Medicine sorting device

Abstract

To provide a medicine sorting device capable of automatically recognizing medicines whose properties such as a type, shape, size, and expiration date are variously different and which are supplied in a non-aligned state, and storing them while securing a high degree of freedom.SOLUTION: A medicine supply device 1 includes a reception part 100, a recognition part 300, and a storage part 500. The storage part 500 includes storage trays disposed in a plurality of stages. Storage regions are set at the time of storage according to the size of returned medicines 2 recognized by the recognition part 300. The returned medicines are stored in the storage trays while associating identification information on the individual returned medicines with the storage regions so that the individual returned medicines can be taken out with a SCARA-type robot 800.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] There are cases where medicines prescribed to patients are returned to the department in a medical institution that manages medicine prescriptions due to reasons such as prescription changes (returned medicines). Patent Document 1 discloses a returned medicine sorting device that automatically recognizes and stores returned medicines in order to improve the efficiency of the processing of returned medicines and prevent human error in this process. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-215343 Summary of the Invention [Problem to be solved by the invention]

[0004] Generally, returned medicines vary in type, shape, size, expiration date, and other properties. However, conventional returned medicine sorting devices, including the one disclosed in Patent Document 1, do not give special consideration to storing returned medicines with various properties with a high degree of freedom, taking into account factors such as the efficiency of subsequent dispensing operations. More specifically, no special consideration is given to storing returned medicines with various properties with a high degree of freedom, so that they can be freely dispensed according to prescription information, for example.

[0005] The present invention aims to automatically recognize and store medicines that vary in type, shape, size, expiration date, and other properties and that are supplied in an unaligned state, while ensuring a high degree of freedom. [Means for solving the problem]

[0006] A first aspect of the present invention is a drugof kinds of a recognition unit for recognizing the before In the recognition section of recognition later The drug of Store tray and a dispensing mechanism that dispenses the medicine from the storage tray; and a control device that stores information that associates the type of the medicine stored in the storage tray with the position within the storage tray. Equipped with The dispensing mechanism dispenses the medicine from the storage tray based on the prescription data and the information. A drug sorting device is provided. [Effects of the Invention]

[0007] The drug sorting device and drug sorting method of the present invention automatically recognize the orientation and posture of the drug, as well as properties such as shape, size, type, and expiration date, allowing drugs to be stored with a high degree of freedom, such as allowing them to be freely dispensed according to prescription information, for example. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a schematic front view of a returned medicine dispensing device according to an embodiment of the present invention; [Figure 2] 2 is a schematic diagram showing the layout of the returned medicine dispensing device as seen from line II-II in FIG. 1. [Figure 3] FIG. 3 is a schematic diagram showing the layout of the returned medicine dispensing device as seen from line III-III in FIG. 1. [Figure 4] 1 is a perspective view showing the appearance of a returned medicine dispensing device according to an embodiment of the present invention; [Figure 5] FIG. 10 is a perspective view showing the returned medicine dispensing device with the exterior panel removed. [Figure 6] FIG. 2 is a front view of the returned medicine dispensing device with the exterior panel removed. [Figure 7] FIG. [Figure 8] Schematic plan view of a return tray. [Figure 9] FIG. [Figure 10] FIG. [Figure 11] FIG. 1 is a schematic front view of an orthogonal robot. [Figure 12] Schematic plan view of the recognition section and non-stored drug placement section. [Figure 13] FIG. 2 is a schematic plan view of a label reading unit. [Figure 14] Schematic plan view of a SCARA robot and support tray. [Figure 15] Schematic side view of a SCARA robot and support tray. [Figure 16] FIG. [Figure 17] FIG. [Figure 18A] FIG. 1 is a perspective view of a storage tray (S size). [Figure 18B] FIG. 10 is a perspective view of the storage tray (medium size). [Figure 18C] FIG. 10 is a perspective view of the storage tray (large size). [Figure 19A] FIG. 18B is a schematic enlarged partial cross-sectional view of FIG. 18A. [Figure 19B] FIG. 18C is a schematic enlarged partial cross-sectional view of FIG. 18B. [Figure 19C] FIG. 18D is a schematic enlarged partial cross-sectional view of FIG. 18C. [Figure 20] FIG. 2 is a schematic plan view of a storage tray. [Figure 21] FIG. 1 is a schematic diagram illustrating the concept of an adsorption position. [Figure 22] FIG. 10 is a conceptual diagram showing a method for determining an adsorption position when the convexity value is low. [Figure 23] FIG. 10 is a conceptual diagram showing a method for determining an adsorption position when the convexity value is high. [Figure 24A] 10 is a flowchart showing the process of placing returned medicines from the temporary storage section of the recognition section to the storage section or non-storage medicine storage section. [Figure 24B] 10 is a flowchart showing the process of placing returned medicines from the temporary storage section of the recognition section to the storage section or non-storage medicine storage section. [Figure 25] FIG. 10 is a schematic partial perspective view of an alternative storage section. DETAILED DESCRIPTION OF THE INVENTION

[0009] (Device overview) 1 to 6 show a returned medicine supply device (medicine sorting device) 1 according to an embodiment of the present invention. The returned medicine supply device 1 includes a receiving unit 100, an elevating unit 200, a recognition unit 300, a non-storage medicine placement unit 400, a storage unit 500, and a dispensing unit 600. The returned medicine supply device 1 also includes an orthogonal robot 700, a scalar robot 800, and a support tray 900. The returned medicine supply device 1 further includes a control device 1000, which is schematically shown in FIG. 1. The control device 1000 comprehensively controls the operation of the returned medicine supply device 1 based on inputs from a control panel 1001 (including a display 1002) shown in FIG. 4, inputs from sensors and cameras, etc.

