 201, and mounted on the carriage 202 It is equipped with a table 203. The table 203 has a bottom 203a and left and right sides of the bottom 203a The provided side portions 203b, 203b and the rear side (rear side in the Y direction) of the bottom portion 203a are provided It is equipped with an end portion 203c. The table 203 is open on the front side (the front side in the Y direction). Rail grooves 204, 204 are provided on the side portions 203b, 203b. 04,204 supports the flange-shaped portion 4b of the return tray 4, thereby the table Return tray 4 is held in unit 203.

[0024] Continuing to refer to Figure 10, the bottom 203a has the return drug supply device 1 in the depth direction (Y direction). A fixed linear guide 205 extending in the direction is provided. The base end of the hook 207 is fixed to the carriage 206, which moves horizontally along it.

[0025] The lifting unit 200 takes out one return tray 4 from the receiving unit 100 and then the recognition unit described later It can be lowered to a height position similar to 300 (conceptually indicated by the symbol H in Figure 1). (Return tray removal operation). Also, the lifting unit 200 is at the same height position H as the recognition unit 300. The return tray 4 can then be returned to the receiving unit 100 (return tray return operation).

[0026] To explain the return tray removal process, first, Table 203 (Carriage 202) However, the rail grooves 101a,1 of the receiving section 100 that hold the return tray 4 to be removed It rises to a position slightly lower than 01a. Next, hook 207 (carriage 206) The table 203 moves forward from its end 203c side (towards the front in the Y direction). Then, The cable 203 rises slightly, and as a result, the flange-like part 4b of the return tray 4 (in the figure, the back) The hook 207 enters the gap between the side part and the tray body 4a. After that, the hook 207 moves backward (towards the back in the Y direction) towards the end 203c of the table 203. As the back movement of the back 207 occurs, the flange-shaped portion 4b is pulled into the rail groove 204, and the return Ray 4 is transferred from the receiving unit 100 to table 203. Finally, table 203 (capsule Ridge 202) descends to the position indicated by the symbol H (Figure 1).

[0027] To explain the return tray return operation, first, table 203 (carriage 202) From the height position indicated by the symbol H, the rail groove 101a, 101a (return tray It rises to the height corresponding to (not holding Ray 4). Then, then, hook 207 ( The carriage 206 moves forward from the end 203c side of the table 203 (towards the front in the Y direction). (Move) As a result, the flange-like portion 4b of the return tray 4 is pushed by the hook 207. It exits from the rail grooves 204, 204 and enters the rail grooves 101a, 101a of the receiving section 100. It enters. Then table 203 lowers slightly, thereby returning hook 207 From the gap between the flange-like part 4b of the tray 4 (the part on the far side in the figure) and the tray body 4a It exits downwards. Finally, the hook 207 moves backward towards the end 203c of the table 203. do.

[0028] (Orthogonal robot) Referring to Figures 11 to 12D, the orthogonal robot 700 (first suction unit) is shown as follows: The vacuum supplied from the vacuum source through the suction tube 713 (Figures 12A to 12D) returns the drug. It is equipped with an adsorption nozzle 701 that adsorbs agent 2 in a releaseable manner. The tip of the adsorption nozzle 701 is equipped with A suction pad 702 made of M is attached. Referring to Figures 1 to 3 together, the suction pad is attached. The nozzle 701 adsorbs and holds the returned drug 2, or releases the adsorbed and held returned drug 2 by The range within which it can be separated is the lifting section 200 (return tray 4 when at the aforementioned height position H). The orthogonal robot 7 includes the entire range, as well as the recognition unit 300 and the non-storage drug placement unit 400. 00 is composed of.

[0029] The Cartesian robot 700 (suction nozzle 701) has a table 203 (height) on the lifting section 200. The return drug 2 is adsorbed and held from the return tray 4 held at position H) and removed by the recognition unit 30 It can be transferred to the temporary storage unit (first recognition unit) 301 of unit 0, which will be described later. Also, the orthogonal robot 7 00 adsorbs and holds the returned drug 2 from the temporary storage section 301 and removes it, and the recognition section 300 is equipped with It can be transferred to the label reading unit (second recognition unit) 302 described above. Furthermore, the orthogonal robot 700 The label reading unit 302 adsorbs and holds the returned drug 2 and removes it, and the non-storage drug placement unit 400 It can be transported to.

[0030] The orthogonal robot 700 is positioned below the receiving section 100, and the depth of the returned drug supply device 1 is such that A fixed Y-axis beam 703 extending in the direction (Y direction), and a moving along this Y-axis beam 703 It is equipped with a carriage 704. The carriage 704 has a width direction ( An X-axis beam 705 extending in the X direction is fixed. Also, movement along the X-axis beam 705 A carriage 706 is provided, and a head 707 is mounted on this carriage 706. The head 707 is provided with a lifting rod 708 that moves up and down by a ball screw mechanism. As the lifting rod 708 rotates around the Z-axis, the suction nozzle 701 also rotates around the Z-axis. It can be rotated.

[0031] Referring to Figures 12A-D, there are two gaps between the bracket 709 and the suction nozzle 701. A spring 710 is interposed, and a shaft 711 is positioned at the center of each spring 710. There are three through holes 712 lined up at the lower end of the bracket 709. The shaft 711 passes through two of the three through holes 712, the two at both ends, and the bracket It is slidably positioned relative to the 709. The suction pipe 713 has a central through hole 712. It penetrates and is slidably positioned relative to the bracket 709, similar to the shaft 711. A retaining plate 714 is positioned above the three through holes 712. Two shaft rods 71 1 is fixed at its lower end to the suction nozzle 701 and at its upper end to the retaining plate 714. Therefore, the suction nozzle 701 can be elastically raised relative to the bracket 709.

[0032] The end of the suction pipe 713 (the lower side in the diagram) extends through the adsorption nozzle 701 and adsorbs It opens within pad 702, and the base end (upper side in the figure) is in communication with a vacuum source (not shown). Therefore, objects located below the suction pad 702 can be attracted (adsorbed). Also, orthogonal robots The 700 is equipped with a pressure sensor (not shown) that measures the pressure inside the suction nozzle 701. Furthermore, the carriage 706 has a phase relationship between the suction nozzle 701 and the bracket 709. It is equipped with a position sensor (not shown) for detecting the relative height position (position in the Z direction). Yes, they are.

[0033] The return agent 2, which is adsorbed and held by the adsorption nozzle 701, is moved in the X direction by the linear motion of the carriage 706. It moves in the direction of the carriage 704, moves in the Y direction by linear motion, and moves up and down by the lifting rod 708. It moves further in the Z direction. Also, the return agent 2 that is adsorbed and held by the adsorption nozzle 701 moves up and down. The rotation of the head 708 around the Z-axis causes the suction nozzle 701 to rotate around its axis (Z-axis).

[0034] (Recognition unit and non-storage drug placement unit) Referring to Figures 1 to 3, the recognition unit 300 consists of an illumination 303 and a camera 304 (first imaging unit). ) is provided. Lighting 303 and camera 304 are located above the lifting section 200. Also, The recognition unit 300, together with the camera 304, constitutes an example of the first recognition unit in the present invention. It comprises a section 301 and a label reading section (an example of a second recognition section in the present invention) 302. 301 and the label reading unit 302 (label reading device) are located when viewed from the front of the returned drug supply device 1. It is positioned on the lower left front side and located below the receiving section 100.

[0035] Referring also to Figure 13, the temporary storage section 301 is a translucent plate 30 on which the returned drug 2 is placed. 5 (drug placement plate), lighting 306 positioned below this translucent plate 305, and translucent plate 3 It is equipped with camera 307 (second imaging unit) located above 05.

[0036] Referring also to Figure 14, the label reading unit 302 is connected to a rotationally driven endless belt 308 The system includes a roller 309 positioned on this endless belt 308. The return agent 2 is an endless belt. The belt 308 and roller 309 rotate, causing them to rotate around their own longitudinal axis A. The label reading unit 302 is connected to the illumination 310 and the camera 311 (shown only in Figure 1). It includes an example of a third imaging unit in the morning. Furthermore, the label reading unit 302 is a barcode reader. It is equipped with a first barcode reader (DA) 312.

[0037] Referring to Figure 13, the non-storage drug placement section 400 is a return drug supply device, which will be described in detail later. In item 1, returned medications 2 that are not subject to handling are, in principle, not stored in the storage unit 500. A drug storage unit for storing returned drug 2 (non-stored drug 2'), adjacent to the temporary storage unit 301 It is equipped with two non-storage drug storage boxes 401 and 402. 401 and 402 are non-storage agents 2', similar to the placement grooves of the storage tray (storage container) 5 described later. It is equipped with a positioning groove for holding it in place.

[0038] (Process until the return medication is recognized) Here, the orientation and posture of the returned medication 2 contained in the return tray 4 of the receiving section 100 Furthermore, until the type, shape, size, expiration date, and other properties are recognized, the return drug supply system Let's explain the operation of Place 1.

[0039] First, the return tray 4 is transferred from the receiving section 100 to the table 203 of the lifting section 200. After the return tray 4 is transferred, the table 203 lowers to height position H (see Figure 1). After the bulldozer 203 descends to height position H, recognition by the recognition unit 300 begins. , lighting from above (highly directional) onto the return tray 4 on table 203 from lighting 303. While irradiating with a light (preferably a bright light), the camera 304 takes a picture. Then, Based on the image captured by the MER304, the position of the returned medication 2 in the return tray 4 is recognized. These will be designated as drugs to be stored. Details of this recognition process will be described later. Based on this recognition result... Then, the suction nozzle 701 of the orthogonal robot 700 picks up one return drug 2 at a time from the return tray 4. It is held by suction and transferred onto the translucent plate 305 of the temporary storage section 301 (see Figure 13). The attachment nozzle 701 rotates around its own axis (Z-axis) to adsorb and hold the returned drug 2 Adjust the orientation.

[0040] In the temporary storage area 301, the returned medication 2 is placed on the translucent plate 305. By lighting 306 A light fixture 306 positioned below the translucent plate 305 shines light toward the translucent plate 305. The illumination light is preferably high-brightness light. While illumination 306 is emitting light, camera 3 Camera 307 photographs the returned drug 2 on the translucent plate 305. As will be explained in more detail later, the shape, size, and orientation (axis in the XY plane) of the returned drug 2 The direction in which line A extends (including the direction in which the tip 2a and base 2b are pointing) is recognized. Furthermore, the image captured by camera 307 indicates the adsorption position of the returned drug 2 (orthogonal robot) The suction nozzle 701 of the 700 robot and the suction nozzle 801 of the 800 scalar robot are used for suction. The adsorption position of the returned drug 2 will be calculated. The calculation of the adsorption position of the returned drug 2 will be described in detail later. Camera 307 Based on the recognition results from the captured images, the suction nozzle 701 of the orthogonal robot 700 The returned drug 2 on the translucent plate 305 is adsorbed and held, and then transferred to the label reading unit 302. The adsorption nozzle 701 rotates around its own axis (Z-axis) to adsorb and hold the returned drug. Adjust the orientation of 2.

[0041] In the label reading unit 302, as will be described in detail later, the rotation of the endless belt 308 and roller 309 As a result, the returned drug 2 rotates around its own axis A (see Figure 14). While irradiating the drug product 2 with illumination light from the light source 310, the label reading device (camera 311 and The barcode reader 312 reads the label 3 of the returned medication 2. Camera 311 takes a picture. The image shows the textual information regarding the expiration date, etc., displayed on label 3 of returned medication 2. In addition, the orientation of the returned drug 2 around axis A is recognized. Furthermore, by camera 311 In addition to taking a photograph, the barcode on the label 3 is read by the barcode reader 312. It is taken. The image taken by camera 311 and the barcode read by barcode reader 312 The code identifies the type and expiration date of the returned medication. Recognition is performed by reading the barcode from the image captured by the camera 311 and the barcode from the barcode reader 312. You may do this using only one of the methods. For example, the bar contained in label 3 of returned medication 2. If the code includes the type of medication to be returned and its expiration date, then without installing camera 311, Only the code reader 312 is provided, and the barcode is read by the barcode reader 312. Therefore, the type and expiration date of the returned medication 2 can be identified. After recognition is complete, label 3 faces upwards (Z The endless belt 3 is positioned so that the rotation of the returned drug 2 around axis A stops in the direction (direction). The rotation of 08 and roller 309 stops. Whether label 3 is facing upwards or not is determined by camera 311. This can be confirmed based on the captured images. Furthermore, the SCARA type robot 800 described later... If there is a region in the returned drug 2 that the adsorption nozzle 801 cannot adsorb (for example, as shown in Figure 29) Areas where burrs exist, such as the side of resin ampoule 2C, or where the label may peel off when adhering to surfaces. If the area exists in returned drug 2, return drug 2 will not be turned upwards. It is preferable that the rolling stops. For this purpose, the non-adsorption region is associated with the drug. Furthermore, it is pre-registered (pre-stored) in the drug master, which will be described later.

[0042] In the label reading unit 302, instead of a pair of rollers, an endless belt 308 and roller 309 The rotation causes the returned drug 2 to rotate around axis A. The endless belt 308 and roller 309 The combination is a large shape of return agent 2 that can be rotated compared to a pair of rollers. The range of size and types is wide.

[0043] For example, the label reading unit 302 is configured to rotate the returned medication 2 using a pair of rollers. In this case, due to the relative tilt or misalignment between the rotation axes of the pair of rollers, the returned chemical 2 is one The pair of rollers may move in one of two directions along their axis of rotation. To restrict the direction of movement of agent 2 to one direction, the relative inclination between the rotation axes of the pair of rollers or The misalignment needs to be precisely adjusted. Also, in this case, the returned chemical 2 is applied to the pair of rollers. Due to being supplied in a tilted position, the returned drug 2 is aligned with the axis of rotation of the pair of rollers. It may also move in one of two directions.

[0044] In contrast, in this embodiment, as most clearly shown in Figure 14, the endless belt 308 The rotational centerline Rc of the roller 309 is inclined with respect to the direction of travel F (i.e., the direction of travel) (F and the direction of extension of the rotational centerline Rc intersect non-orthogonally). Such an endless belt 308 and The arrangement of the roller 309 ensures that the direction in which the returned drug 2 moves in the width direction of the endless belt 308 is consistent. The direction can be restricted to downward in Figure 14. As a result, the return of the label reading unit 302 The position of the chemical agent 2 can be aligned. Also, the direction of travel F of the endless belt 308 is above The returned medication 2 placed on the roller is moving towards the roller 309. Meanwhile, the rotation of the roller 309 The direction of rotation is the X direction of travel F of the endless belt 308 in the region facing the endless belt 308. The rotational direction is such that the peripheral speed is in the opposite direction to the directional component. As a result, the endless belt 30 The return agent 2 gets caught between 8 and roller 309, especially the return agent 2 with a small diameter. It can suppress the growth. In addition, the label 3 is partially peeled off. In this case, it is possible to suppress the biting of the partially peeled portion of label 3. Furthermore, by contacting the endless belt 308 and roller 309 in a rotating state, the returned chemical 2 As it is positioned and rotates at a constant rotational speed, the barcode reader 312 is stable The barcode on the returned medication 2 can be read with high precision.

[0045] For example, if the expiration date recognized by the label reading unit 302 has already passed, If the label reading unit 302 cannot recognize the expiration date, the returned drug 2 will be classified as non-stored drug 2. The non-contained agent is adsorbed and held by the adsorption nozzle 701 of the orthogonal robot 700. The non-storage drug storage boxes 401 and 402 of the placement unit 400 are transferred. Also, the return of the receiving unit 100 One of the product trays 4 (for example, the bottom return tray 4) is placed in the non-storage drug placement section 400. It serves as a tray for non-storage drugs 2' that functions as part of the non-storage drug return tray 4. Non-storage drug 2' from non-storage drug storage boxes 401 and 402 is returned.

[0046] (Scalar robot and support tray) Referring to Figures 15 and 16, and Figures 17A to 17D, the SCARA type robot 800 ( The second picking section receives a central suction pipe 813 and a lateral suction pipe 814 from a vacuum source (not shown). It is equipped with an adsorption nozzle 801 that adsorbs the return agent 2 in a releaseable manner by vacuum supplied through it. A rubber suction pad 802 (first suction pad) is attached to the tip of the suction nozzle 801. It is being held. The adsorption nozzle 801 adsorbs and holds the returned drug 2, or the returned drug that has been adsorbed and held. The range in which 2 can be separated by the release of adsorption is between the label reading unit 302 of the recognition unit 300 and the corresponding The entire range of all storage trays 5 provided in the storage unit 500, and the dispensing trays located at the dispensing positions described later. The scalar robot 800 is configured to include the entire area of ​​the output tray 8.