[0010] The main functions of the returned drug supply device 1 are outlined below. The returned drug supply device 1 recognizes properties such as the shape, size (length L1 and diameter or width W), type, and expiration date of the returned drug 2 (see FIG. 8 ), which is, for example, an ampoule 2A, a vial 2B, or a resin ampoule 2C. In this embodiment, a label 3 on which text information and a barcode containing information on the type, expiration date, etc. are printed is attached to the returned drug 2. The returned drug supply device 1 reads this information displayed on the label 3. After recognition, the returned drug supply device 1 temporarily stores the returned drug 2 in association with its identification information (unique information assigned to each returned drug 2), and dispenses the returned drug 2 based on prescription data (received from a higher-level system (Hospital Information System: HIS), for example, an electronic medical record system). When storing the returned drug 2, a storage area is set according to the size of the returned drug 2 to be stored. The returned drug 2 is stored in a manner that allows the returned drug 2 to be placed in the set storage area and to be individually removed when dispensed. Furthermore, the returned medicine supply device 1 discharges returned medicines 2 that have passed their expiration date. The term "expiration date" is sometimes used instead of the term "expiration date." However, these terms are essentially synonymous. Therefore, in this specification, to avoid confusion, only the term "expiration date" is used, not the term "expiration date."

[0011] (Acceptance Department) As shown in FIGS. 1 to 3, the receiving unit 100 is disposed on the upper left front side when the returned medicine supply device 1 is viewed from the front.

[0012] 7, the receiving section 100 includes fixed rack members 101 arranged facing each other in the horizontal direction (the X direction in the figure). The rack members 101 are provided with multiple pairs of rail grooves 101a, 101a for holding multiple return trays (receiving containers) 4 arranged in multiple tiers.

[0013] 8 and 9, the returned medication tray 4 includes a tray body 4a that is open at the top and a flange-shaped portion 4b provided on the upper edge of the tray body 4a. As shown in FIG. 8, the returned medications 2 (e.g., ampoules 2A, vials 2B, and resin ampoules 2C) contained in the returned medication tray 4 have different properties, such as shape, size (length L1 and width W), type, and expiration date. Furthermore, the orientations and postures of the returned medications 2 contained in the returned medication tray 4 are not uniform and are different from one another. In other words, the returned medications 2 contained in the returned medication tray 4 are misaligned. Here, the orientation of the returned medications 2 refers to the direction in which the longitudinal direction of the returned medication 2 (axis A of the returned medication 2) extends in the XY plane in the drawings. The term "orientation" of the returned medication 2 may include the direction in which the distal end 2a and proximal end 2b of the returned medication 2 face, in addition to the direction in which the axis A of the returned medication 2 extends. However, the returned medications 2 contained in the returned medication tray 4 may have the same properties, such as shape, size, type, and expiration date. The returned medications 2 contained in the returned tray 4 may be oriented in the same direction and posture. The returned medications 2 in the returned tray 4 are contained so as not to overlap each other.

[0014] As shown in FIG. 7, the rail grooves 101a, 101a provided in the rack member 101 allow the flange-shaped return tray 4 to be Department The rail grooves 101a, 101a are formed in the rack member 101 as shown in FIG. Y-sideThe rail grooves 101a, 101a are provided so as to penetrate from the front end face to the rear end face. Therefore, an operator such as a medical worker can insert or remove the returned tray 4 into or from the rail grooves 101a, 101a from the front side of the returned medicine supply device 1. Furthermore, the lifting unit 200, which will be described later, can insert or remove the returned tray 4 into or from the rail grooves 101a, 101a from the back side of the returned medicine supply device 1. (Lifting section)

[0015] As shown in FIGS. 1 to 3, the lifting unit 200 is disposed at the rear left when the returned medicine supply device 1 is viewed from the front.

[0016] 10, the lifting unit 200 includes a fixed linear guide 201 extending in the Z direction, a carriage 202 that moves up and down along the linear guide 201, and a table 203 mounted on the carriage 202. The table 203 includes a bottom 203a, side portions 203b, 203b provided on the left and right sides of the bottom 203a, and an end portion 203c provided on the rear side (rear side in the Y direction) of the bottom 203a. The table 203 is open on the front side (front side in the Y direction). Rail grooves 204, 204 are provided on the side portions 203b, 203b. The rail grooves 204, 204 allow the flange-shaped return tray 4 to slide smoothly. Department 4b is supported, thereby holding the return tray 4 on the table 203.

[0017] 10, the bottom portion 203a is provided with a fixed linear guide 205 extending in the depth direction (Y direction) of the returned medicine supply device 1. In addition, the base end side of a hook 207 is fixed to a carriage 206 that moves horizontally along the linear guide 205.