[0047] The SCARA type robot 800 (suction nozzle 801) has a label reading unit 30 of the recognition unit 300 The returned drug 2 is adsorbed and held from 2 and removed, and placed in the storage tray 5 described later, which is provided in the storage unit 500. It can be transported. In addition, the SCARA robot 800 adsorbs and stores the returned drug 2 from the storage tray 5. It can be easily removed and transferred to the dispensing tray 8 of the dispensing unit 600, which will be described later.

[0048] Referring to Figures 1 to 3, the scalar robot 800 is a return drug supply device 1 A pair of fixed linear guides 803, 803 extending in the height direction (Z direction), and these linear guides It is equipped with carriages 804, 804 that move on the id 803, 803. ,804, the X-axis beam 805 extending in the width direction (X direction) of the returned drug supply device 1 The ends are supported. Base 806 is fixed to X-axis beam 805. Base 80 The base end of the first arm 807 connected to 6 rotates around the Z axis, and the tip of the first arm 807 The base end of the second arm 808, which is connected to the side, also rotates around the Z axis. A head 809 is mounted on the end so as to be rotatable around the Z axis. Fixed to the head 809 The suction nozzle 801 is held in the bracket 810. The head 809 is shown in Figure 1. The barcode reader 812 (second barcode reader), shown only in 5, and the returned medication 2 are detected. It is equipped with a presence / absence detection sensor 820. The barcode reader 812 has a suction nozzle. It is mounted in a position offset to the side from 801, and is located below the suction nozzle 801. The barcode on label 3 attached to the returned medication 2 is read from diagonally above. In other words, the barcode reader 812 reads the returned medication 2 in the label reading unit 302. Similar to the positional relationship with the barcode reader 312, the suction nozzle 801 is the target of the return. When positioned above drug 2, it faces the barcode on label 3 attached to the returned drug 2. They are arranged in such a way.

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

[0050] The returned drug 2, adsorbed and held by the adsorption nozzle 801, is directed to the X-axis beam 805 (carriage 80 4) The linear motion moves it in the Z direction, and the rotation of the first arm 807 and the second arm 808 moves it in the X direction. It moves along the Y plane. Also, the returned drug 2 adsorbed by the adsorption nozzle 801 is carried by the second arm 8 The rotation of the head 809 relative to the tip of 08 causes the suction nozzle 801 to rotate around its axis (Z-axis). It rotates.

[0051] As shown in Figures 17A to 17D, between the bracket 810 and the suction nozzle 801 Two springs 811, 811 are interposed, and a shaft 815 is located at the center of each spring 811. They are positioned accordingly. Bracket 810 has three through holes 816 arranged in a row at its lower end. The two shaft rods 815 have two through holes at both ends of the three through holes 816. The central suction pipe 8 penetrates the hole 816 and is slidably positioned relative to the bracket 810. 13 passes through the central through hole 816 and slides against the bracket 810, similar to the shaft rod 815. It is movably positioned. A retaining plate 817 is positioned above these three through holes 816. The two shaft rods 815, 815 have their lower ends attached to the suction nozzle 801 and their upper ends attached to a retaining plate. It is fixed to the 817. As a result, the suction nozzle 801 is directed downward by the spring 811. It is elastically able to be raised relative to the bracket 810 while being biased.

[0052] The central suction pipe 813 extends through the suction nozzle 801 and, within the suction pad 802, A small suction pad 818 (second suction pad) is provided at its end (lower side in the diagram). The base end (upper side in the figure) of the central suction tube 813 is in communication with a vacuum source (not shown). The suction nozzle 801 has a through hole 821 on its side, and through this through hole A side suction pipe 814 is connected. The base end (upper side in the figure) of the side suction pipe 814 is shown in the figure. It is in communication with a vacuum source that is not shown. Inside the suction nozzle 801 is a pressure sensor that measures the internal pressure. A sensor (not shown) is provided.

[0053] As shown in Figures 18A and 18B, the suction pad 802 is hollow, and the upper mounting part 802a, the lower suction part 802c, and the snake connecting the mounting part 802a and the suction part 802c It has a belly portion 802b and, referring to Figure 17C, the mounting portion 802a is thickened. It is fitted onto the lower part of the suction nozzle 801, and its inner side is connected to the through hole 816 of the suction nozzle 801. It is connected to the side suction pipe 814. The bellows section 802b is connected to the side suction pipe 814. It is designed to contract upward when suction is applied. Bellows section 802b and suction section 802 The thickness of the joint 802d with c is made thinner than the other parts, and as a result the joint 802 It is easier to deform from d. As a result, during adsorption, the joint portion 802d is the first By deforming it, the shape of the suction pad 802 is maintained, allowing for good adhesion. Furthermore, the suction pad 802 has a larger suction surface area than the small suction pad 818, Compared to the small suction pad 818, it has stronger suction power and can handle heavier or larger return medications 2. It can be adsorbed and transported at high speed.

[0054] The adsorption section 802c has a roughly elliptical shape and is connected to the lateral suction pipe 814 in the center. It has an opening 802e. The longitudinal arc portion 802f of the suction portion 802c has a portion A thick section of 802g is formed, which provides rigidity in the longitudinal direction where rigidity is weak. The arc portion 802f is reinforced to prevent deformation of the arc portion 802f during suction from affecting the suction surface. This prevents air leakage. In addition, a projection 802h is integrally attached to the suction surface side of the arc portion 802f. It is formed. The protrusion 802h contains a minute amount of air that does not cause poor adsorption during adsorption. It is formed at a height that allows leakage, and as a result, it maintains adsorption properties during adsorption. Furthermore, when the suction is released, the suction can be quickly released due to air leakage from the protrusion 802h.

[0055] Furthermore, referring to Figures 19A and 19B, the adsorption portion 802c is approximately elliptical in shape when viewed from below. Therefore, compared to the case where the adsorption part 802c is formed in a rectangular shape (shown by dashed lines in Figures 19A and 19B), When the returned drug 2 is adsorbed and held by the small adsorption pad 818, the body of the returned drug 2 This reduces the amount of entanglement of the adsorption part 802c. As a result, the amount of returned drug 2 stored in the storage tray 5 When the adsorption is released and the object is retracted on the placement groove 7 of A, the return agent 2 is rotated by the aforementioned entanglement. This prevents it from being moved or otherwise misplaced.

[0056] Referring to Figures 18A and 18B, the small suction pad 818 is hollow, and the suction pad The suction pad 802 is positioned inside the suction pad 802, with its central axis (Z-axis direction) roughly aligned with the do 802. The upper mounting portion 818a and the lower suction portion 818c, and the mounting portion 818a and suction portion 81 It has a bellows section 818b that connects to 8c. The mounting section 818a is the central suction pipe 813 It is attached to the bottom so as to be able to communicate. The bellows section 818b receives air from the central suction pipe 813. It is designed to contract upwards when it is sucked in. The suction part 818c is roughly circular in shape. It has the structure and a central opening 818d that communicates with the central suction pipe 813. Since part 818c is roughly circular in shape, it easily conforms to the cylindrical portion of the returned chemical, preventing air leakage. It is less prone to causing problems and can adsorb effectively.

[0057] Furthermore, as shown by the solid line in Figure 17C, when the adsorption nozzle 801 is not in an adsorption state, the adsorption The lower end of the suction pad 802 is located below the lower end of the small suction pad 818. As shown by the dashed line in Figure 17C, the suction nozzle 801 is in the suction state (central suction pipe 813, lateral When suction is applied through both ends of the suction pipe 814, the lower end of the small suction pad 818' is sucked. It is located below the lower end of the adhesive pad 802'. This allows the suction state to function as follows: The suction pad 802 does not obstruct the suction of the small suction pad 818, The adhesive pad 818 provides good adhesion.

[0058] In this embodiment, the control device 1000 is detected by the image captured by the camera 307. Alternatively, depending on the shape, size, type, etc. of the returned drug 2 recognized by the label reading unit 302, Set the optimal adsorption pad for adsorbing the drug 2. For example, the direct position of the body of the drug 2. If the diameter is 28 mm or larger, use both the central suction pipe 813 and the side suction pipe 814 for suction. Adsorption is performed by both the small adsorption pad 818 and the adsorption pad 802. Return drug 2 If the diameter is less than 28 mm, use only the central suction tube 813 for suction, i.e., small suction Adhesion is achieved solely by the adhesive pad 818. Note that the small adhesive pad 818 and adhesive pad 8 When the return drug 2 is adsorbed by both 02 and then released, first It is preferable to stop the suction of the suction pad 802. This will stop the small suction pad 818 This allows for faster recovery of the shape (compared to stopping suction at the same time).

[0059] If the diameter of returned chemical 2 is 28 mm or more, use only the side suction tube 814 for suction. In other words, adsorption may be performed using only the adsorption pad 802. Also, the body of the returned drug 2 When label 3 attached to the object is attracted, it may peel off. Therefore, suction A suctionable area or an area where suction is not possible may be set in advance to prevent this. If the area where the drug cannot be drawn is small, even if the diameter of the returned drug 2 is 28 mm or more, the small suction pad 818 It may also be adsorbed by adsorption. Alternatively, after adsorbing the return drug 2 with only the adsorption pad 802, return If detachment of drug 2 from adsorption is detected, both the adsorption pad 802 and the small adsorption pad 818 Alternatively, the system may be configured to adsorb the returned drug 2 from which the adsorption has detached.

[0060] Referring to Figures 1, 15, and 16, the support tray 900 is a scalar robot It is fixed to the lower end of the rod 901 that moves up and down relative to the base 806 of the to 800. In terms of configuration, the support tray 900 holds the return medication 2 in the same way as the storage tray 5 described later. It is equipped with a groove for positioning. As shown in Figure 16, the support tray is raised and lowered by the rod 901. -900 is a height position that approaches the returned drug 2 adsorbed and held by the adsorption nozzle 801, and adsorption The nozzle 801 moves up and down to a height position that separates it from the returned drug 2 which is held by suction.

[0061] When the adsorption nozzle 801 adsorbs and transfers the returned drug 2, the SCARA robot 800 The suction nozzle 801 is moved horizontally by the first arm 807 and the second arm 808. , and position it above the support tray 900. At this time, the adsorbed return drug 2 is supported The head 809 is rotated to match the orientation of the placement grooves on the totray 900. Then, By raising the rod 901, the support tray 900 moves higher, separating it from the returned medication 2. It is moved from its original position to a height position that is closer to the returned drug 2. This allows the returned drug during transport to be moved. When agent 2 detaches from the adsorption pad 802 and / or the small adsorption pad 818 to which it is adsorbed, However, the support tray 900 prevents the suction nozzle 801 from falling downwards. This allows for faster return while preventing damage to the returned chemical 2 due to detachment from adsorption. It can transport drug product 2.

[0062] Furthermore, the returned medication 2 that fell into the support tray 900 is re-absorbed by the adsorption nozzle 801. It may be attached and transported. At this time, the pressure sensor (shown in the figure) provided on the suction nozzle 801 is (Not present) may be used to detect that the adsorption has been detached. Also, as mentioned above, Returned drug 2 is Since the suction nozzle is transported with its orientation aligned with the placement groove on the support tray 900, If the suction by 801 is released, the orientation and position will not change, and directly below the suction nozzle 801 It will fall into the placement groove. As a result, the returned chemical agent 2 will be directly below the adsorption nozzle 801. Since it can be predicted that this will occur, the returned drug 2 will be re-adsorbed by the adsorption nozzle 801. This can increase the success rate at that time.

[0063] Furthermore, depending on the size and shape of the returned medication 2 handled by the returned medication supply device 1, the returned medication When the suction pad 802 holds 2 by suction, the suction pad 8 shrinks as shown in Figure 17C. The bellows portion 802b of 02 may come into contact with the mounting portion 802a. This contact may be repeated. This may cause damage to the bellows section 802b.

[0064] Figures 20A and 20B show a suction pad 1 that can suppress contact between the mounting part and the bellows part. The suction nozzle 801 with 802 attached is shown. As shown in Figures 20A and 20B. In addition, the mounting portion 1802a of the suction pad 1802 is such that when the bellows portion 1802b is retracted, A relief section 1802j is formed to avoid contact with the bellows section 1802b. It has an inclined section that extends diagonally upward from the joint between the mounting section 1802a and the bellows section 1802b. As a slope, the relief portion 1802j is formed in the mounting portion 1802a. The mounting portion 1802a is provided with 1802j, and the mounting portion 1802a and the retracted bellows portion 1 Contact with 802b can be suppressed.

[0065] (Storage section) As shown in Figures 1 to 3, the storage unit 500 is located in the back right when viewed from the front of the returned drug supply device 1. It is located there.

[0066] Referring together to Figures 21 and 22, the storage section 500 is a linear guide 50 extending in the Z direction. It includes 1. This linear guide 501 keeps the storage tray 5 (storage container) removable. The holding frame 502 is held so that it can move up and down. The holding frames 502 are arranged in multiple layers. On both sides of the multi-tiered storage tray 5 are linear guides 503, 5 extending in the Z direction. 03 is positioned. A carriage 50 moves up and down on these linear guides 503, 503. 4,504 is provided. The carriage 504 has a retracted position as shown in Figure 21 and as shown in Figure 22. A lift mechanism 505 (spacing mechanism) that can move to the indicated protruding position is installed. The lift mechanism 505 is also positioned in the depth direction in the figure. Furthermore, the lift mechanism 505 is multi-stage You may place it there.

[0067] As shown in Figure 21, with the lift mechanism 505 in the retracted position, it corresponds to one holding frame 502. The carriages 504, 504 move to the position shown in Figure 22. Next, the lift mechanism 505 is shown in Figure 22. It moves to a protruding position and enters the lower side of the retaining frame 502, in this state the carriage 50 When 4,504 rises, the lift mechanism 505 enters the retaining frame 502 and the section above it. The retaining frame 502 is lifted upward. As a result, the retaining frame into which the lift mechanism 505 enters A gap G is formed between 502 and the retaining frame 502 one level lower. The suction nozzle 801 of the scalar robot 800 enters via G, and the lift mechanism 505 enters. Access to the storage tray 5 held in the lower holding frame 502 of the holding frame 502 is possible. This means that the scalar robot 800's suction The nozzle 801 transfers the returned chemical 2 to each storage tray 5. The operation of storing the drug and the operation of removing the returned drug 2 from the storage tray 5 by adsorption and retention. It is possible to perform the following actions.

[0068] Referring to Figures 23A to 24C, the storage tray 5 contains relatively small return medications 2. Storage tray 5A (S size) suitable for storage, and storage tray suitable for storing medium-sized returned medications 2. 5B (M size) and storage tray 5C (L size), which is suitable for storing relatively large returned medications 2. ) and . The storage unit 500 is equipped with at least one of these three types of storage trays 5A to 5C. Each storage tray 5 (5A~5C) is a tray body with an opening at the top in the diagram. It comprises 5a and a flange-like portion 5b provided on the upper edge of the tray body 5a.

[0069] Referring also to Figure 25, the bottom of the tray body 5a has a depth-wise connection to the return drug supply device 1. Extending in the direction (Y direction), and arranged with spacing in the width direction (X direction) of the returned drug supply device 1 Multiple protrusions (projections) 6 are provided. Between adjacent protrusions 6, there are straight grooves (recesses). A groove 7 is formed, and the return agent 2 is contained in this arrangement groove 7. See Figures 24A to 24C. As is clear from the reference, the three types of storage trays 5A to 5C have dimensions of the protrusion 6 (height and Because the width and pitch are different, the dimensions (depth and width) of the placement groove 7 are different. Due to the differences, as mentioned above, the three types of storage trays 5A to 5C are suitable for return storage. The dimensions of drug 2 are different.

[0070] The protrusion 6 has a top 6a and two sides of the top 6a that extend downward and are spaced apart from each other. It has a pair of inclined sections 6b, 6b. The inclined section 6b has a relatively large gradient, i.e., steep. It is set on a slope. When the returned drug 2 is transferred to the placement groove 7 by the adsorption nozzle 801 In some cases, the central axis of the returned drug 2 and the central position of the placement groove 7 do not coincide. Even if it is a combination, since the inclined section 6b is set to be a steep slope, the returned chemical 2 should be applied along the inclined section 6b This makes it easier to guide the returned medication 2 downwards, and the rotation of the returned medication 2 is suppressed. In other words, the returned medication 2 The label 3 is stored in the storage tray 5 while maintaining its position at the top, and at this time, The barcode on Bell 3 is maintained in a position that points diagonally upward, that is, the barcode It is positioned opposite the leader 812. This allows for the dispensing operation described later to be performed as follows. The system allows for verification of the prescription data of the returned medication 2 stored in storage tray 5. The inclination angle T of the inclined section 6b with respect to the horizontal direction is set in the range of 50° to 80°. If the inclination angle T is less than 50°, the returned agent 2 rotates due to contact with the inclined part 6b. It is possible that if the inclination angle T is greater than 80°, the return drug that can be accommodated in the placement groove 7 The diameter of the body of agent 2 will be limited. In this embodiment, the inclination angle T is preferably 65 It is set to °. By setting the inclination angle to 65°, the return drug that can be accommodated in the placement groove 7 can be returned. Without any restrictions on the type of agent 2, it can be stored while preventing rotation of the returned agent 2 around axis A. Cut.