[0018] The lifting unit 200 can take out one returned tray 4 from the receiving unit 100 and lower it to the same height position (conceptually indicated by the symbol H in FIG. 1) as the recognition unit 300 described later (return Product The lifting unit 200 can return the returned tray 4 to the receiving unit 100 from the same height position H as the recognition unit 300 (return Product Tray return operation).

[0019] return Product To explain the tray removal operation, first, the table 203 (carriage 202) rises to a position slightly lower than the rail grooves 101a, 101a of the receiving unit 100, where the returned tray 4 to be removed is held. Next, the hook 207 (carriage 206) moves forward (toward the front in the Y direction) from the end 203c of the table 203. Next, the table 203 rises slightly, and as a result, the hook 207 enters the gap between the flange-shaped portion 4b (the rear portion in the figure) of the returned tray 4 and the tray body 4a. After that, the hook 207 moves backward (toward the rear in the Y direction) to the end 203c of the table 203. This backward movement of the hook 207 pulls the flange-shaped portion 4b into the rail groove 204, and the returned tray 4 is transferred from the receiving unit 100 to the table 203. Finally, the table 203 (carriage 202) descends to the position indicated by the symbol H.

[0020] return Product To explain the tray returning operation, first, the table 203 (carriage 202) rises from the height indicated by the symbol H to a height corresponding to the rail grooves 101a, 101a (not holding the returned tray 4) to which the returned tray 4 is returned. Next, the hook 207 (carriage 206) moves forward (toward the front in the Y direction) from the end 203c side of the table 203. As a result, the flange-shaped portion 4b of the returned tray 4, pushed by the hook 207, comes out of the rail grooves 204, 204 and enters the rail grooves 101a, 101a of the receiving section 100. Then, the table 203 descends slightly, causing the hook 207 to come out downward from the gap between the flange-shaped portion 4b of the returned tray 4 (the part at the back in the figure) and the tray main body 4a. Finally, the hook 207 moves backward toward the end 203c side of the table 203.

[0021] (Cartesian type robot) 11, the Cartesian robot 700 (first picking unit) is equipped with a suction nozzle 701 that releasably suctions the returned medicine 2 by vacuum supplied from a vacuum source (not shown). A rubber suction pad 702 is attached to the tip of the suction nozzle 701. Referring to FIGS. 1 to 3, the Cartesian robot 700 is configured so that the range in which the suction nozzle 701 can suction and hold the returned medicine 2, or in which the suction-held returned medicine 2 can be released by releasing the suction, includes the entire range of the lifting / lowering unit 200 (the returned tray 4 when at the height position H described above), the recognition unit 300, and the non-storage medicine position unit 400.

[0022] The Cartesian robot 700 (suction nozzle 701) can suck and hold the returned medicine 2 from the returned tray 4 held on the table 203 (height position H) of the lifting unit 200, and transfer it to a temporary storage unit (first recognition unit) 301, described later, provided in the recognition unit 300. The Cartesian robot 700 can also suck and hold the returned medicine 2 from the temporary storage unit 301, and transfer it to a label reading unit (second recognition unit) 302, described later, provided in the recognition unit 300. The Cartesian robot 700 can also suck and hold the returned medicine 2 from the label reading unit 302, and transfer it to the non-storage medicine arrangement unit 400.

[0023] 1 to 3 and 11, the Cartesian robot 700 includes a fixed Y-axis beam 703 extending in the depth direction (Y direction) of the returned medicine supply device 1 below the receiving unit 100, and a carriage 704 that moves along this Y-axis beam 703. An X-axis beam 705 extending in the width direction (X direction) of the returned medicine supply device 1 is fixed to the carriage 704. A carriage 706 that moves on the X-axis beam 705 is also provided, and a head 707 is mounted on this carriage 706. The head 707 is provided with an elevating rod 708 that moves up and down by a ball screw mechanism. A suction nozzle 701 is held by a bracket 709 fixed to the lower end of the elevating rod 708. The suction nozzle 701 rotates around the Z axis relative to the bracket 709. 11 is interposed between the bracket 709 and the suction nozzle 701, so that the suction nozzle 701 can elastically rise relative to the bracket 709. In addition, the carriage 706 is equipped with a position sensor (not shown) for detecting the relative height position (position in the Z direction) of the suction nozzle 701 with respect to the bracket 709.

[0024] The returned drug 2 sucked and held by the suction nozzle 701 moves in the X direction due to the linear movement of the carriage 706, moves in the Y direction due to the linear movement of the carriage 704, and moves in the Z direction due to the elevation of the lift rod 708. In addition, the returned drug 2 sucked and held by the suction nozzle 701 rotates around the axis (Z axis) of the suction nozzle 701 due to the rotation of the suction nozzle 701 relative to the bracket 709.

[0025] (Recognition unit and non-stored drug placement unit) 1 to 3, recognition unit 300 includes lighting 303 and camera (first image capture unit) 304. Lighting 303 and camera 304 are located above lifting unit 200. Recognition unit 300 also includes temporary placement unit 301 and label reading unit (an example of a second recognition unit) 302, which together with camera 304 constitute an example of a first recognition unit of the present invention. Temporary placement unit 301 and label reading unit 302 are located on the lower left front side when viewed from the front of returned medicine supply device 1, and are located below receiving unit 100.