[0071] Furthermore, by reducing the surface roughness of the storage tray 5, the returned medication 2 can be brought into contact with the inclined section 6b. It may be made slippery. This will further suppress the rotation of the return agent 2. Furthermore, vibration-damping rubber is provided between the storage tray 5 and the retaining frame 502, and the storage tray 5 and the retaining frame 50 The relative displacement and vibration between 2 may be suppressed. This allows the storage tray 5 to lift mechanism Even when moved up and down by 505, the vibration caused by the up and down movement will not affect the return agent 2 on the storage tray 5. This can suppress the transmission of vibrations to either the storage tray 5 or the retaining frame 502. You may attach it to one or both of them.

[0072] Furthermore, at least the surface side (upper in the diagram) of the storage tray 5 where the returned medication is stored is black. It is considered to be a color. Therefore, even if there is no returned drug 2 on storage tray 5 Instead, the light emitted from the presence / absence detection sensor 820, which is a reflective photoelectric sensor, is in the storage tray 5. By being reflected, it prevents false detection of the presence of returned drug 2. You may attach cushioning material such as sponge to the back side (bottom in the diagram) of storage tray 5. Then, press the cushioning material into the lower storage tray 5 on which the cushioning material is attached. By attaching it, the rotation, movement, and other actions of the returned medication 2 on the lower storage tray 5 are restricted. It is easy to maintain the position of the returned medication 2 while keeping the label side facing upwards.

[0073] (Dispensing section) The dispensing section 600 is equipped with a transport mechanism 601. The transport mechanism 601 is an inlet schematically shown in Figure 1. Move the dispensing tray 8 from 602 to the dispensing position (the front position in the diagram of the storage unit 500). The tray is positioned and, after the dispensing operation is complete, the dispensing tray 8 is exited from the outlet 603 shown schematically in Figure 1. Remove it.

[0074] (Storage and dispensing of returned medications) The operation of storing the returned drug 2 in the storage unit 500 after recognition is complete in the recognition unit 300 (storage operation (Transfer) Then, the contents are dispensed from the storage unit 500 into the dispensing tray 8 located at the dispensing position in the dispensing unit 600. The operation (dispensing operation) will be explained. The storage operation and dispensing operation are controlled by the control device 1000 (operation control). The components mainly consist of a recognition unit 300, a storage unit 500, a dispensing unit 600, and a scalar robot. It is executed by controlling and operating the 800.

[0075] First, let's explain the storage operation.

[0076] The returned drug 2 from the label reading unit 302 is transferred to the adsorption nozzle 801 of the scalar robot 800. It is adsorbed and retained better. With respect to the returned drug 2 adsorbed and retained by the adsorption nozzle 801, a small amount However, depending on the size of the returned drug 2, the storage area, that is, the area it occupies when stored, The storage position (which storage tray 8 and which position it will be stored in) is set. The portion of the storage area that is occupied during storage corresponds to the length L1 and width W of the returned drug 2. The area shown at times includes a margin to prevent interference with other returned drugs 2. Multiple storage units 500 Of the number of storage trays 5, the suction nozzle 801 is placed in any of the arrangement grooves 7 of any of the storage trays 5. The system searches for a place to put the adsorbed and retained drug 2. Based on the search results, The storage tray 5 and placement groove 7 (storage position for the returned medication 2) are determined. Focusing on one storage tray 5, as shown in Figure 25, the "number 3" placement groove 7 is already filled with returned medicine. If the grooves 7 are filled with agent 2, the other grooves 7 are adsorbed by the adsorption nozzle 801. This is a candidate storage location for the returned medication 2. For example, in groove "6", two returned medications Drug 2 has already been placed, but the length between these returned drug 2s is the return that is being stored. If the amount of chemical agent 2 exceeds the range shown above during storage, it will be adsorbed by the adsorption nozzle 801. This could be a candidate location for the retained returned medication 2.

[0077] As described above, when the recognition at the label reading unit 302 is completed, the return medicine 2 has the label 3 facing upward. The suction nozzle 801 of the scalar robot 800 holds the return medicine 2 in a posture where the barcode of the label 3 faces upward and transfers the return medicine 2 to the corresponding placement groove 7 of the corresponding storage tray 5, that is, the storage area determined as described above.

[0078] As described with reference to FIGS. 21 and 22, the storage unit 500 is configured such that the lift mechanism 505 can provide a gap G between the holding frames 502. Therefore, the suction nozzle 801 of the scalar robot 800 that holds the return medicine 2 adsorbed can freely access any of the storage trays 5 held by the multi-stage arranged holding frames 502 and place the return medicine 2 that is held by adsorption.

[0079] Also, as described with reference to FIGS. 23A to 24C, the storage tray 5 of the storage unit 500 includes three types of storage trays 5A to 5C with different sizes. Therefore, the control device 1000 can store the recognized return medicine 2 in the storage tray 5 determined according to the shape, size, type, etc. without being restricted by the size of the return medicine 2 to be stored by controlling the recognition unit 300, the storage unit 500, and the scalar robot 800.

[0080] Regarding the return medicine 2 stored in the storage unit 500, the control device 1000 stores in association with the identification information of each return medicine 2 the above-mentioned storage area, that is, in which storage tray 5 and at which position (the position on the placement groove 7 with respect to the placement groove 7). Also, The control device 1000 stores the type and expiration date in association with the identification information of each returned drug 2. It is doing so.

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

[0082] The suction nozzle 801 of the scalar robot 800 sucks and holds the returned drug 2 from the storage tray 5 in the storage unit 500 and transfers it to the dispensing tray 8 arranged at the dispensing position. It is transferred to.

[0083] The dispensing operation is executed based on the prescription data received by the returned drug supply device 1 from a higher-level system such as an electronic medical record system. As described above, the type and expiration date of the returned drug 2 stored in the storage unit 500 are stored in association with the identification information, and the identification information of where each returned drug supply device 1 is arranged in the storage unit 500 is also stored. It is. It is stored. It is stored. Specifically, the control device 1000 has a drug master that stores the type, expiration date, and storage area of the returned drug 2 stored in the storage unit 500 in association with the identification information. It has. Moreover, as described above, since the interval G can be provided between the multi-stage arranged storage trays 5, the suction nozzle 801 can freely suck and hold the returned drug 2 stored in any of the multi-stage arranged storage trays 5 as needed. Therefore, as a result of referring to the drug master, if it is confirmed that the drug included in the prescription data is the returned drug 2 stored in the storage unit 500, it can be dispensed without restrictions according to the prescription data. Also, efficient dispensing is possible according to the prescription data, such as dispensing from the ones with a closer expiration date among the same type of drugs. It can be held. It can be confirmed. It can be dispensed. It is possible. Furthermore, as a result of referring to the drug master, if it can be confirmed that the drug included in the prescription data is not stored in the storage unit 500, the necessary display is made on the display 1002 of the control panel 1001. It is made. It can perform processes such as displaying information.

[0084] The operation of the dispensing process will be explained in detail. The gap G formed by the lift mechanism 505 Through this process, the suction nozzle 801 of the scalar robot 800 dispenses the returned drug(hereinafter, In the instructions for the dispensing procedure, access item 2, which is referred to as the dispensing drug. At this time, the barcode The reader 812 detects the label of the dispensed drug 2, and the control device 1000 then... Check whether it is Elephant Dispensing Drug 2. It is confirmed to be Dispensing Drug 2, which is the drug to be dispensed. Then, the dispensing agent 2 is adsorbed by the adsorption nozzle 801 and removed from the storage tray 5. Then, it is transferred to the dispensing tray 8. At this time, multiple dispensing drugs 2 to be dispensed are stored in the storage unit 500. If multiple items exist, the control device 1000 will dispense the drug 2 with the earliest expiration date. The system is determined to dispense drug 2 for the elephant, and control is established to dispense drug 2.

[0085] On the other hand, the control device 1000 determines that the dispensed drug 2 is not the dispensed drug 2 that is to be dispensed. If the connection is interrupted, or if label 3 (barcode) cannot be recognized, the control device 1000 uses the adsorption nozzle 801 to adsorb the dispensing agent 2 and read the label of the recognition unit 300. The system controls the transfer to the pick-up unit 302. The label reading unit 302 reads the label of the dispensed drug 2. If unit 3 is recognized, the dispensing agent 2 will be moved by the scalar robot 800 to the storage unit 5 It is stored again in 00. Meanwhile, the label reading unit 302 recognizes the label 3 of the dispensed drug 2. If not recognized, the dispensing agent 2 will be placed in the non-stored agent placement area by the orthogonal robot 700. It will be transferred to 400 (non-storage drug storage boxes 401, 402). Alternatively, it will be dispensed. When it matches the dispensing drug 2 that is about to be dispensed, it may be transferred to the dispensing tray 8 as it is by the scalar robot 800. It may be transferred as it is to the dispensing tray 8.

[0086] Note that the control device 1000 controls the dispensing operation to be performed with priority over the storage operation. By this, rapid dispensing can be realized. Also, when dispensing a plurality of dispensing drugs 2, in addition to transferring the dispensing drug 2 from one storage unit 500 to the dispensing unit 600 one by one, by using the support tray 900 as a buffer, it may be transferred collectively. That is, a plurality of dispensing drugs 2 to be dispensed are temporarily placed on the support tray 900 from the storage unit 500 and may be collectively transferred from the support tray 900 to the dispensing unit 600. Thereby, the scalar robot 800 does not need to reciprocate between the storage unit 500 and the dispensing unit 600 for the number of dispensed items, and the dispensing operation can be performed in a short time. Also, even when the dispensing tray 8 is not present in the dispensing unit 600, by using the support tray 900 as a buffer, the dispensing operation is not stopped, so the dispensing operation can be performed efficiently. Also, when a drug such as a large bottle is already placed on the dispensing tray 8, the scalar robot 800 is controlled by the control device 1000 to approach the dispensing tray 8 at a reduced speed. The control device 1000 may detect that a drug such as a large bottle is placed on the dispensing tray 8 by a drug presence / absence detection sensor (not shown), or may detect it from the prescription data received by the return drug supply device 1 from a higher-level system that is an electronic medical record system, for example. Thereby, as shown in FIGS. 26A and 26B, gentle contact with a drug such as a large bottle is achieved. One by one, the dispensing drug 2 is transferred from the storage unit 500 to the dispensing unit 600. In addition, by using the support tray 900 as a buffer, it may be transferred collectively. That is, a plurality of dispensing drugs 2 to be dispensed are temporarily placed on the support tray 900 from the storage unit 500. And may be collectively transferred from the support tray 900 to the dispensing unit 600. Thereby, the scalar robot 800 does not need to reciprocate between the storage unit 500 and the dispensing unit 600 for the number of dispensed items. And the dispensing operation can be performed in a short time. Also, even when the dispensing tray 8 is not present in the dispensing unit 600. By using the support tray 900 as a buffer, the dispensing operation is not stopped. So the dispensing operation can be efficiently performed.

[0087] Also, when a drug such as a large bottle is already placed on the dispensing tray 8. The scalar robot 800 is controlled by the control device 1000 to approach the dispensing tray 8 at a reduced speed. The control device 100 can detect that a drug such as a large bottle is placed on the dispensing tray 8. By a drug presence / absence detection sensor (not shown), or may detect it. From the prescription data received by the return drug supply device 1 from a higher-level system that is an electronic medical record system, for example. Thereby, as shown in FIGS. 26A and 26B, gentle contact with a drug such as a large bottle is achieved. By making contact, the dispensing agent 2 being dispensed from the adsorption nozzle 801 was detached due to this contact. Even so, the dispensed drug 2 can be placed on the dispensed tray 8. In other words, When the attachment nozzle 801 is brought close to the dispensing tray 8 without deceleration, it adheres to large bottles, etc. The strong contact between the dispensed agent 2, which is adsorbed and held by the nozzle 801, causes the dispensed agent 2 to be dispensed. This prevents the horse from flying off lane 8.

[0088] (Scan operation) Next, we will discuss scanning operations. Scanning operations refer to, for example, the user accessing the storage tray This occurs when 5 is accessed directly, and the returned medication (or dispensed medication) 2 is placed on the storage tray 5. This action is to confirm that it is not present. Here, the user has direct access to storage tray 5. In cases where the user manually returns the contents from storage tray 5, in addition to the dispensing operation based on prescription data, this refers to situations where the user manually returns the contents from storage tray 5. This refers to the case where product drug 2 is taken out directly, for example, if the returned drug 2 is damaged, this returned drug If agent 2 cannot be adsorbed by the adsorption nozzle 801, or if the returned medication has expired, This includes cases such as when removing item 2, or when removing multiple returned medications 2 at once from storage tray 5. Born.

[0089] In this case, by opening and closing the exterior panel shown in Figure 4, the target storage tray 5 can be accessed directly. It will become accessible. At this time, all returned medications 2 on the target storage tray 5 will be usable. It is necessary to remove it by the system. This is because some of the returned medications are removed from the storage tray 5. If only item 2 is removed, it will be removed because it was directly accessed by the user. The position of the returned medication 2, which was not used, and the position of the label may have changed. In this case, In subsequent dispensing operations, the returned medication 2, whose position has changed, may not be properly adsorbed. This is the case. In other words, when a user directly accesses storage tray 5, the storage tray It is operated to remove all returned medications 2 on Relay 5, and the scan operation is user Confirm that all returned medications 2 have been removed from storage tray 5, which was accessed directly. This is done for the purpose of scanning. Also, manually accessed storage tray 5 is scanned. The control system will remain in place until the operation is complete and it is confirmed that there are no returned medications 2 on the storage tray 5. Unit 1000 does not store any new returned medications 2 in the storage tray 5. As a result, the returned medications The new returned drug 2 is stored in the uncertain storage tray 5, which may contain drug 2. This can prevent [the problem].

[0090] During scanning, a scalar is transmitted through the gap G formed by the lift mechanism 505. The suction nozzle 801 of the robot 800 is positioned on the storage tray 5 which is the target of the scanning operation. Access. At this time, the presence / absence detection sensor 820 provided on the suction nozzle 801 is irradiated. The light is scanned over the storage tray 5, and if there is a returned drug 2, the reflected light is used to detect its presence or absence. The presence or absence of the returned medication 2 on the storage tray 5 is detected by receiving light with the intelligence sensor 820. Oh, as mentioned above, the side of storage tray 5 where the returned medication 2 is stored is black, The light emitted from the presence / absence detection sensor 820 receives the reflected light reflected from the surface of the storage tray 5. The device prevents false detection of returned medication 2 due to light emission.

[0091] Furthermore, the scanning operation is performed separately for each placement groove 7 in the target storage tray 5. It is designed so that all the storage trays on the storage tray 5 can be stored. Instead of detecting all the grooves 7 at once, for example, scan groove 1, then... After performing a dispensing or storage operation, the system scans the second placement groove 7. In other words, the scan operation is performed when no dispensing or storage operation is taking place. This allows for priority to be given to dispensing and storing operations. It is.

[0092] Furthermore, the scanning operation in each placement groove is performed in a zigzag pattern along the direction in which the placement groove extends. This is done by scanning. Specifically, Figure 27 shows the scanning trajectory D1 in the first placement groove 7. The presence / absence detection sensor 820 is arranged in a zigzag pattern in groove 7, roughly corresponding to the width of the returned drug 2. It is designed to scan along the line. For example, the scanning trajectory D1 is in the direction that crosses the arrangement groove 7. While advancing 20 mm, the arrangement groove 7 is positioned to advance 15 mm in the direction in which the arrangement groove extends. The device tilts and scans each arrangement groove 7 in a zigzag pattern. This allows, for example, the storage tray 5 The returned chemical 2 remained on top, and the returned chemical 2 was black, making it difficult to detect reflected light. Furthermore, even if label 3 is not located at the top, the zigzag scanning trajectory D1 By shining light onto label 3, which is not located above, and receiving the reflected light from label 3, This ensures that any returned medication 2 remaining in the storage tray 5 can be reliably detected.

[0093] In other words, the scanning operation is performed linearly along the direction in which the arrangement groove 7 extends (scanning trajectory in the figure). If trace D2) is present, it is a black returned medication 2, and its label is positioned off-center from the top. In this case, the returned drug 2 cannot be detected. However, presence / absence detection sensor By scanning 820 in a zigzag pattern, if the display label is not located at the top, and is located to the side... Even if it is misaligned, the misaligned label can be detected, so the returned medication 2 Even in the case of black, the presence or absence of returned medication 2 can be reliably detected.

[0094] As described above, according to the return drug supply device 1 of this embodiment, the type, shape, size, and use The system automatically recognizes returned medications 2, which have various properties such as expiration dates and are supplied in a non-aligned state. This ensures a high degree of flexibility in storage, and allows for flexible dispensing according to prescription data.

[0095] Furthermore, each storage tray 5 of the storage unit 500 does not require to be pulled out horizontally when storing items. Therefore, no space is needed to pull out the storage tray 5, and as a result, the storage section 50 0 can be configured compactly. Also, the returned medication 2 is stored on the storage tray 5. Since the storage area and type are associated and stored accordingly, various returned medications 2 can be placed on each storage tray 5. It can be stored. This eliminates the need to prepare storage trays 5 according to the type of drug. This eliminates the need to return items haphazardly, thus suppressing the increase in the number of storage trays required. For example, returning items haphazardly The various returnable medications 2 with different properties, stored in the product tray 4, are stored in the storage section 50 so that they can be easily removed. Each of the 0 storage trays 5 can be stored. In addition, drugs other than the returned drug 2, for example, can be stored as inventory. Multiple drugs with the same properties that are filled are placed in each storage tray 5 of the storage unit 500 so that they can be removed. It can be stored. In addition, in this device, the SCARA robot 800 retrieves returned medication from storage tray 5. 2 is inserted and removed, and therefore, neither a lid nor an ejection mechanism is needed for the storage tray 5. Moreover, storage By arranging the trays 5 in multiple layers, the upper storage tray 5 acts as a lid for the lower storage tray 5. The storage tray 5 is designed to function and is compact, with a height that corresponds to the radial height of the returned medication 2. It can be configured in this way. Therefore, the storage unit 500 can be made more compact.

[0096] Furthermore, the storage tray 5 is not pulled out, and the returned medications stored in the storage tray 5 No horizontal force acts on 2. As a result, the returned medication 2 stored in storage tray 5 Maintain the orientation and position as they were when stored, especially the barcode on label 3 facing the barcode reader at an angle. This allows the returned medication 2 to be maintained in an upward position, and as a result, the returned medication 2 on the storage tray 5 can be matched. It can be dispensed easily. Furthermore, when dispensing is performed based on prescription information, dispensing By verifying the barcode of drug 2, accurate dispensing can be performed. Since the dispensing agent with the earliest expiration date among the two dispensing agents is dispensed, efficient dispensing operations can be carried out. This allows workers to store medications without having to worry about information necessary for drug management, such as drug type and expiration date. This is what made it possible.

[0097] From here, we will discuss the recognition unit 3 of the returned drug supply device 1 in this embodiment. The temporary placement section 301 and the label reading section 302 in 00 will be explained in more detail.

[0098] First, the recognition unit 300 recognizes the shape, size, type, and expiration date (sex) of the returned drug 2. The shape of the returned drug 2 is recognized. Specifically, the shape of the returned drug 2 is recognized in the temporary storage section 301 of the recognition section 300. The shape and size are recognized, and the type and size of the returned medication 2 are recognized by the label reading unit 302. It is recognized. Based on the recognition result of its properties, the returned drug 2 is returned to the returned drug supply device 1. The control device 1000 (determination processing unit) determines whether or not the drug is subject to handling. ru.

[0099] Furthermore, the "medicines handled" as referred to here refer to, at a minimum, the structure of the returned drug supply device 1. It has a shape and size that can be handled by the return drug supply device 1. This refers to a type of drug predetermined by the system.

[0100] (Recognition of the shape and size of the drug) As mentioned above, in the temporary storage section 301 of the recognition section 300, the shape and size of the returned drug 2 The shape is recognized (information about the shape and size is obtained). For this purpose, the returned drug 2 is shown in the figure. As shown in Figure 1 and Figure 13, the mounting surface 305a of the translucent plate 305 (the plane on the camera 307 side) It is placed on top such that its longitudinal axis A is parallel to the mounting surface 305a. Then, half The returned medication 2 placed on the transparent plate 305 is illuminated by the light 30 located below the translucent plate 305. With light shining from below by 6, camera 3 is positioned above the translucent plate 305. Filmed by 07.

[0101] The control device 1000 determines the return of drug 2 based on the image captured by the camera 307. It is configured to acquire shape and size information. That is, the control device 1000 , part of the recognition unit 300 for recognizing the shape and size of the returned drug 2 (First drug information acquisition) It functions as a department.

[0102] The control device 1000 also obtains information on the shape and size of the returned drug 2. The system is configured to process the image of the camera 307 that captures drug 2 (the system has an image processing unit). (to do). As an image processing for the image from camera 307, for example, the returned drug shown in the image Edge detection processing to detect the edges of the image, and binarization to convert the image to black and white. Processing is performed. Based on the image processed with edge detection and the image processed with binarization, control Device 1000 acquires information on the shape and size of the returned drug 2.

[0103] Furthermore, the control device 1000, based on the shape of the returned drug 2, The device determines whether the shape is the shape of the drug to be handled by the returned drug supply device 1. It is composed of.

[0104] For example, the label reading unit 302 reads the returned medication 2 which is returned via the return tray 4. A chemical agent shaped to be caught between the endless belt 308 and the roller 309, SCARA type robot 80 Drugs with a shape that cannot hold 0, drugs with a shape that cannot be stored in storage unit 500, i.e., returned drugs. If the drug supply device 1 contains drugs of a shape that it cannot handle due to its structure. Examples include medications stored in bags or boxes, and medications that are partially damaged. Medications with partially peeled labels, or medications with partially peeled labels that have stuck to other medications. Examples include pharmaceuticals. Due to the structure of the returned pharmaceutical supply device 1, such returned pharmaceuticals cannot be handled. Since it cannot be handled, it will be processed as a drug that is not subject to handling (non-storage drug).

[0105] A person who determines the shape of returned drug 2 based on the image from camera 307 (image processed image). Let me explain an example of the law.

[0106] Figures 28A and 28B show the binarized images. Figure 28A shows the returned medication. Image of the returned drug 2 in ampoule shape, which is the shape of the drug handled by the supply device 1 (blacked-out image) Figure 28B shows a binarized image Pic containing Im. The returned medication is in the form of a drug, specifically an ampoule with label 3 partially peeled off. This shows the binarized image Pic' which contains image 2 (black image) Im'.

[0107] First, the control device 1000 blackens the image Pic (Pic') of the camera 307. Extract the rectangular region Sr(Sr') that circumscribes the image Im(Im'). Next, extract the rectangular region Sr A rectangular region Sr( that extends in the longitudinal direction of (Sr') (the direction in which the long side Sa(Sa') extends) The center line CL(CL') of Sr' is calculated. Then, the black-filled image Im(Im') is the center. The control device 1000 determines whether or not the shape is symmetrical with respect to line CL(CL').

[0108] In the case of the image Pic in Figure 28A, the black-filled image Im has a shape that is symmetrical with respect to the center line CL. Therefore, the control device 1000 determines the shape of the returned drug 2 as seen in the image Pic, and the shape of the drug to be handled. It is determined that it is in that state. On the other hand, in the case of image Pic' in Figure 28B, the black-filled image Im' is centered on the center line C Because it has an asymmetric shape with respect to L', the control device 1000 is the returned drug that appears in the image Pic'. The shape of agent 2 is determined to be that of a drug that is not subject to handling.

[0109] Alternatively or additional determination methods include blacking out the long side Sa of the rectangular region Sr. Extract the portion that is not in contact with the image Im and calculate its length L0. That is, the returned drug Calculate the length of the head 2d of 2. This length L0 and the length of the long side Sa of the rectangular region Sr ( By comparing the total length of the returned drug 2 (L1), the returned drug is visible in the image of camera 307. It is possible to determine whether the shape of agent 2 is the shape of the drug being handled. For example, If the ratio of the head length to the total length of the drug being handled is in the range of 0.3 to 0.4, L If the value of 0 / L1 is within the range of 0.3 to 0.4, the shape of the returned drug 2 shown in the image is handled. This is the shape of the target drug.

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

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

[0112] Note that in the case of resin ampoule 2(2C) as shown in Figure 29, the shape of the drug is not subject to handling. It may be determined to be a circular shape. That is, a circular (or elliptical, oblong) cross-section. A resin ankle having a body 2c and a rectangular (or square) thin plate-shaped (or square) thin plate-shaped (or square) head In the case of pull 2 ​​(2C), the image processed by camera 307 may appear as a rectangle. Yes, they exist. Therefore, they can sometimes be indistinguishable from medications stored in rectangular boxes.

[0113] In this case, the resin ampoule 2 (2C) is transparent (or semi-transparent), and the box is opaque. It utilizes a certain property. That is, it utilizes the property that the former transmits light and the latter does not transmit light. ru.

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

[0115] If the returned drug 2 shown in the image of camera 307 is a transparent resin ampoule 2 (2C), then it shines Due to the brightness adjustment process that increases the intensity, the central part of the image of the returned drug 2 in the image becomes overexposed (blown out). After that, when the image is binarized, only the outline image of returned drug 2 remains on the image. In other words, a frame-like image remains in the image. On the other hand, in the case of a box, even if brightness adjustment processing is performed Therefore, the box-shaped image remains in its original form on the image without any parts being overexposed. Even after subsequent binarization, a rectangular image remains. Therefore, increasing the brightness of the image... By performing a brightness adjustment process followed by a binarization process, the resulting image will have a higher brightness. This makes it possible to distinguish between the transparent (or translucent) resin ampoule 2 (2C) and the box body. be.

[0116] The shape of the returned drug 2 placed on the translucent plate 305 of the temporary storage section 301 is that of the drug to be handled. After it is determined that this is the case, the control device 1000 determines that the size of the returned drug 2 is subject to handling. Determine whether or not it is the size of a drug. To do this, determine the size of the returned drug 2. This is measured (calculated).

[0117] For example, the label reading unit 302 reads the returned medication 2 which is returned via the return tray 4. A drug small enough to get caught between the endless belt 308 and the roller 309, SCARA type robot 8 Drugs that are too large to be held by 00, drugs that are too large to be stored in storage unit 500, that is The returned drug supply device 1 contains drugs that are too large to handle due to its structure. In some cases, such returned medications 2 cannot be handled by the returned medication supply device 1 due to its structure. Since this is not possible, it will be treated as a drug that is not subject to handling (non-storage drug).

[0118] In this embodiment, in order to obtain information on the size of the returned drug 2, first, The length of product drug 2 in the longitudinal direction (the direction in which axis A extends) is measured (calculated). This section explains how to measure (calculate) the length in the longitudinal direction of an object.

[0119] Figures 30 and 31 are diagrams illustrating the method for measuring (calculating) the size of returned drug 2. ru.

[0120] As shown in Figure 30, the returned drug 2 (vial 2B) placed on the translucent plate 305 is When captured by the upper camera 307, the image Pi from camera 307 is as shown in Figure 31. Image c shows returned medication 2. The longitudinal length Lm and width of the image of returned medication 2 shown in this image Pic Based on the lengths W1 and W2, the size of the returned drug 2 is determined by its longitudinal direction (extension of axis A). The actual length (Lact) in the direction is calculated. Based on the image Pic from camera 307, return This section explains how to calculate the actual length (Lact) of drug 2 in the longitudinal direction.

[0121] When a cylindrical object like returned drug 2 is photographed in a direction perpendicular to its axis, the extension of that axis Regarding the magnitude of the direction, there is a discrepancy between the size shown in the image and the actual size. Specifically In the image, the returned medication 2 appears larger than its actual size.

[0122] Therefore, based on the image Pic from camera 307, the longitudinal direction of the returned drug 2 (extension of axis A) When calculating the size of the direction, the size of the image of the returned drug 2 on the image Pic in the longitudinal direction The discrepancy needs to be corrected. To do this, the error between the size on the image Pic and the actual size needs to be corrected. We need to find the difference E1 and E2. This section explains how to calculate these errors E1 and E2.

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

[0124] Furthermore, the longitudinal direction of the image of the returned drug 2 in the image Pic of camera 307 is the translucent plate 30 5. This corresponds to the longitudinal direction (extension direction of axis A) of the actual returned drug 2 shown above. Also, in image P... The width direction of the image of the returned drug 2 corresponds to the radial direction of the actual returned drug 2.

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

[0126] In the image Pic of the returned drug 2 from camera 307, the tip-side length Lm1 and the proximal-side length Based on Lm2, tip width W1, and proximal width W2, the returned drug 2 in image Pic The error E1, E between the longitudinal length Lm of the image and the actual longitudinal length Lact of the returned drug 2. We will calculate 2. To do this, we will use geometry, specifically the similarity of triangles.

[0127] As shown in Figure 30, triangle △A(p1-p2-p3) and triangle △B(p4-p2-p It is similar to (5). Also, triangle △A has a base length equal to the apex length Lm1. The height h0 is between the imaging point p1 of the camera 307 and the mounting surface 305a of the translucent plate 305. It is a distance. On the other hand, triangle △B has a base length with error E1 and a height h1 The height h1 is determined by the lowest point of the tip 2a and the mounting surface of the translucent plate 305, as shown in Equation 1. This is the sum of the distance between 305a and (W2-W1) / 2 and the tip width W1.

[0128]

number

[0129] Furthermore, formula 1 can be derived from the fact that the returned drug 2 is vial 2B. Furthermore, since the end face shape of the returned drug 2 at the tip 2a and base 2b is a circular plane, It can be sought.

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

[0131]

number

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

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

[0134]

number

[0135] In formulas 1 to 3, the tip-side distance Lm1, the base-side distance Lm2, the tip-side width W1, and the base-side The side width W2 is calculated based on the image Pic from camera 307 showing the returned drug 2. Height h0 is the distance between the imaging point p1 of the camera 307 and the mounting surface 305a of the translucent plate 305. Therefore, it is constant and known. By using these values ​​and equations 1-3, The error E1 on the tip 2a side and the error E2 on the base 2b side can be calculated.

[0136] These calculated errors E1 and E2 are used to determine the image of the returned drug 2 in the image Pic of camera 307. By subtracting from the longitudinal length Lm(Lm1+Lm2), the actual longitudinal length of the returned drug 2 is obtained. The length Lact in a given direction (the direction of extension of axis A) can be calculated.

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

[0138] Furthermore, the actual length of the returned drug 2 in the longitudinal direction, as described above, is calculated from the tip of the returned drug 2. The accuracy is high when the end faces at 2a and the base end 2b are circular end faces like those of vial 2B. Therefore, if the returned drug 2 is ampoule 2A or resin ampoule 2C, its longitudinal direction The method for calculating the actual length needs to be slightly modified.

[0139] For example, if the returned drug 2 is in ampoule 2A, its head 2d tapers towards the tip 2a. Because of its shape, tip 2a is a point, not a plane. Therefore, in the image from camera 307... It is not possible to calculate the tip width W1 from the image of ampoule 2A. That is, as mentioned above. Using formula 1, tip width W1, and base width W2, the tip width of the returned drug 2 (2A) It is not possible to determine h1. Therefore, if the returned drug 2 is ampoule 2A, the tip side The height h1 is defined using the base width W2 as shown in Equation 4.

[0140]

number

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

[0142] Furthermore, the returned drug 2 has a rectangular (or square) thin plate-shaped head 2 as shown in Figure 29. In the case of resin ampoule 2C having d, the longitudinal direction is determined in the same manner as in the case of ampoule 2A. It is possible to calculate the actual length Lact in the direction (extension direction of axis A), and that This is preferable. The reason is that, in the case of the resin ampoule 2C, the mounting surface 305a of the translucent plate 305 is The tilt of the thin, plate-like head 2d causes the tip width W1 in the image from camera 307 to be different. Therefore, as with ampoule 2A, the tip width W1 is related to the base width W2. It is preferable to consider it as a number.

[0143] Furthermore, as mentioned above, the resin ampoule 2C has a thin plate-shaped head 2d on the translucent plate 305. In a state that is not parallel to the mounting surface 305a (slightly tilted), on the translucent plate 305 It may be placed on. Taking such cases into consideration, the tree on the image of camera 307 The longitudinal length Lm (i.e., the tip-side distance Lm1 and the proximal-side distance) in the image of lipid ampoule 2C The distance Lm² is preferably measured at the center of the image in the width direction.