[0026] Referring also to Figure 12, the temporary storage section 301 comprises a translucent plate 305 on which the returned medicine 2 is placed, a light 306 arranged below the translucent plate 305, and a camera 307 (second photographing section) located above the translucent plate 305.

[0027] 13, the label reading unit 302 includes a rotationally driven endless belt 308 and a roller 309 arranged on the endless belt 308. The returned medication 2 rotates about its own longitudinal axis A as the endless belt 308 and roller 309 rotate. The label reading unit 302 also includes a light 310 and a camera 311 (an example of a third imaging unit in the present invention) shown only in FIG. 1. The label reading unit 302 also includes a barcode reader (first barcode reader) 312.

[0028] 12, the non-storage medicine placement section 400 includes two non-storage medicine placement boxes 401, 402 arranged adjacent to the temporary placement section 301. These non-storage medicine placement boxes 401, 402 include placement grooves for holding returned medicines 2, similar to the storage tray (storage container) 5 described later.

[0029] (Operation until recognition of returned medicine is completed) Here, we will explain the operation of the returned drug supply device 1 until it has completed recognizing the orientation and posture of the returned drugs 2 stored in the return tray 4 of the receiving section 100, as well as their properties such as type, shape, size, and expiration date.

[0030] First, the returned tray 4 is transferred from the receiving unit 100 to the table 203 of the lifting unit 200. After the returned tray 4 is transferred, the table 203 descends to height position H (see FIG. 1). After the table 203 descends to height position H, recognition by the recognition unit 300 begins. First, the returned tray 4 on the table 203 is irradiated from above with illumination light (preferably highly directional light) from the lighting unit 303, while an image is taken by the camera 304. From the elongated region in the image taken by the camera 304 where the returned medication 2 strongly reflects the illumination light, the position, orientation (the direction in which the axis A extends in the XY plane, but does not include the direction in which the tip 2a and base end 2b are facing) of the returned medication 2 in the returned tray 4, and the approximate midpoint of the returned medication 2 (a position suitable for adsorbing and holding the returned medication 2) are recognized. Based on this recognition result, the suction nozzle 701 of the Cartesian robot 700 picks up and holds the returned medicines 2 in the return tray 4 one by one, and transfers them onto the semi-transparent plate 305 of the temporary placement section 301 (see FIG. 12). At this time, the suction nozzle 701 rotates around its own axis (Z-axis) to adjust the orientation of the picked-up returned medicines 2.

[0031] In the temporary placement unit 301, an image is captured by the camera 307 while the lighting unit 306 irradiates illumination light (preferably high-intensity light) from below the translucent plate 305. The image captured by the camera 307 recognizes the shape, size, and orientation of the returned drug 2 (including the direction in which the axis A extends in the XY plane and the direction in which the tip 2a and base 2b are facing). The image captured by the camera 307 also calculates the suction position of the returned drug 2 (the position where the returned drug 2 is suctioned by the suction nozzle 701 of the Cartesian robot 700 and the suction nozzle 801 of the SCARA robot 800). The calculation of the suction position of the returned drug 2 will be described in detail later. Based on the recognition result from the image captured by the camera 307, the suction nozzle 701 of the Cartesian robot 700 suctions and holds the returned drug 2 on the translucent plate 305 and transfers it to the label reading unit 302. At this time, the suction nozzle 701 rotates around its own axis (Z axis) to adjust the orientation of the returned medicine 2 that it has sucked and held.

[0032] In the label reading unit 302, the returned medication 2 rotates around its own axis A (see FIG. 13 ) due to the rotation of the endless belt 308 and roller 309, as will be described in detail later. This rotating returned medication 2 is photographed by the camera 311 while being irradiated with illumination light from the light source 310. From the image photographed by the camera 311, text information relating to the expiration date and the like displayed on the label 3 of the returned medication 2 is recognized, and the orientation of the returned medication 2 around the axis A is recognized. In addition to photographing by the camera 311, the barcode included on the label 3 is read by the barcode reader 312. The type and expiration date of the returned medication 2 are recognized from the image photographed by the camera 311 and the barcode read by the barcode reader 312. The type and expiration date of the medication may be recognized by only either the image photographed by the camera 311 or reading the barcode by the barcode reader 312. For example, if the barcode included in the label 3 of the returned drug 2 contains the type and expiration date of the returned drug 2, the camera 311 can be omitted and only the barcode reader 312 can be provided, and the type and expiration date of the returned drug 2 can be recognized by reading the barcode with the barcode reader 312. After recognition is complete, the endless belt 308 and roller 309 stop rotating so that the rotation of the returned drug 2 around the axis A stops with the area of ​​the label 3 where the barcode is displayed facing upward (facing the Z direction). Whether the label is facing upward can be confirmed based on the image captured by the camera 311. Note that if there is an area on the returned drug 2 that cannot be picked up by the suction nozzle 801 of the scalar robot 800 (described later) (for example, if there is an area on the returned drug 2 where there is a burr, such as the side of a resin ampule 2C, or an area on the returned drug 2 where the label may peel off when picked up), it is preferable to stop the rotation of the returned drug 2 so that the area does not face upward. For this reason, the area that cannot be picked up is associated with the drug and pre-registered (pre-stored) in the drug master (described later).

[0033] In the label reading unit 302, the returned medication 2 is rotated around the axis A by the rotation of an endless belt 308 and a roller 309, rather than a pair of rollers. The combination of the endless belt 308 and the roller 309 can rotate a wider range of shapes, sizes, and types of returned medication 2 than a pair of rollers.

[0034] If the label reading unit 302 is configured to rotate the returned medication 2 using a pair of rollers, the returned medication 2 may move in one of two directions along the rotation axis of the pair of rollers due to the relative tilt or misalignment between the rotation axes of the pair of rollers. To limit the movement direction of the returned medication 2 to one direction, it is necessary to precisely adjust the relative tilt or misalignment between the rotation axes of the pair of rollers. In this case, the returned medication 2 may also move in one of two directions along the rotation axis of the pair of rollers due to the returned medication 2 being supplied in an inclined position relative to the pair of rollers.

[0035] In contrast, in this embodiment, as shown most clearly in Fig. 13, the rotation axis of the roller 309 is inclined with respect to the traveling direction of the endless belt 308. This arrangement of the endless belt 308 and the roller 309 makes it possible to limit the direction in which the returned medicines 2 move in the width direction of the endless belt 308 to one direction (downward in Fig. 13). As a result, the positions of the returned medicines 2 in the label reading unit 302 can be aligned.

[0036] If the expiration date recognized by the label reading unit 302 has already passed, or if the expiration date cannot be recognized by the label reading unit 302, the returned drug 2 is sucked and held by the suction nozzle 701 of the orthogonal robot 700 and transferred to the non-storage drug placement boxes 401, 402 of the non-storage drug placement unit 400. One of the return trays 4 of the receiving unit 100 (for example, the bottommost return tray 4) may be used as a tray for non-storage placement drugs, and the returned drugs 2 from the non-storage drug placement boxes 401, 402 may be returned to that return tray 4.

[0037] (Scalar robot and support tray) 14 and 15, the scalar robot 800 (second picking unit) is equipped with a suction nozzle 801 that releasably suctions the returned medicine 2 using a vacuum supplied from a vacuum source (not shown). A rubber suction pad 802 is attached to the tip of the suction nozzle 801. The scalar robot 800 is configured so that the range in which the suction nozzle 801 can suction and hold the returned medicine 2, or in which the suctioned and held returned medicine 2 can be released by releasing the suction, includes the label reading unit 302 of the recognition unit 300, the entire range of all storage trays 5 provided in the storage unit 500, and the entire area of ​​the dispensing tray 8 arranged at the dispensing position (described later).

[0038] The scalar robot 800 (suction nozzle 801) can suck and hold the returned medicine 2 from the label reading unit 302 of the recognition unit 300, and transfer it to a storage tray 5 (described later) provided in the storage unit 500. The scalar robot 800 can also suck and hold the returned medicine 2 from the storage tray 5, and transfer it to a dispensing tray 8 (described later) of the dispensing unit 600.

[0039] 1 to 3, 14, and 15, the SCARA robot 800 includes a pair of fixed linear guides 803, 803 extending in the height direction (Z direction) of the returned medicine supply device 1, and carriages 804, 804 that move on these linear guides 803, 803. The carriages 804, 804 support the end of an X-axis beam 805 extending in the width direction (X direction) of the returned medicine supply device 1. A base 806 is fixed to the X-axis beam 805. The base end of a first arm 807 connected to the base 806 rotates around the Z axis, and a second arm 807 connected to the tip end of the first arm 807 rotates around the Z axis. 808 The base end of the second arm 807 also rotates around the Z axis. A head 809 is attached to the tip end of the second arm 807. A suction nozzle 801 is held by a bracket 810 fixed to the head 809. The suction nozzle 801 rotates around the Z axis relative to the bracket 810. A spring 811, which is only shown in FIG. 15, is interposed between the bracket 810 and the suction nozzle 801. Therefore, the suction nozzle 801 can elastically rise relative to the bracket 810.

[0040] The head 809 is equipped with a barcode reader 812 (second barcode reader) shown only in Fig. 14 and a presence / absence detection sensor 820 that detects the returned drug 2. The barcode reader 812 is mounted at a position offset to the side of the suction nozzle 801, and is configured to read the barcode on the label 3 affixed to the returned drug 2 located below the suction nozzle 801 from diagonally above. In other words, the barcode reader 812 is positioned so as to face the barcode on the label 3 affixed to the returned drug 2 when the suction nozzle 801 is positioned above the target returned drug 2, similar to the positional relationship between the barcode reader 312 and the returned drug 2 in the label reading unit 302.

[0041] In this embodiment, the presence / absence detection sensor 820 is a reflective photoelectric sensor that detects the presence or absence of returned drugs 2 in the area below the suction nozzle 801 by irradiating light toward the area below the suction nozzle 801 and receiving the reflected light.