[0144] Furthermore, in measuring (calculating) the actual length Lact of the returned drug 2 in the longitudinal direction, The optical axis OA1 of camera 307 and the returned chemical 2 intersect, and the returned chemical 2 is positioned on the translucent plate 30 It is preferable that it be positioned on the mounting surface 305a of 5. In particular, the optical axis OA1 of the camera 307 The returned drug 2 is positioned relative to the translucent plate 305 such that its axis A is perpendicular to the axis A of the returned drug 2. It is preferable to be served.

[0145] For example, Figure 32 shows a positioning section with uneven surfaces formed to position the returned drug 2. This is a perspective view of the translucent plate (drug placement plate) 305.

[0146] In this embodiment, the translucent plate 305 comprises a translucent base plate 305A and its base A transparent plate 305A is placed on a mounting surface 305a on which the returned drug 2 is placed. It consists of a positioning plate 305B and a base plate 305A. The return agent 2 protrudes upward from the periphery of plate 305B and detaches from the mounting surface 305a. It is equipped with a frame 305c to prevent this.

[0147] The positioning plate 305B is detachably attached to the base plate 305A. The positioning plate 305B is also mounted on the optical axis OA1 of the camera 307 and on the mounting surface 305a. Position the returned drug 2 relative to the translucent plate 305 so that its axis A is perpendicular to the axis A of the returned drug 2. It is equipped with a pair of straight protrusions 305b for positioning. b extends parallel to each other at intervals and protrudes from the mounting surface 305a toward the camera 307 side. When the return agent 2 is placed between the pair of protruding portions 305b, the outer surface of its body portion 2c A pair of protrusions 305b come into contact with the camera 3. As a result, the returned drug 2 has its axis A aligned with the camera 3. Positioned with respect to the mounting surface 305a of the translucent plate 305, with the optical axis OA1 of 07 perpendicular to the optical axis OA1. It will be done.

[0148] Furthermore, the positioning plate 305B (mounting surface 305a) is based on the image from the camera 307. The analysis range (AR) is set to analyze the position, orientation, shape, and size of the returned drug 2. The analysis range AR is the portion of the mounting surface 305a that is located at a predetermined distance from the frame 305c toward the center. It is set to be placed on the mounting surface 305a and the protruding part 3 When positioned by 05b, the entire system is normally located within the analysis range AR. However, While the returned medication 2 is being transferred from the return tray 4 to the temporary storage section 301, the protruding part 305 In some cases, the axis of b may be positioned so as to be inclined with respect to the direction of extension. This is, for example, If a detection error occurs in the picking position or axial direction of the returned drug 2 within the discard tray 4 This occurs. In this case, referring to Figure 33 which shows a plan view of the temporary storage area 301, the returned drug 2 is The protruding portion 305b is not used for positioning, and the surrounding frame 305c is not used for positioning from the protruding portion 305b. It rolled down and went outside the AR analysis range, so the entire thing was no longer located within the AR analysis range. As a result, the control device 1000 is unable to correctly analyze the shape and size of the returned drug 2. stomach.

[0149] To address this, refer to Figure 34, which shows a side cross-sectional view of the temporary storage section 301, and the orthogonal robot... Move the T700 to move the return agent 2 towards the center of the analysis range AR using the adsorption nozzle 701. In addition, by analyzing the orientation of the returned drug 2 within this analysis range AR, the protruding part 3 The device is repositioned to 05b. The returned medications are then transferred to the temporary storage area 301. It is determined whether 2 is positioned by the protruding portion 305b, and the returned drug 2 If the protruding portion 305b is not positioned correctly, here is an example of the process for repositioning it: I will explain this while referring to the flowchart in Figure 35.

[0150] First, as shown in Figure 35, in step S101, the control device 1000 controls the camera Based on image 307, the drug region is extracted as the area where the returned drug 2 is located.

[0151] Next, in step S102, the control device 1000 determines that the entire drug area is within analysis range A. Determine whether it is located within R. If the entire drug region is located within the analysis range AR... If the condition is met, proceed to step S105; otherwise, proceed to step S103.

[0152] Next, in step S103, the control device 1000 analyzes the drug area, specifically within the analysis range A. The region located within R is analyzed, and the center coordinates CC of this region are calculated.

[0153] Next, in step S104, the control device 1000 controls the orthogonal robot 700. Then, move the returned drug 2 so that its entirety is located within the analysis range AR. Specifically, As shown in Figures 33 and 34, the returned drug 2 is located at the center coordinate CC calculated in step S103. In contrast, the suction nozzle 701 pushes out from the outside of the base plate 305A toward the center. Move it.

[0154] On the other hand, in step S102, it was determined that the entire drug area was located within the analysis range AR. If so, in step S105, the control device 1000 will use the image from the camera 307 to The returned drug 2 is positioned on the protruding part 305b, that is, in the center of the backlight Determine whether it is positioned correctly. If the returned medication 2 is positioned in the center of the backlight, If so, proceed to step S107; otherwise, proceed to step S106.

[0155] In step S106, the control device 1000 returns based on the image from the camera 307. The orientation of drug 2 is detected, and the orthogonal robot 700 is controlled to return drug 2 to the adsorption nozzle. It is adsorbed at 701 and positioned on the protruding portion 305b. At that time, the central axis A of the returned drug 2 is The returned drug 2 is placed with its axis A aligned along the direction of extension of the protruding portion 305b. Therefore, the returned drug 2 is positioned at the protruding portion 305b.

[0156] In step S104, after the returned drug 2 is moved to the analysis range AR, and in step S In step S10, after the returned drug 2 is positioned on the protruding portion 305b in step 106, the process is repeated. In step 1, the drug domain is extracted.

[0157] Then, in step S102, it is determined that the drug area is located within the analysis range AR. In step S105, it was determined that the returned drug 2 was located in the center of the backlight. If this occurs, in step S107, the control device 1000 will place a protrusion on the mounting surface 305a. Based on the image from camera 307, the returned drug 2, positioned by part 305b, is used. Then, a standard shape analysis process is performed to analyze the shape and size.

[0158] Furthermore, the returned chemical 2 is positioned relative to the translucent plate 305 (i.e., the optical axis OA1 of the camera 307). If positioning is possible, the positioning portion formed on the translucent plate 305 is a pair as shown in Figure 32. This is not limited to the straight protrusion 305b. For example, the uneven portion for positioning the returned drug 2 It may be a groove.

[0159] Furthermore, the translucent plate 305 is separated from the base plate 305A and the positioning plate 305B. Instead of constructing it, it may be constructed from a single translucent plate. In that case, one On the plate, a recessed area is formed for positioning the returned drug 2. However, it is semi-transparent. When the plate 305 is composed of a base plate 305A and a positioning plate 305B, Prepare multiple positioning plates with different shapes of protrusions and indentations for positioning the chemical agent 2. As a result, the returned drug supply device 1 can handle drugs of a wider variety of shapes and sizes. can.

[0160] The shape and size of the returned medication 2, which was recognized by the temporary storage section 301 of the recognition section 300, The control device 1000 determines that the shape and size are the shape and size of the drug being handled. If determined, the label reading unit 30 adjacent to the temporary placement unit 301 is as shown in Figure 13. It is transported by the Cartesian robot 700.

[0161] On the other hand, returned medication 2, which was determined to be a shape of a drug that is not covered by our handling program, or whose shape is... Even if the shape is that of a drug that is subject to handling, if its size is determined to be that of a drug that is not subject to handling, it may be deemed to be of a size that is not subject to handling. The returned drug 2 is designated as non-storage drug 2' and is placed in the non-storage drug placement section 400. The contents are transferred to boxes 401, 402, or to return tray 4 for non-storage medications.

[0162] (Determination of adsorption location) Next, referring to Figures 36 to 38, the images taken by the camera 307 of the temporary storage unit 301 were captured. Based on the image (i.e., the shape and size information of the returned drug 2 obtained as described above) Based on the above, the adsorption position of the returned drug 2 (adsorption nozzle 701 of the orthogonal robot 700 and suction This explains how to calculate the position (where the robot is picked up by the suction nozzle 801 of the Lar-type robot 800). .

[0163] Referring to Figure 36, vial 2B has a relatively small protrusion of the head 2d from the body 2c. Furthermore, since the difference in diameter between the body section 2c and the head section 2d is small, the object will adhere to approximately the midpoint of the length (total length L1). If set to position SP, the weight balance will be good when using suction nozzles 701 and 801 for suction. Yes. In other words, in the case of vial 2B, the adsorption position SP is set to approximately the midpoint of the total length L1. This ensures stable retention by the suction nozzles 701 and 801.

[0164] Continuing to refer to Figure 36, the amount of protrusion of the head 2d from the body 2c of ampoule 2A is compared The target is large, and the difference in diameter between the body section 2c and the head section 2d is also large, so the suction position is approximately midway along the total length L1. When set to the SP position, the weight balance is good when using suction nozzles 701 and 801. In the case of Ampoule 2A, the suction point is approximately midway along the length L2 of the body section 2c, rather than the total length L1. If set to position SP, the weight balance will be good when using suction nozzles 701 and 801 for suction. Yes, in the case of ampoule 2A, the adsorption position SP is approximately midway along the length L2 of the body portion 2c. Setting it to this value ensures stable retention by the suction nozzles 701 and 801. This is a point of interest for the resin amplifier. The same applies to the case of Ru2C.

[0165] For the reasons stated above, based on the image captured by the camera 307 of the temporary storage unit 301, The adsorption site SP of returned drug 2 is calculated using the following procedure.

[0166] First, the outer contour of the image captured by camera 307 (a plan view image of returned drug 2) The envelope (or circumscribed rectangle) 313 is set (Step 1 in Figures 37 and 38). Furthermore, the degree of convexity is calculated from this envelope 313 (Step 1 in Figures 37 and 38). Convex The value of the area approaches 1 as the envelope 313 can enclose the returned drug 2 in a straight line. The larger the convexity value (maximum value is 1), the smaller the difference in diameter between the body 2c and the head 2d, and the body This means that the difference in diameter between the neck, which connects 2c and the head 2d, and the torso 2c and head 2d is also small. do.

[0167] The calculated convexity value is set to a preset threshold (for example, within the range of 0.8 to 0.9). If it is (or more), the returned drug 2 photographed by camera 307 is presumed to be vial 2B. Since it can be determined that it has a shape that can be used, the midpoint of the total length L1 and the midpoint of the width W is set as the adsorption position SP. Configure the settings (Step 2 in Figure 37).

[0168] If the calculated convexity value is less than the aforementioned preset threshold, the camera 307 will take a picture. The returned drug 2, which was found to be in a shadow, has a shape that can be presumed to be ampoule 2A (or resin ampoule 2C). Therefore, in order to determine that the midpoint of the length L2 of the body portion 2c is set as the suction position SP, Perform the following steps.

[0169] First, by comparing the envelope (or circumscribing rectangle) 313 with the outline contour of the image of the returned drug 2, , the constricted part corresponding to the neck (partially narrowed in diameter) between the torso 2c and the head 2d Extract 314 (Step 2 in Figure 38).

[0170] Next, create a rectangular region 315 that encloses the extracted constricted portion 314 with straight lines (Figure 38) Step 3).

[0171] Subsequently, by removing the rectangular region 315 from the outline contour of the image of returned drug 2, two regions Create regions 316a and 316b (Step 4 in Figure 38). These regions 316a and 31 6b corresponds to the area of ​​the outer contour of the image of returned drug 2, excluding the constricted portion 314. One of these regions 316a and 316b corresponds to the torso 2c of the returned drug 2, and the other corresponds to the head 2d. This corresponds to the larger area (corresponding to torso 2c), by comparing the areas of regions 316a and 316b. The smaller area (corresponding to head 2d) is kept for processing, and the smaller area is excluded from processing. In this example, the area of ​​region 316a is larger than the area of ​​region 316b, so region 316a Leave it as a target for processing.

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

[0173] Based on the above procedure, the image captured by the camera 307 of the temporary storage unit 301 is used The adsorption position SP, which allows the returned drug 2 to be stably held by the adsorption nozzles 701 and 801, is automatically selected. It can be determined. As a result, the orthogonal robot 700 is placed on the translucent plate 305 of the temporary placement section 301. The returned medication 2 is placed in a position where its axis A is parallel to the horizontal direction, and the label reading unit 30 It can be transported to 2, and the label of the recognition unit 300 can be detected without the tip of its head 2d colliding with it. It can be safely placed on the endless belt 308 of the reading unit 302. Further details will be described later. However, the orthogonal robot 700 has the base end 2 of the return drug 2 placed on the endless belt 308. The return medication 2 is placed on the endless belt 3 so that b faces the stopper 317 of the label reading unit 302. It can be placed on 08.

[0174] Figure 39 is a schematic diagram of the recognition unit 300. The recognition unit 300 consists of an imaging unit 1003 and a control calculation unit. It comprises a unit 1004 and a transfer unit 1005. The imaging unit 1003 includes a camera 304 and a camera It includes a part that has the function of transmitting image data captured by 304. Control calculation unit 10 04 is included in the control unit 1000, and includes CPU (Central Processing Unit) and RAM (R Hardware including storage devices such as ROM (Read Only Memory) It is built with a wire and the software implemented on it. The transport unit 1005 is orthogonal It is equipped with a Type 700 robot.

[0175] Specifically, in the imaging unit 1003, the image data captured by the camera 304 is used for control calculations. The data is transmitted to unit 1004, and based on this image data, the control calculation unit 1004 performs the transfer unit 100 5 Cartesian robots 700 are driven and controlled to adsorb and hold one return drug 2 at a time in the return tray 4. The object is then moved onto the translucent plate 305 of the temporary storage section 301 (see Figure 13). Control calculation unit 100 The 4 comprises a binarization processing unit 1006, a recognition processing unit 1007, and a drive control unit 1008.

[0176] The binarization processing unit 1006 receives image data captured by the camera 304 of the imaging unit 1003. Then, by processing this image in a binarization manner, a binarized image (the first binarized image) is generated. Figure 4 Figures 0A and 40B show the original image captured by camera 304 and a predetermined threshold (for example). This is a schematic plan view illustrating the binarized image processed in 125). Figure 40A 3 If the returned medication is cylindrical in shape, like in example 2, and has a curved surface, it strongly reflects light from above. The resulting region becomes elongated. Therefore, as shown in Figure 40B, the reflected region in the binarized image is elongated. S1 can be recognized.

[0177] The binarization process involves detecting the reflected region S1 multiple times by changing the threshold. In this embodiment, The reflection region S1 is detected by gradually decreasing the threshold in three stages. In this case, the first stage In the processing, the threshold is set high (for example, 245), which is the highest cylindrical shape of returned drug 2. Only the affected area can be detected. Therefore, if the returned medications 2 are in contact with each other or partially... Even when the outline of returned drug 2 is unclear, such as when they overlap, each returned drug The elongated reflection region S1 of 2 can be detected as a separate region, and based on this, the position of the returned drug 2 can be determined. It can be detected accurately. Next, in the second stage of processing, the threshold is lowered compared to the first stage (for example, 12 5) Perform binarization to detect the slightly darker colored returned drug 2 that could not be detected in the first step. In the third stage of processing, the darkest colored returned medication 2 (for example, a brown bottle) can be detected. The threshold is set low each time (e.g., 75) to detect the remaining chemical. Multiple reflection areas S1 are detected. If an object is deployed, the control system will prioritize transporting the largest reflection region S1. The larger, more easily adsorbed return agent 2 can be adsorbed first. In addition, the centroid position of the detected area is When dispensing, the orientation of the smallest bounding rectangle of the region is detected at the same time, thereby also determining the orientation of the returned drug 2. It may also be implemented to enable detection. Furthermore, the same image may be used for the aforementioned step-by-step processing. You may also use images that have been retaken individually.

[0178] The recognition processing unit 1007 determines the position and orientation of the returned drug 2 (in the XY plane) based on the binarized image. (This does not include the direction in which axis A extends, and the direction in which the tip 2a and base 2b are pointing.) The approximate midpoint of the drug product 2 is detected. Typically, the shape of the drug product 2 is such that the width W is equal to the length L1. It is short (see Figure 8). Therefore, from the position of the detected reflection area S1, etc., the return in the return tray 4 The location of drug 2 is recognized.

[0179] When it is preferable for the returned drug 2 to be adsorbed at the middle of the torso due to its positional relationship with the center of gravity. For example, the resin ampoule 2C shown in Figure 40A has an adsorption point in the middle of its body. It is preferable to do so. However, in the case of resin ampoule 2C which has a flat portion on the head, the head In some cases, the illumination light is strongly reflected, forming a reflection region S1. In such cases, orthogonal type To prevent the Bot 700 from accidentally attaching its head, the recognition processing unit 1007 has two It includes a region determination unit 1009 that determines the head region as a recognition removal region from the quantized image, It is preferable to exclude the region from the location detection target.