[0042] The returned medicine 2 sucked and held by the suction nozzle 801 moves in the Z direction by the linear motion of the X-axis beam 805 (carriage 804), and is sucked by the first arm 807 and the second arm 808. 808 The returned medicine 2 held by suction on the suction nozzle 801 moves on the XY plane due to the rotation of the suction nozzle 801 relative to the bracket 810. The returned medicine 2 held by suction on the suction nozzle 801 rotates around the axis of the suction nozzle 801 (Z axis).

[0043] 1, 14, and 15, the support tray 900 is fixed to the lower end of a rod 901 that moves up and down relative to a base 806 of a scalar robot 800. In this embodiment, the support tray 900 has a placement groove for holding returned medications 2 similar to a storage tray 5 described later. As shown in FIG. 15, by moving the rod 901 up and down, the support tray 900 moves up and down between a height position where it approaches the returned medications 2 held by the suction nozzles 801 and a height position where it is separated from the returned medications 2 held by the suction nozzles 801.

[0044] When the suction nozzle 801 picks up and transfers the returned drug 2, the scalar robot 800 moves the suction nozzle 801 horizontally using the first arm 807 and the second arm 808 to position it above the support tray 900. At this time, the head 809 is rotated so that the picked-up returned drug 2 is aligned with the orientation of the placement groove of the support tray 900. Then, by raising the rod 901, the support tray 900 is moved from a height position separated from the returned drug 2 to a height position approaching the returned drug 2. As a result, the returned drug 2 being transferred is attracted to the pick-up pad 802 and / or small pick-up pads. Doka Even if the returned drug 2 comes off the suction nozzle 801, the support tray 900 can prevent it from falling below the suction nozzle 801. This allows the returned drug 2 to be transported at a higher speed while preventing damage to the returned drug 2 due to loss of suction.

[0045] Furthermore, the returned drug 2 that has dropped onto the support tray 900 may be sucked up again by the suction nozzle 801 and transferred. At this time, a pressure sensor (not shown) provided on the suction nozzle 801 may detect that the suction has been released. Furthermore, as described above, the returned drug 2 is transferred with its orientation aligned with the placement groove on the support tray 900, so when the suction by the suction nozzle 801 is released, the returned drug 2 drops into the placement groove directly below the suction nozzle 801 without changing its orientation or posture. This makes it possible to predict that the returned drug 2 is directly below the suction nozzle 801, thereby increasing the success rate when the returned drug 2 is re-sucked by the suction nozzle 801.

[0046] (storage section) As shown in FIGS. 1 to 3, the storage section 500 is located at the right rear when the returned medicine supply device 1 is viewed from the front.

[0047] 16 and 17, the storage section 500 is provided with a linear guide 501 extending in the Z direction. A holding frame 502 that holds the storage tray 5 so that it can be removed is held in this linear guide 501 so that it can be raised and lowered. The holding frames 502 are arranged in multiple stages. Linear guides 503, 503 extending in the Z direction are arranged on both sides of the storage trays 5 arranged in multiple stages. Carriages 504, 504 that rise and fall on these linear guides 503, 503 are provided. A lift member 505 that can move between a retracted position shown in FIG. 16 and an extended position shown in FIG. 17 is mounted on the carriage 504. The lift member 505 is also arranged in the depth direction in the figure. The lift member 505 may also be arranged in multiple stages.

[0048] With the lifting member 505 in the retracted position as shown in Figure 16, the carriages 504, 504 move to a position corresponding to one of the holding frames 502. Next, the lifting member 505 moves to the extended position as shown in Figure 17 and enters below the holding frame 502. When the carriages 504, 504 rise in this state, the holding frame 502 into which the lifting member 505 has entered and the holding frame 502 above it are lifted upward. As a result, a gap S is formed between the holding frame 502 into which the lifting member 505 has entered and the holding frame 502 one level below it. Through this gap S, the suction nozzle 801 of the SCARA robot 800 can access the storage tray 5 held by the holding frame 502 one level below the holding frame 502 into which the lifting member 505 has entered. In other words, by providing this interval S, the suction nozzle 801 of the scalar robot 800 can perform the operations of transferring the returned medicine 2 to all storage trays 5 and of suction-holding and removing the returned medicine 2.

[0049] 18A to 19C, the storage trays 5 include a storage tray 5A (S size) suitable for storing relatively small returned medications 2, a storage tray 5B (M size) suitable for storing medium-sized returned medications 2, and a storage tray 5C suitable for storing relatively large returned medications 2. C The storage section 500 has these three types of storage trays 5A to 5C. CEach storage tray 5 (5A to 5C) has a tray body 5a that is open at the top in the drawing, and a flange-like portion 5b provided on the upper edge of the tray body 5a.

[0050] 20, the bottom of the tray body 5a is provided with a plurality of ridges (projections) 6 that extend in the depth direction (Y direction) of the returned medicine supply device 1 and are spaced apart in the width direction (X direction) of the returned medicine supply device 1. Linear arrangement grooves (recesses) 7 are formed between adjacent ridges 6, and the returned medicines 2 are accommodated in these arrangement grooves 7. As is clear from FIGS. 19A to 19C, the three types of storage trays 5A to 5 C The dimensions (height and width) and pitch of the ridges 6 are different, and therefore the dimensions (depth and width) of the arrangement grooves 7 are different. Due to the difference in the dimensions of the arrangement grooves 7, the three types of storage trays 5A to 5B can be used as described above. C The dimensions of the return drug 2 suitable for storage are different.

[0051] (Payment department) The dispensing unit 600 is equipped with a transport mechanism 601. The transport mechanism 601 moves and positions the dispensing tray 8 from an entrance 602 shown schematically in Fig. 1 to a dispensing position (a position on the front side in the drawing of the storage unit 500), and after the dispensing operation is completed, the transport mechanism 601 carries the dispensing tray 8 out of an exit 603 shown schematically in Fig. 1.

[0052] (Storage and dispensing of returned medicines) The operation of storing the returned medicine 2 in the storage unit 500 after the recognition in the recognition unit 300 is completed, and the operation of dispensing it from the storage unit 500 to a dispensing tray arranged at a dispensing position in the dispensing unit 600 will be described.

[0053] First, the storing operation will be described.

[0054] The returned drug 2 in the label reading unit 302 is sucked and held by the suction nozzle 801 of the scalar robot 800. For the returned drug 2 sucked and held by the suction nozzle 801, a storage area, i.e., the range it occupies when stored and a storage position (which storage tray 8 and which position it is stored in), is set according to at least the size of the returned drug 2. In this embodiment, the range of the storage area when stored corresponds to the length L1 and width W of the returned drug 2. The area shown when stored includes a margin to prevent interference with other returned drugs 2. A search is performed to determine which storage tray 5 and which placement groove 7 of the multiple storage trays 5 in the storage unit 500 can be used to place the returned drug 2 sucked and held by the suction nozzle 801. Based on this search result, the storage tray 5 and placement groove 7 (return tray 8) in which the returned drug 2 is to be placed are selected. Product The storage position of the returned drug 2 is determined. Focusing on one storage tray 5, if the arrangement groove 7 "No. 3" is already filled with the returned drug 2 as shown in FIG. 20, the other arrangement grooves 7 become candidates for the storage position for arranging the returned drug 2 sucked by the suction nozzle 801. For example, in the case of the "No. 6" groove, two returned drugs 2 are already placed therein, but if the distance between these returned drugs 2 is equal to or greater than the range shown for storage as described above for the returned drugs 2 to be stored, the other arrangement grooves 7 may become candidates for arranging the returned drugs 2 sucked and held by the suction nozzle 801.

[0055] As described above, when the recognition by the label reading unit 302 is completed, the returned medicine 2 is in a position where the label 3 faces upward. The suction nozzle 801 of the scalar robot 800 suctions and holds the returned medicine 2 while maintaining the position where the label 3 faces upward, and places it in the corresponding arrangement groove 7 of the corresponding storage tray 5, that is, the position determined as described above. Ta rank The returned drug 2 is transferred to the storage area.

[0056] 16 and 17, the storage unit 500 is configured to provide a gap S between the holding frames 502. Therefore, the suction nozzle 801 of the scalar robot 800 that has sucked and held the returned drug 2 can freely access the storage tray 5 held by any of the holding frames 502 arranged in multiple stages, and place the returned drug 2 that it has sucked and held.

[0057] As described with reference to FIGS. 18A to 19C, the storage trays 5 of the storage section 500 include three types of storage trays 5A to 5C of different sizes. C Therefore, the returned medicine 2 that has been recognized can be stored in the storage unit 500 without being restricted by the size of the returned medicine 2 to be stored.

[0058] With regard to the returned drugs 2 stored in the storage unit 500, the control device 1000 stores the above-mentioned storage area, that is, the position (the position on the arrangement groove 7) of the returned drug 2 in association with the identification information of each returned drug 2. The control device 1000 also stores the type and expiration date of each returned drug 2 in association with the identification information of each returned drug 2.

[0059] Next, the dispensing operation will be described.

[0060] The suction nozzle 801 of the scalar robot 800 sucks and holds the returned medicine 2 from the storage tray 5 of the storage unit 500, and transfers it to the dispensing tray 8 arranged at the dispensing position.

[0061] The dispensing operation is performed based on prescription data received by the returned medicine supply device 1 from a higher-level system (Hospital Information System (HIS)), such as an electronic medical record system. As described above, the type and expiration date of the returned medicine 2 stored in the storage unit 500 are stored in association with identification information, and each returned medicine is stored. 2The location of the returned drug 2 in the storage unit 500 is also stored in association with the identification information. Specifically, the control device 1000 includes 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. Moreover, as described above, since a gap S can be provided between the storage trays 5 arranged in multiple tiers, the suction nozzle 801 can freely suction and hold the returned drug 2 stored in any of the storage trays 5 arranged in multiple tiers as needed. Therefore, if it is confirmed by referring to the drug master 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. Furthermore, efficient dispensing according to the prescription data is possible, such as dispensing drugs of the same type with the closest expiration date first. Furthermore, if it is confirmed by referring to the drug master that the drug included in the prescription data is not stored in the storage unit 500, it can execute processing such as displaying a necessary message on the display 1002 of the control panel 1001.