[0180] Specifically, the reflection region S1 of the cylindrical portion of the returned drug 2 is an elongated region. That is, If the length is greater than or equal to a predetermined value, the width is less than a predetermined value, or the ratio of length to width is greater than or equal to a predetermined value In contrast, the reflected light area S1 at the top of the resin ampoule 2C in Figure 40A has a large width DW. This is a region where the length DL is small, and the ratio of length DL to width DW is small. Therefore, the region The determination unit 1009 determines whether the length DL of the reflection region S1 is less than a predetermined value, or whether the width DW is If the value is greater than or equal to a predetermined value, or if the ratio of length DL to width DW is less than or equal to a predetermined value, That area is determined to be a recognition removal area. The predetermined value used here is the resin agent used. This should be determined according to the size of pull 2C. In this way, the head is treated as a recognition removal area. By making this determination, the body part to be adsorbed can be accurately identified. The position of the returned drug 2 detected here. Data such as these is transmitted to the drive control unit 1008.

[0181] The drive control unit 1008 uses information such as the position of the returned drug 2 detected by the recognition processing unit 1007. Next, the orthogonal robot 700 is driven to place the returned drug 2 on the translucent plate 305 of the temporary storage section 301. (See Figure 13) Control is performed to transfer the product upwards. During transfer, the size and surface of the returned drug 2 are controlled. Because the attached label information needs to be automatically recognized, the returned medication 2 is placed inside the return tray 4. It needs to be lying down. Therefore, if there is a returned drug 2 that is not lying down in the return tray 4 In addition, the drive control unit 1008 controls the orthogonal robot 700 to knock over the returned drug 2. They are doing it.

[0182] Whether or not the returned medication 2 is lying on its side in the return tray 4 is determined by the image captured by camera 304. The recognition processing unit 1007 performs the following based on the image, or the binarized image obtained by processing it in a binarized manner. Specifically, if the returned medication 2 that has not fallen over is photographed by the overhead camera 304, other returns Unlike product 2, it is roughly circular in plan view. Therefore, due to shape recognition, product 2 will fall over. Determine if it is present. Alternatively, compare the returned medication 2 that is not fallen over with the other returned medication 2 that is fallen over. Because the area in plan view is small, if the area of ​​the detected returned drug 2 is less than or equal to the predetermined area, it will collapse. It can be concluded that it has not been done. In this way, the image taken by camera 304, or the binarized image Based on the image, it is possible to determine whether the returned medication 2 is lying upside down in the return tray 4.

[0183] Next, if there is a returned drug 2 that is recognized as not having fallen over, the drive control unit 1008 will This section details how to control the interceptor robot 700 to knock down the returned drug 2. First, Figure 41A As shown, the drive control unit 1008, for the returned drug 2 which is recognized as not having fallen over, The orthogonal robot 700 is driven to press the suction pad 702 onto the return agent 2 from above. The height of drug 2 is measured. The height is measured using a position sensor mounted on carriage 706. (Not shown) may be used. Next, raise the suction pad 702 once, and the suction pad 7 After releasing contact between 02 and the returned medication 2, move it horizontally by a few millimeters (for example, about 20 mm). Then, place the returned medication 2 at a position a few millimeters (for example, about 5 mm) lower than the measured height. After lowering the suction pad 702, move the suction pad 702 horizontally towards the return agent 2. Then, as shown in Figure 41B, press down on the top of the returned medication 2 to knock it over. Generally, the height of returned medication 2 that is not fallen over is higher than the height of returned medication 2 that is fallen over. Only if the measured height of the returned medication 2 is above a predetermined value will it be determined that the returned medication 2 has not fallen over. It may be determined.

[0184] Figure 42 shows the direction in which the returned medication 2 is tilted. As indicated by the arrows in Figure 42, the returned medication The direction in which drug 2 is tilted is the direction in which the recognition processing unit 1007 recognizes that there are no other returned drug 2s. This is preferable. This will allow the direction in which there is no returned drug 2 around the returned drug 2 that has not fallen over to be predicted. By checking this, the transfer unit 1005 can easily adsorb the returned chemical agent 2 in a safe direction. It can be done. If the direction in which the returned drug 2 is knocked over is not considered, depending on the direction in which the returned drug 2 is knocked over, There is a possibility that the returned medication 2 may come into contact with other returned medications 2 and be damaged, or that the surfaces of the returned medications 2 may rub against each other. There is a possibility that it will be stuck due to the bell seal. To prevent this, return medication 2 in advance It is useful to confirm that there are no other returned drugs 2 in the direction that would cause it to fall. In this way, By making all the returned medications 2 lying down in the return tray 4, the orthogonal robot 70 The suction nozzle 701 of type 0 adsorbs and holds each of the return medications 2 in the return tray 4, and the temporary storage section 3 It can be transferred onto the translucent plate 305 of 01 (see Figure 13). At this time, the suction nozzle 701 is The orientation of the adsorbed and retained return agent 2 can be adjusted by rotating it around its own axis (Z-axis).

[0185] When the Cartesian robot 700 picks up and lifts the returned drug 2, the position detection error of the returned drug 2 occurs. Due to differences and teaching errors in the Cartesian Robot 700, suction may fail. Therefore, in order to determine whether or not adsorption is successful, the control calculation unit 1004 includes an adsorption determination unit 1010. Preferably, the adsorption determination unit 1010 measures the pressure inside the adsorption nozzle 701 using a pressure sensor. The success or failure of adsorption is determined based on SA1012. If adsorption is successful, the opening of the adsorption pad 702 is opened. Because the part is blocked by the returned drug 2, air is not drawn into the adsorption nozzle 701, The pressure inside the attachment nozzle 701 decreases. Therefore, after the suction operation by the orthogonal robot 700, If the output of the pressure sensor 1012 falls below a predetermined value, it is determined that the suction was successful, and the pressure sensor If the output of SA1012 exceeds a predetermined value, adsorption is determined to have failed.

[0186] If the adsorption determination unit 1010 determines that adsorption has failed, adsorption will occur within a predetermined range near the adsorption position. It is preferable to repeat the suction operation multiple times by changing the position and angle. Examples of such operations and One possible method for specifying the adsorption position is shown in Examples 1-8 of Table 1 below.

[0187] [Table 1]

[0188] When setting specific numerical values ​​to move in each step, take into consideration the return medication 2. This is preferable. For small return agents 2, the likelihood of adsorption failure is higher. The minimum size of the returned medication 2 used is approximately 10mm in diameter and 35mm in length. Therefore, based on this size, the values ​​for each step above exceed 10 mm in the width W direction. It is preferable that the amount of material is not excessive, and that the length in the L direction does not exceed approximately 35 mm.

[0189] Thus, even if the suction operation fails, the suction position is changed and the suction operation is performed again, so returns This can improve the success rate of adsorption of drug 2. Especially when adsorbing small-sized returned drug 2, Precise position detection and adsorption operation are required. Adsorption is necessary to match the small size of the returned drug 2. By pre-setting the operation to change position and perform adsorption, the success rate of adsorption can be further improved. Furthermore, even if the adsorption fails, the adsorption operation will be performed again without repeating the image recognition and binarization process. Therefore, it is possible to efficiently adsorb and transfer the drug.

[0190] In the binarization processing unit 1006, the binarization process is performed in order of the highest brightness values, and the recognition processing unit 10 When detecting the position of returned drug 2 in step 07, if adsorption fails once, the same position coordinates will be detected repeatedly. Detection may occur, and the adsorption failure may be repeated. Therefore, the control calculation unit 1004 calculates the binarized image. The storage unit 1011 stores the coordinate region where the adsorption failure was determined by the adsorption determination unit 1010. Therefore, it is preferable to implement control that temporarily prevents attraction in this coordinate region. Alternatively, The coordinate region where the adsorption failure was determined by the adsorption determination unit 1010 in the binarized image is shown in the diagram. It may be stored in a higher-level system.

[0191] Figure 43 is a flowchart showing a part of the processing in the recognition unit 300 in this embodiment. When processing begins, camera 304 takes an image and generates a binarized image. If there is a coordinate region in memory unit 1011 where the previous adsorption failed, this coordinate region is included. The reflection region S1 (see Figure 40B) is masked against the binarized image. If no target region exists, no masking is performed. Then, on the binarized image, return drug 2 If detected, the adsorption operation is performed. If the adsorption determination unit 1010 determines that adsorption was successful, the operation is repeated. If the camera takes an image and, conversely, determines that the suction failed, the memory unit 1011 stores the coordinate region where the suction failed. The coordinates are stored. If the number of stored coordinates is less than a predetermined number, the camera returns to shooting. If this happens, and it's the second time, the process ends; otherwise, the mask is removed. Rearview and return to shooting to begin recognition operation. If suction failure is determined, see the table above. Alternatively, the system may search for the surrounding position for adsorption and perform the adsorption operation as in 1. Repeat this process, 2 If the returned drug 2 is no longer detected on the quantified image, the coordinate region where adsorption failed is stored in the storage unit 10. If not in 11, complete the process. If the coordinate region where adsorption failed is in the storage unit 1011, If all stored coordinates have been stored for the second time, the process will terminate. Otherwise, Then, clear the mask and return to shooting to start the recognition process. The recognition process involves shooting and binary image capture. Chemical treatment, masking, detection of returned drug 2, and storage of the coordinate region where adsorption failed in storage unit 1011 This refers to the action of storing information in memory.

[0192] In this way, the coordinate regions on the binarized image where adsorption failed are temporarily removed from the position detection target. To exclude them, the positions of other drugs are detected without repeatedly detecting coordinate regions where adsorption fails. It can be detected. Especially with large ampoules, even coordinate regions where adsorption failed once can be detected multiple times. The position may be detected, and by excluding that adsorption position from the recognition target, the number of adsorption failures can be reduced. The number can be reduced, and efficiency can be improved.

[0193] The control device 1000 also determines the return of the drug based on the image captured by the camera 307. It is configured to acquire information on the shape and size of 2. That is, the control device 100 0 functions as part of the recognition unit 300 for recognizing the shape and size of the returned drug 2. .

[0194] The control device 1000 also obtains information on the shape and size of the returned drug 2. The system is configured to process the image of the camera 307 that captures drug 2 (the system has an image processing unit). (to do). As an image processing for the image from camera 307, for example, the returned drug shown in the image Edge detection processing to detect the edges of the second image, and the process of binarizing the image to obtain a binarized image (second A binarization process is performed to obtain a binarized image (of the image with edge detection). Based on the image, the control device 1000 obtains information on the shape and size of the returned drug 2.

[0195] (Recognition of drug type and expiration date) As mentioned above, the label reading unit 302 of the recognition unit 300 determines the type of returned drug 2 and The expiration date is recognized (information on the type and expiration date is obtained). Therefore, the label is read. As shown in Figure 14, the receiving section 302 has an endless belt 308 on which the returned drug 2 is placed, and an endless belt The returned drug 2 is placed on the belt 308 and comes into contact with it, and the returned drug 2 is centered on its axis A It has a roller 309 that rotates. The label reading unit 302 has an endless belt 30 A belt drive unit (not shown) that drives 8 and a roller drive unit (not shown) that drives roller 309 (without) has. The belt drive unit and roller drive unit are, for example, motors and control devices. It is controlled by 1000.

[0196] As shown in Figure 44, a front view of the label reading unit 302, the roller 309 is an endless belt. They are positioned above 308 with a gap, for example, a gap of 1 mm. Also, see Figure 1. As shown in 4, the direction of travel F of the endless belt 308 is the extension of the rotational centerline Rc of the roller 309. It intersects non-orthogonally with respect to the direction of movement (Y-axis direction). For example, in this embodiment, the roller The angle between the direction of extension of the rotational centerline Rc of 309 and the direction of travel F of the endless belt 308 is 5 The range is approximately 15 degrees.

[0197] The direction of travel F of the endless belt 308 is such that the return drug 2 placed on it comes into contact with the roller 309. It is in the direction of approach. On the other hand, the rotation direction of the roller 309 is in the region opposite to the endless belt 308. In this configuration, the peripheral speed of the endless belt 308 is in the opposite direction to the X-direction component of the direction of travel F. This is the direction of rotation.

[0198] Furthermore, in this embodiment, in the region where the endless belt 308 and the roller 309 face each other, The endless belt 3 08 and roller 309 are driven by the control device 1000 via the belt drive unit and roller drive unit. It is driven and controlled accordingly.

[0199] With such an endless belt 308 and roller 309, the endless belt 308 is used to support the roller The returned drug 2 is carried by the endless belt 308 and comes into contact with the roller 309. The returned chemical agent 2 is maintained in contact with the roller 309 and positioned in the X-axis direction. It will be done.

[0200] Furthermore, the returned medication 2 (especially ampoule 2A and resin ampoule 2C) will come into contact with roller 309. When in this state, the base end 2b faces the stopper 317, and the endless belt 30 It is preferable that the ampoule 2A or resin is placed on 8 by the orthogonal robot 700. The tip 2a (head 2d) of the ampoule 2C is positioned towards the stopper 317, and the endless belt 3 When placed on 08, the transport of the endless belt 308 is initiated, causing its body 2 The corner on the base end 2b side of c first makes contact with the roller 309, and the recoil from that contact causes the endless bell to bell. The orientation changes on the toe 308, and its head 2d enters between the endless belt 308 and the roller 309. There is a possibility that it will get stuck. Therefore, the head 2d of the returned drug 2 is connected to the endless belt 308 and roller 3 If there is a possibility of it getting between 09 and the roller 309, the returned chemical 2 will come into contact with the roller 309. When in this state, the base end 2b faces the stopper 317, and the endless belt 30 It is preferable that it be mounted on 8 by an orthogonal robot 700.

[0201] As shown in Figure 14, the direction of travel F of the endless belt 308 and the rotational centerline Rc of the roller 309 Because the direction of extension is not perpendicular to the direction of extension, the returned chemical 2 after contact with roller 309 is on roller 3 Guided by 09, the roller 309 moves in the direction of extension (Y-axis direction) of the rotational centerline Rc. Ultimately, one end of the extension direction of axis A of the returned drug 2 comes into contact with the stopper 317, and Furthermore, the returned chemical 2 is positioned relative to the extension direction (Y-axis direction) of the rotational centerline Rc of roller 309. The placement is determined. As a result, the returned medication 2 is positioned relative to the label reading unit 302.

[0202] The direction of travel F of the endless belt 308 and the direction of extension of the rotational centerline Rc of the roller 309 are not perpendicular. The arrangement of the roller 309 on the endless belt 308 and the stopper 317 intersects with it. Therefore, the returned drug 2 is maintained in a highly precisely positioned state.

[0203] If the direction of travel F of the endless belt 308 and the direction of extension of the rotational centerline Rc of the roller 309 are When perpendicular, the returned chemical 2 in contact with the roller 309 is aligned with the rotational centerline of the roller 309. Rc may move in the direction of extension and move away from the stopper 317. Considering this, Therefore, in order to maintain contact between the stopper 317 and the return drug 2, the endless belt 308 advances The direction of travel F and the direction of extension of the rotational centerline Rc of roller 309 intersect non-orthogonally.

[0204] By maintaining the returned drug 2 in a highly precise position, for example, label reading The returned medication 2 is kept within the field of view of the camera 311 of the receiving unit 302, and the barcode reader The barcode of label 3 of returned medication 2 is set and maintained within the readable area of ​​312. As a result, the camera 311 and barcode reader 312 identified the type and expiration date of the returned medication 2. This ensures high recognition accuracy.

[0205] Figure 45A shows the direction perpendicular to the rotational centerline Rc of the roller 309 and the endless belt 3 The label reading unit 302 is shown as viewed in a direction parallel to 08, that is, in the X-axis direction of Figure 14. Yes, they are.

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

[0207] Specifically, the contact portion of the stopper 317 that comes into contact with the returned drug 2 consists of two flat surfaces 317a, This is the edge portion 317c formed between 317b. The plane 317a is in contact with the returned drug 2. The angle θ (i.e., the vertical direction (Z direction)) with respect to the normal of the surface of the endless belt 308 is It is an overhang surface that is inclined at an angle θ and facing the endless belt 308. The degree θ is, for example, 15 degrees. The edge portion 317c between the two planes 317a and 317b is As shown in Figure 14, the rotational centerline Rc of the roller 309 is perpendicular to the endless belt. It extends parallel to the surface of 308, that is, it extends in the X direction. Note that stopper 31 The tip of edge 317c of part 7 is rounded.

[0208] The edge portion 317c extending in the X direction makes line contact with the base end 2b of the returned drug 2. As a result, the returned chemical 2 that is in contact with the rotating endless belt 308 and roller 309 The axis A is relative to the surface of the endless belt 308 and to the rotational centerline Rc of the roller 309. It can rotate about axis A while remaining parallel.

[0209] To explain this in detail, as shown in the comparative example Figure 45B, the returned drug 2 and the Consider the case where the contact portion of the stopper 317' is the flat portion 317a'. Also, see Figure 45. As shown in B, the center of gravity of the returned drug 2 is located on the head 2d side, and therefore it is in a tilted state (axis) A is non-parallel to the surface of the endless belt 308 and to the rotational centerline Rc of the roller 309. Consider the case where the returned drug 2 comes into contact with the flat portion 317a' of the stopper 317' in this state. Furthermore, this type of tilt occurs when the size of the torso 2c and the head 2d are similar, and when the return is small and lightweight. It is more likely to occur with drug product 2.

[0210] As shown in Figure 45B, the tilted return agent 2 is connected to the endless belt 308 and roller 309 The rotation sends it toward the stopper 317' (sent in the direction of the white arrow), and the label is read It contacts the flat portion 317a' of the stopper 317' of the take-up portion 302'. Because it is in an inclined state. The edge of the base end 2b of the returned drug 2 comes into contact with the flat portion 317a' of the stopper 317'.

[0211] With the edge of the base end 2b in contact with the flat portion 317a' of the stopper 317', the returned drug 2 When rotated by the endless belt 308 and roller 309, the edge of the base end 2b and the stopper Strong friction occurs between the flat surface 317' of 317' and the returned chemical 2 without tilting. This is compared to the case where the entire base end 2b contacts the flat portion 317a' of the stopper 317'. Friction occurs when the endless belt 308 and roller 309 rotate, causing the return agent 2 to the stopper 317. It occurs as a result of being continuously biased toward something.

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

[0213] This rolling motion will be explained using the example of a car tire, which is easy to understand. First, there is the part of the tire that is in contact with the ground, and then there is the part of the tire adjacent to this part. The tire can then roll on the ground by making contact with the ground as it rotates. ru.

[0214] Similar to the mechanism of this tire, the flat portion 317a' of the stopper 317' is in contact with the First there is the edge portion of the proximal end 2b, and the edge portion of the proximal end 2b adjacent to this portion is the return drug By rotating 2, the base end 2b then contacts the flat portion 317a', causing the stopper 31 It rolls on the flat portion 317a' of 7'.

[0215] When the base end 2b rolls on the flat portion 317a' of the stopper 317', The relative position of the returned drug 2 changes, and ultimately, the returned drug 2 is stopped by stopper 317' or It separates from roller 309. The separated returned drug 2 is then transported by the endless belt 308. It then makes contact with roller 309 again, and then the endless belt 308 and roller 309 are pulled It is sent toward the stopper 317' and contacts the flat portion 317a' of the stopper 317' again. If the returned drug 2 is tilted at this second contact, its base end 2b will be stopped by the stopper 31 The drug 2 rolls again on the flat surface 317a' of 7', and the returned drug 2 again goes over the stopper 317' and the roller 3 It moves away from 09. This loop continues until the slope of returned drug 2 is resolved by chance. As a result, the label reading unit 302 reads the expiration date and barcode printed on the label. The start of recognition is delayed or becomes impossible.

[0216] Considering the problems that occur with such easily tilted returned medication 2, as shown in Figure 45A, The stopper 317 of the label reading unit 302 in the embodiment returns via its edge portion 317c. It is configured to come into contact with drug 2.

[0217] In other words, even if the returned drug 2 is tilted and the edge of its base end 2b comes into contact with the edge portion 317c, The portion of the edge adjacent to the portion of the edge 317c is where the return agent 2 rotates. When this happens, it cannot come into contact with the stopper 317. Also, the base end 2 of the tilted returned drug 2 The edge of b does not come into contact with the overhang surface 317a of the stopper 317. The surface 317a is at an angle θ with respect to the normal (i.e., Z direction) of the surface of the endless belt 308 and It is tilted so as to face the surface of the endless belt 308.

[0218] With this type of stopper 317, the base end 2b contacts the edge portion 317c when tilted. The returned drug 2 rotates itself due to the rotation of the endless belt 308 and roller 309. This allows it to correct its tilt on its own. As a result, the returned drug 2 is aligned with its axis A It is maintained parallel to the surface of the endless belt 308 and to the rotational centerline Rc of the roller 309. While being held, it can be rotated about axis A.

[0219] Furthermore, by maintaining the returned drug 2 in a highly precisely positioned state, the stopper 3 The adsorption position SP of the returned drug 2, which is in contact with 17, is also maintained in a highly precise positioning state. As mentioned above, the adsorption position SP for the returned drug 2 has been calculated, therefore the returned drug The suction position SP relative to the stopper 317 (i.e., the label reading unit 302) that is in contact with 2 This can also be calculated. As a result, the adsorption position SP relative to the label reading unit 302 is slack. The suction nozzle 801 of the Lar-type robot 800 can be positioned with high precision. As a result, the SCARA robot 800 is maintained in the position set by the label reading unit 302. The adsorption position SP of the returned drug 2 can be adsorbed and held with high precision, thereby ensuring safety The returned medication 2 can be transported from the label reading unit 302 to the storage unit 500.

[0220] While the returned medication 2 is positioned and held relative to the label reading unit 302, the roller 309 continues to rotate around axis A. The label 3 of the returned drug 2 while it is rotating is The image is captured by camera 311 and read by barcode reader 312.

[0221] As shown in Figure 44, the endless belt 308 and roller 309 are positioned and rotated. Above the returned medication 2 inside is a camera 311 for photographing the label 3 of the returned medication 2. A barcode reader 312 is positioned to read the barcode printed on label 3. .

[0222] Label 3 indicates the expiration date of returned medication 2, as well as the type of returned medication 2. A barcode is displayed.

[0223] The control device 1000, based on the image of label 3 captured by camera 311 It is configured to obtain information on the expiration date of returned medication 2 (as indicated on label 3). (Has an OCR unit that recognizes the expiration date). In addition, the control device 1000 has a barcode reader. Based on the barcode read by -DA312, information on the type of returned medication 2 is obtained. It is configured as follows: In other words, the control device 1000 recognizes the type and expiration date of the returned drug 2. It functions as part of the recognition unit 300 (second drug information acquisition unit) for recognition.

[0224] As mentioned above, the barcode on label 3 contains the type and expiration date of the returned medication 2. If the label contains information about the expiration date (for example, if a barcode indicating the expiration date is printed on label 3) (If applicable), the barcode read by the barcode reader 312 determines the type of returned medication 2. It is possible to obtain information including the category and expiration date. Furthermore, as a result, the camera 311 can be omitted.

[0225] Furthermore, as mentioned above, while the returned chemical 2 is being rotated by the roller 309, Because the type and expiration date are recognized from label 3 of returned medication 2, there is a possibility of failure in this recognition. There are such cases. As a countermeasure, for example, until the recognition failure reaches a predetermined number of times or the recognition operation The recognition process is repeated until a predetermined amount of time has elapsed (until a timeout occurs). This can be repeated. For example, the label 3 that appears in the image taken by camera 311 may be written on it. If the OCR unit cannot recognize the expiration date printed on the image, a new image will be captured by camera 311. The image is then captured. The OCR unit then processes the expiration date of label 3 in the newly captured image. Perform the recognition operation. If recognition fails a predetermined number of times (e.g., 18 times) or if the timeout occurs, the system will stop. If this occurs, the returned medication 2 will be treated as an unstored medication whose label 3 cannot be read. (They are stored in non-storage drug storage boxes 401 and 402 of the non-storage drug storage section 400).

[0226] Furthermore, the control device 1000 is based on the outer diameter of the returned drug 2 set in the label reading unit 302. The system is configured to control the rotational speed of the roller 309.

[0227] To explain the reason, the outer diameter of the returned chemical 2 is relatively small, and the rotation speed of the roller 309 is In contrast, if the speed is high, the peripheral speed of the returned drug 2 is high. Therefore, barcode reader 312 However, it may not be possible to accurately read the barcode on label 3 attached to the outer surface of returned medication 2. This is possible. To address this, the control device 1000 reduces the outer diameter of the returned drug 2. Therefore, the roller drive unit is controlled so that the rotational speed of roller 309 decreases. To enable this, the control device 1000 has a camera 30 in the temporary placement section 301 of the recognition section 300 Based on the shape and size of the returned drug 2 obtained from image 7 (size in the direction of extension of axis A), It is configured to calculate the outer diameter of the returned drug 2.

[0228] As shown in Figure 44, the camera 311 has its optical axis OA2 extending in the vertical direction (Z-axis direction) It is positioned above the label reading unit 302. Meanwhile, the label 3 of the returned medication 2 The extension of the optical axis OA3 of the laser emitted from the barcode reader 312 toward the barcode The direction of illumination (i.e., the direction of laser irradiation) is inclined with respect to the vertical. The reason for this is... Next, we will explain using Figure 46.

[0229] As mentioned above, the returned drug supply device 1 is designed to handle drugs of various shapes and sizes. It is composed of the following: Therefore, as shown in Figure 46, the returned drug 2 with different outer diameters has a label that reads It is set in the take-up section 302.

[0230] In Figure 46, the returned drug 2 has a cross-sectional shape (the body 2 to which its label 3 is attached). The cross-sectional shape of c is shown. The returned drug 2 (max) is in the returned drug supply device 1. It has the largest outer diameter among the multiple drugs handled. On the other hand, the returned drug 2 (min) is , it has the smallest outer diameter. Therefore, the label reading unit 302's barcode reader 312 - The irradiation direction is determined by the barcode of the return agent 2 (max) with the largest outer diameter and the barcode of the smallest outer diameter. The barcode on the returned medication (2 min) is set to be read accurately.

[0231] For example, as shown in Figure 46, multiple returnable drugs with different outer diameters are 2(min), 2, and 2(m). Assume that there is ax) and that label 3 of each returned medication is facing upwards. In the plane perpendicular to the rotational center line Rc of roller 309 (i.e., in Figure 46), The returned chemical in contact with belt 308 and roller 309 is 2 (min), 2, 2 (max) Based on the point p(0) at an angular position of 0 degrees on each outer perimeter, the regression line is calculated. Point p(0) at an angular position of degrees is located on the outer circumference of the cross-section of the returned drug 2, with axis A as the reference point. It is positioned at an angle of a certain degree and also at the highest position. The regression line is for each returned drug 2(mi n) The distance between point (0) at an angular position p of 0 degrees for n, 2, and 2(max) is minimized. This is a straight line, which can be obtained by the least squares method. Then, position the barcode reader so that the laser's optical axis OA3 is parallel (or aligned) with it. 312 laser irradiation directions are set. This allows multiple return agents 2 with different outer diameters to be laser-irradiated. When Bell 3 is facing upwards, it accurately and precisely places the label 3 of each returned medication 2 on the label 3 with approximately the same precision. It can read barcodes.

[0232] Furthermore, as shown in Figure 46, in this embodiment, the optical axis of the laser of the barcode reader 312 OA3 is parallel to the regression line and has the largest outer diameter, and is the return agent 2(ma It passes through point p(0) at an angular position of 0 degrees x).

[0233] Furthermore, when label 3 is facing upwards, the barcode reader 312 reads the label 3 This is not limited to reading barcodes.

[0234] For example, as shown in Figure 47, the barcode reader 312 reads the label 3 upwards. You may read the barcode on label 3 while it is facing in the direction of the 45-degree tilt. In this case, in a plane perpendicular to the rotational center line Rc of the roller 309, the belt 308 and the roller - The returned chemicals 2 (min), 2, and 2 (max) in contact with the 309, on their respective outer circumferences Based on point p(45) at an angle of 45 degrees, the regression line is calculated. The laser's optical axis OA3 is parallel to (or coincides with) the straight line, The laser irradiation direction of the leader 312 is set. This allows multiple returns with different outer diameters to be detected. When label 3 of drug 2 is oriented at a 45-degree angle to the upward direction, approximately the same The barcode on the label 3 of each returned medication 2 can be read with high precision.

[0235] After the label reading unit 302 has finished recognizing the type and expiration date of the returned medication 2, the endless belt 30 8 and roller 309 are stopped. At this time, as mentioned above, the return on the endless belt 308 Product 2 should have the barcode on its label 3 facing upwards or at a 45-degree angle upwards. It is positioned to face upwards. Whether the barcode is facing upwards or diagonally upwards is determined by... This is guaranteed by the barcode reader 312 being able to read the barcode. The Bot 800 maintains the barcode facing upwards or at a 45-degree angle upwards. Next, the returned medication 2 is transferred from the label reading unit 302 to the storage unit 500.

[0236] Let me explain the reason for this. As mentioned above, the SCARA robot 800 is a prescription data Based on the data, the returned medication is transferred from the storage tray 5 of the storage unit 500 to the dispensing tray 8. In this case, refer to the drug master that stores the relationship between the type of returned drug 2 and its storage area. This identifies the storage area for returned medication 2 included in the prescription data. The robot 800 adsorbs and holds the return drug 2 stored in the designated storage area.

[0237] At this time, before adsorbing the returned drug 2, the barcode mounted on the SCARA robot 800 The barcode reader 812 reads the barcode of the returned drug 2 located in the identified storage area. Remove. As a result, the returned medication 2 located in the identified storage area is included in the prescription data. It is confirmed that it is drug product 2. This confirmation process can be carried out, i.e., storage tray - The barcode of the returned medication 2 stored in 5 is read by the scalar robot 800. To ensure that the barcode 812 is readable, return medication 2 should have the barcode facing upwards or at a 45-degree angle upwards. It is stored in the storage tray 5 facing that direction. And for this purpose, the label reading unit 30 After the type and expiration date have been identified in step 2, the returned medication 2 on the endless belt 308 will have its label removed. The barcode on item 3 is positioned either facing upwards or at a 45-degree angle upwards.

[0238] In the case of resin ampoule 2C as shown in Figure 29, the barcode is oriented diagonally upwards. In this state, the connecting burr of resin ampoule 2C may be located at the top. In addition, the connecting burr allows the suction nozzle 801 of the scalar robot 800 to absorb resin from above. There is a possibility that the Ampoule 2C may not be properly adsorbed.

[0239] To address this, first, the returned medication 2 located in the label reading unit 302 must have a connecting burr. It is necessary to confirm whether the returned medication is eligible for return. To carry out this confirmation process, a medication mass is needed. The system stores information about the type of drug and information about the presence or absence of connecting burrs, linking them together.

[0240] Based on the type of returned medication 2 recognized by the label reading unit 302 and the drug master, the label reading When it is confirmed that the returned drug 2 of section 302 is a drug that has connecting burrs, the connecting burrs To ensure that it is not located at the very top, that is, the suction nozzle 801 does not adsorb onto the part without connecting burrs. To enable this, the endless belt 308 and roller 309 are restarted from the stopped state, and the returned chemical 2 is delivered. Rotate at the optimal amount.

[0241] The control device 1000 reads the label via the camera 311 and the barcode reader 312. When information on the type and expiration date of returned drug 2 in section 302 is obtained, the obtained type and usage The system is configured to determine whether or not the expiration date corresponds to the drug being handled.

[0242] For example, the type of returned drug 2 is handled by the user in the returned drug supply device 1. If the type is one of those predetermined categories, the returned drug 2 will be determined to be a drug that is eligible for handling. Specifically, if the recognized type is one that is stored in the drug master, then the returned drug Agent 2 is determined to be a drug that is subject to handling. Otherwise, it is not subject to handling. It will be determined.

[0243] Furthermore, if the expiration date has not passed or there is still a sufficient amount remaining, the returned medication 2 will be... It is determined to be a drug that is subject to handling. On the other hand, the expiration date has already passed or the remaining shelf life If the deadline is a few days (for example, 2-3 days), the returned medication 2 will be deemed ineligible for handling. ru.

[0244] The returned medication 2, whose type and expiration date have been recognized by the label reading unit 302 of the recognition unit 300, When the control device 1000 determines that the type of drug to be handled is the same as the expiration date, Then, as mentioned above, it is transported to the storage unit 500 by the SCARA robot 800.

[0245] On the other hand, the types and expiration dates of drugs that are not covered by our service include those of a certain type and those of a certain expiration date. The returned drug 2 determined by the label reading unit 302 is designated as non-stored drug 2' and is not stored. The drugs are transferred to the non-stored drug storage boxes 401 and 402 of the drug storage unit 400 (ultimately, or (Transferred to non-storage drug return tray 4').

[0246] Ultimately, the return tray 4' for non-storage drugs in the non-storage drug placement section 400 contains multiple The non-storage drug 2' is stored. At this time, the non-storage drug 2' is stored in an organized state. It is preferable that they be stored in the drug return tray 4'.

[0247] Figure 48 shows multiple non-storage drugs 2' stored in a non-storage drug return tray 4'. They are doing it.

[0248] As shown in Figure 48, multiple non-storage agents 2' are arranged in an organized manner, for example, overlapping each other. Without doing so, it is stored in the non-storage drug return tray 4'. This is the organized state. This section describes how to store multiple non-storage drugs 2' in a return tray 4' for non-storage drugs. .

[0249] Before storing the non-storage drug 2' in the non-storage drug return tray 4', the control device 1000 It is configured to calculate the available space S for storing the non-storage drug 2'. .

[0250] The empty space S of the non-stored drug return tray 4' is the camera 304 of the recognition unit 300 ( Image processing of images of non-storage drug return trays 4' taken by the (Photography Department) It is extracted (calculated) by the following. For this purpose, the return tray 4' for non-stored drugs is lifted by the lifting section 20 It is moved to table 203 of 0 and positioned below camera 304.

[0251] Once the available space S is calculated, the control device 1000 will place new items within that available space S. Determine the storage area (storage position) of the non-storage drug 2'' which is stored in the non-storage drug return tray 4'. To determine. An example of a method for determining the storage area will be explained.

[0252] The control device 1000, for example, recognizes the shape of the non-stored drug 2'' (recognized by the temporary storage section 301) A temporary storage area is determined that is larger and similar in shape to the (shape). For example, non-storage agent 2'' A temporary storage area with a size of 120% of the shape is determined. The control device 1000 then controls this temporary storage Search for a location within the available space S where the area can be placed. If it is within the available space S, that location is determined to be the storage area for the non-storage agent 2''.

[0253] On the other hand, if no location can be found within the empty space S where a temporary storage area can be placed, control The device 1000 changes the orientation of its temporary storage area (its longitudinal orientation). Then, control The device 1000 determines the position within the empty space S where the temporarily stored area whose orientation has been changed can be placed. Explore.

[0254] If the temporary storage area cannot be found even after changing its orientation once, the control device 1000 Furthermore, its orientation is changed to a different orientation. Changing the orientation of the temporary storage area is related to the arrangement of the temporary storage area. This will continue until the location is found.

[0255] If the temporary storage area cannot be located even after changing its orientation in all directions, the control device 10 00 reduces the size of the temporary storage area. For example, 115% of the shape of the unstorage agent 2''. The size of the temporary storage area is changed to the size of the temporary storage area. Then, the control device 1000 changes the size. The system searches for a suitable location within the available space S for the temporary storage area.

[0256] Even for resized temporary storage areas, the change in orientation will not occur until the placement position is found. It will be held at [location].

[0257] If the temporary storage area's location cannot be found even after resizing, the control device 1000 , and further reduce its size. Changing the size of the temporary storage area is done by changing the size. This process continues until the storage area is the same size as the shape of the unstorage agent 2''.

[0258] Even if the size of the temporary storage area is the same as the size of the shape of the non-storage agent 2'', it will not be found. In addition, the control device 1000 has a space for storing the returned drug 2' for the returned drug. It is determined that it does not exist in -4' and the user is notified accordingly. For example, the data of control panel 1001 The user may be notified via the display 1002.

[0259] Through this trial-and-error exploration method, the storage area for the non-storage agent 2'' was found to be empty space. Searched from within S, and as a result, multiple unstorage agents 2' are organized into unstorage agents It can be stored in tray 4'.

[0260] Next, based on the recognition of the shape of the returned drug 2 as explained above, returns are accepted. An example of the process for transporting drug 2 will be explained with reference to Figures 49A and 49B.

[0261] First, as shown in Figure 49A, in step S201, the returned drug 2 is an orthogonal robot The translucent plate 305 (drug placement plate) in the temporary placement area 301 of the recognition area 300 is provided by the 700. ) is transported (placed) on top of.

[0262] Next, in step S202, the returned drug 2 placed on the translucent plate 305 is It is captured by camera 307, which is positioned above.

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

[0264] In step S204, the control device 1000 processes the image processed in step S203. Based on the image from camera 307, the returned medicine placed on the translucent plate 305 of the temporary storage section 301 Obtain information about the shape of agent 2.

[0265] In step S205, the control device 1000 controls the returned medication obtained in step S204. Based on the shape information of agent 2, the returned agent is placed on the translucent plate 305 of the temporary storage section 301. Determine whether the shape of item 2 is the shape of the drug being handled. If the drug is in the shape to be handled, proceed to step S206; otherwise (handling If the case is not applicable, proceed to step S215.

[0266] In step S206, the control device 1000 processes the image processed in step S203. Based on the image from camera 307, the returned medicine placed on the translucent plate 305 of the temporary storage section 301 Obtain information about the size of agent 2.

[0267] In step S207, the control device 1000 controls the returned drug obtained in step S206. Based on the size information of drug 2, the returned drug is placed on the translucent plate 305 of the temporary storage section 301. Determine whether the size of agent 2 is the size of the drug being handled. If the size is within the range of the drug to be handled, proceed to step S208; otherwise, If the item is not eligible for handling, proceed to step S215.

[0268] In step S208, the returned drug 2 in the temporary storage section 301 is transferred to the orthogonal robot 700. Therefore, it is transported to the label reading unit 302. As a result, the returned drug 2 is transported to the label reading unit 30 It is set to 2.

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

[0270] In step S210, the control device 1000 detects the label 3 of the returned drug 2 from the camera 31 1 determines whether it can be accurately read by the barcode reader 312. If the barcodes indicating the expiration date and the type of medication to be returned can be read accurately, then Proceed to step S211. For example, if the expiration date or barcode is partially faded, etc. If it cannot be read accurately, proceed to step S215.

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

[0272] In step S212, the control device 1000 reads the return in step S211. Based on the label 3 of product 2, information on the type and expiration date of the returned product 2 is obtained.

[0273] In step S213, the control device 1000 controls the returned medication obtained in step S212. Based on the information regarding the type of agent 2 and its expiration date, the returned medication is set in the label reading unit 302. Determine whether the type and expiration date in item 2 correspond to the type and expiration date of the drug being handled. In other words, it is determined whether the type of returned drug 2 is a type stored in the drug master. At the same time, it is determined whether the expiration date has not passed or whether there is a sufficient time remaining until the expiration date. If both the type and expiration date of the returned medication are those of the medications we handle, then step Proceed to step S214. Otherwise, proceed to step S215.

[0274] In step S214, the returned drug 2 of the label reading unit 302 is the drug to be handled. It is then transported to the storage unit 500 by the SCARA robot 800. The size, type, and expiration date of the drugs being handled are as follows: The limited number of returned medications 2 are stored in the storage unit 500.

[0275] In step S215, the shape of the drug that was deemed to be outside the scope of handling in step S205 is The returned medication 2 was determined in step S207 to be of a size that is not covered by the handling regulations. Two returned medications were determined to be unreadable in step 210. 2. Drugs that are not covered by the handling procedure in step S213, either by type or by expiration date. The returned drug 2, which was determined to be a drug, was placed in the non-storage drug placement section 400 as non-storage drug 2'. It is transported (stored).

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

[0277] For example, the storage tray is not limited to that of the embodiment described above, but for example, storage tray 5 When the returned medication 2 is placed on the bottom of the tray body 5a, it deforms, and the position of the placed returned medication 2 and A deformable member may be placed to maintain the posture. In other words, the storage tray 5 is as described above. In a method different from that of the embodiment, the orientation and position of the returned drug 2 are maintained in a planar manner. It is also acceptable if it can be stored in a container. Also, as shown in Figure 50, each storage unit 500 is a returnable drug 2 It may have multiple stepped sections 9 on which the elements can be placed.

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

[0279] Furthermore, in the above-described embodiment, returned medications that have expired or have a short remaining shelf life are also included. Agent 2 is treated as a drug not subject to handling, i.e., a non-storage drug 2', but this development This is not the only example. For instance, if expired returned medication 2 is to be included as a medication to be handled, Alternatively, they may be stored in the storage tray 5 of the storage unit 500. This allows multiple expired items to be stored. Returned medications 2 can be processed together as a single package.

[0280] For example, a user can, via the control panel 1001, check multiple expired items in the storage unit 500. An instruction is given to the returned drug supply device 1 to transfer the returned drug 2 into one returned tray 4. This allows for the simultaneous collection of multiple expired returned medications 2 stored in the return tray 4. It can be disposed of.

[0281] In other words, expired returned medication 2 will be classified as a non-stored medication (not handled). In this case, the non-storage return tray 4' contains, in addition to the expired return medication 2, the shape, The returned medications include some that are not covered by our return policy due to their size and type. The medication cannot be handled by the returned medication supply device 1, but if it has not expired... It may be usable in other places. Therefore, we handle returned expired medications. If excluded, the non-stored drugs 2' in the non-stored drug return tray 4' will be processed together. It cannot be understood.

[0282] Therefore, we handle expired returned medications that cannot be used elsewhere. By designating these as eligible returned medications, only expired medications will be processed together in one batch. It is possible.

[0283] In connection with this, the label reading unit 302 recognizes the expiration date written on label 3. Unreturnable medication 2, i.e., recognition failures reached a predetermined number of times or the recognition process was repeated. The returned medication 2, which has been returned after a predetermined time has elapsed (timed out), is stored in the storage unit 5. It may be stored in storage tray 5 of 00. And the expiration date that could not be recognized For medications with an unknown expiration date, it may be advisable to re-examine their expiration date.

[0284] For example, although extremely rare, in the label reading unit 302, the illumination 310 shown in Figure 13 The light emitted from these surfaces is reflected by the returned chemical 2, making it recognizable in the image captured by the camera 311. Bell 3 may not be visible. In this case, return medication 2 should be placed in storage unit 500 once. If the label is stored in the storage tray and then returned to the label reader 302, the information on label 3 will be displayed. It may be possible to recognize the expiration date.

[0285] Let me explain the reason. When the returned medication 2 is first set in the label reading unit 302... In other words, it is set from the return tray 4 through the temporary storage section 301 to the label reading section 302. At that time, the orientation of the label 3 of the returned drug 2 is arbitrary (as mentioned above in the temporary storage section 301) (The shape and size of the returned drug 2 are recognized, so the orientation of label 3 is irrelevant.) Therefore, the recognition of the expiration date written on the label begins regardless of the orientation of label 3. It can be done.

[0286] On the other hand, the returned medication 2 stored in the storage tray 5 of the storage unit 500 is, as mentioned above, Bell 3 is in an upward position. Therefore, the Scalar robot 800 is in a storage tray If the returned medication 2 stored in -5 is transferred to the label reading unit 302, the returned medication 2 will Label 3 is set in the label reading unit 302 with the label facing upwards. With the object facing upwards, it is possible to begin recognizing the expiration date indicated on the label.

[0287] Due to this difference in the orientation of label 3 at the start of recognition, recognition failures can reach a predetermined number of times. Before or before timeout, recognition of the expiration date indicated on label 3 is completed. Whether or not this is the case may depend on the circumstances. Therefore, the return tray 4 is returned via the temporary storage section 301. When the returned medication 2 is set in the bell reader 302, that is, when the orientation of the label 3 is arbitrary Even if recognition fails when the recognition process is started from the state, the label reading unit will read from the storage tray 5. When the returned drug 2 is transferred to 302, that is, when the label 3 is facing upwards, the recognition process begins. If initiated, recognition may be successful. Taking this into consideration, label reading unit In case 302, the return medication 2, in other words, was unable to recognize the expiration date indicated on label 3. If the recognition failure reaches a predetermined number of times or if the recognition process is repeated for a predetermined amount of time Even if the returned medication 2 that has expired (timed out) is stored in the storage tray 5 of the storage unit 500 good.

[0288] Furthermore, in the above embodiment, if the returned drug 2 is a drug that is subject to handling, the return From tray 4, the data is sequentially stored via the temporary storage section 301 and the label reading section 302 of the recognition unit 300. It is stored in the storage tray 5 of section 500. In its place, the returned drug 2 is placed in the temporary storage section 301. Alternatively, the labels may be stored in the storage unit 500 via the label reading unit 302 without going through the label reading unit 302.

[0289] To explain in more detail, the temporary storage section 301 is where the returned medication 2 returned via the return tray 4 is stored. The shape and size are such that they cannot be handled by the returned drug supply device 1. It is designed with specific scenarios in mind.

[0290] However, for example, if the user is thoroughly informed or if they open the box delivered by the pharmaceutical manufacturer... The medication is sealed and immediately placed directly into the device via the return tray 4. If most of the returned drugs 2 are drugs that are handled by the returned drug supply device 1, For all such returned medications 2, the temporary storage unit 301 performs recognition of their shape and size. It would be a complete waste of time.

[0291] To address this, the returned medication 2 in the return tray 4 is first handled by the Cartesian robot 700. The label is then transferred to the label reading unit 302 of the recognition unit 300 (placed on its endless belt 308). Next, before starting the drive of the endless belt 308 and roller 309, camera 311 The return drug 2 on the endless belt 308 is photographed by this. Based on the photographed image, The orientation of the returned drug 2 on the end belt 308 is recognized. Based on that recognized orientation, the return It is determined whether the proximal end 2b of drug 2 is oriented towards the stopper 317. Otherwise, its orientation is changed by the Cartesian robot 700.

[0292] Note that the orientation of the returned medication 2 is as follows: when the returned medication 2 is inside the return tray 4, that is, When the return tray 4 is placed on the table 203 of the lifting unit 200, the return tray It is also possible to recognize based on images taken by camera 304 located above radar 4. Based on the image from camera 304, the orientation of the returned medication 2 in the return tray 4 is recognized. Based on the recognition results, the orthogonal robot 700 has its return drug 2 base end 2b stopper 31 Place the returned drug 2 on the endless belt 308 of the label reading unit 302 so that it is positioned on side 7. ru.

[0293] The returned medication 2, which was transferred directly from the return tray 4 to the label reading unit 302, is then scanned by camera 311. The type and expiration date are recognized by the barcode reader 312.

[0294] Based on the recognized type, information on the shape and size of returned medication 2 is obtained. The control device 1000 stores the type, shape, and size of the drug in association with each other. It is equipped with a size information master. By referring to the information stored in this size information master... The label reading unit 302 controls the shape and size corresponding to the type of returned medication 2 recognized by the label reading unit 302. Your device 1000 will be acquired. And based on the acquired shape and size, the return The storage area of ​​the drug 2 in the storage section 500 is determined.

[0295] The shape and size information corresponding to the type recognized by the label reading unit 302 is the size information. If the label does not exist in the master, the label reading unit 3 will obtain information on its shape and size. The returned drug 2 of 02 is transferred to the temporary storage section 301. Then, as mentioned above, temporary storage section 3 Information on the shape and size of the returned drug 2 is obtained in 01. The shape and size information is associated with the type of returned medication 2 and recorded in the size information master. It is remembered. Also, based on its shape and size, the storage section 500 of the returned drug 2 The storage area is determined.

[0296] Furthermore, the type, shape, and of the new returned medication 2 stored in the size information master The size association information can be updated or added, for example, via the internet. This is also good. For example, based on information about the drugs supplied by the supplier, connected to the internet environment New return medication 2 is entered into the size information master via a PC (personal computer). Information relating the type, shape, and size may be added. This will enable the label reading unit The returned drug 2 is transferred from 302 to the temporary storage section 301, and in the temporary storage section 301 the returned drug 2 The need to obtain shape and size information will be eliminated or reduced.

[0297] Although the present invention has been explained using a returned drug supply device as an example, the present invention is a drug supply device targeting returned drugs. It is not limited to the device. In other words, the drugs supplied to the receiving unit are not limited to returned drugs. [Explanation of Symbols]

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

Claims

[Claim 1] A drug rotating unit capable of rotating the drug around its axis, The aforementioned drug rotating unit is positioned above the drug and reads the information displayed on the label of the drug, A transfer unit for transferring the aforementioned drug, A control device that controls the drug rotation unit and the transfer unit, Equipped with, The control device rotates the drug around its axis using the drug rotating unit, and when the reading unit reads the information from above the drug, it stops the rotation of the drug. The control device identifies the type based on the information, and if the drug is a predetermined drug, it restarts the drug rotating unit and rotates it by a predetermined amount. The control device controls the transfer unit to hold the drug that has been rotated by a predetermined amount. Drug sorting device.

Images