[0062] As described above, the returned drug supply device 1 of this embodiment can automatically recognize returned drugs 2 that have various different properties such as type, shape, size, expiration date, etc. and are supplied in an unaligned state, store them with a high degree of flexibility, and dispense them freely according to prescription data.

[0063] (Details of recognition of drug shape and size) As described above, the shape and size of the returned medicine 2 are recognized (shape and size information is acquired) in the temporary placement section 301 of the recognition section 300. For this purpose, the returned medicine 2 is placed on the placement surface 305a (the plane on the camera 307 side) of the semi-transparent plate 305, as shown in Figs. The axis The returned medicine 2 is placed parallel to the placement surface 305a. The returned medicine 2 placed on the translucent plate 305 is then photographed by a camera 307 placed above the translucent plate 305 while being illuminated from below by a light 306 placed below the translucent plate 305.

[0064] The control device 1000 is configured to acquire information about the shape and size of the returned drug 2 based on the image captured by the camera 307. That is, the control device 1000 functions as a recognition unit for recognizing the shape and size of the returned drug 2.

[0065] The control device 1000 is also configured to perform image processing on the image captured by the camera 307 showing the returned drug 2 (having an image processing unit) in order to acquire information on the shape and size of the returned drug 2. As image processing for the image captured by the camera 307, for example, edge detection processing for detecting edges of the image of the returned drug 2 captured in the image and binarization processing for binarizing the image (black and white) are performed. Based on the image that has undergone the edge detection processing and the binarization processing, the control device 1000 acquires information on the shape and size of the returned drug 2.

[0066] Furthermore, the control device 1000 is configured to determine, based on the acquired shape of the returned medicine 2, whether the shape of the returned medicine 2 is a shape of a medicine that can be handled by the returned medicine supply device 1.

[0067] The returned medicines 2 returned via the return tray 4 may include, for example, medicines that are caught between the endless belt 308 and roller 309 in the label reading unit 302, medicines that cannot be held by the scalar robot 800, medicines that cannot be stored in the storage unit 500, that is, medicines that cannot be handled by the returned medicine supply device 1 due to its structure. Examples include medicines stored in a bag or box, medicines that are partially missing, medicines with partially peeled labels, and medicines with partially peeled labels attached to other medicines. Such returned medicines cannot be handled by the returned medicine supply device 1 due to its structure, and are therefore treated as medicines that cannot be handled (non-stored medicines). Non-stored medicines are returned to the return tray 4 for non-stored medicines via the non-stored medicine placement boxes 401, 402 of the non-stored medicine placement unit 400 as described above.

[0068] (Details of medication type and expiration date) As described above, the type and expiration date of the returned medicine 2 are recognized in the label reading unit 302 (information on the type and expiration date is acquired). To this end, as shown in FIG. 13 , the label reading unit 302 has an endless belt 308 on which the returned medicine 2 is placed, and a roller 309 that comes into contact with the returned medicine 2 placed on the endless belt 308 and rotates the returned medicine 2 about its axis A. The label reading unit 302 also has a belt driving unit (not shown) that drives the endless belt 308, and a roller driving unit (not shown) that drives the roller 309. The belt driving unit and the roller driving unit are, for example, motors, and are controlled by the control device 1000.

[0069] Referring to FIG. 13, the roller 309 is disposed above the endless belt 308 at a distance, for example, 1 mm. The direction of travel F of the endless belt 308 is the same as the direction of extension of the rotation center line Rc of the roller 309 ( Y-side For example, in this embodiment, the angle between the direction in which the rotation center line Rc of the roller 309 extends and the traveling direction F of the endless belt 308 is in the range of 5 to 15 degrees.

[0070] The traveling direction F of the endless belt 308 is the direction in which the returned medicines 2 placed on the endless belt 308 approach the roller 309. On the other hand, the rotation direction of the roller 309 is such that the peripheral speed is opposite to the X-direction component of the traveling direction F of the endless belt 308 in the opposing region to the endless belt 308.

[0071] In addition, in this embodiment, the endless belt 308 and the roller 309 are driven and controlled by the control device 1000 via a belt drive unit and a roller drive unit so that the moving speed of the endless belt 308 and the rotation speed of the roller 309 are the same in the opposing area between the endless belt 308 and the roller 309.

[0072] With such an endless belt 308 and roller 309, the returned medicine 2 placed on the endless belt 308 is carried by the endless belt 308 and comes into contact with the roller 309. As a result, the returned medicine 2 is maintained in contact with the roller 309, X direction It is positioned with respect to the direction.

[0073] It is preferable that the returned medicine 2 (particularly the ampule 2A or resin ampule 2C) is placed on the endless belt 308 by the Cartesian robot 700 in such a direction that its base end 2b faces the stopper 317 when it is in contact with the roller 309. If the tip 2a (head 2d) of the ampule 2A or resin ampule 2C is placed on the endless belt 308 in such a direction that it faces the stopper 317, the corner of the body 2c on the base end 2b side will come into contact with the roller 309 first when the endless belt 308 starts to be conveyed, and the reaction to this contact will cause the orientation to change on the endless belt 308, and the head 2d may get caught between the endless belt 308 and the roller 309. Therefore, if there is a possibility that the head 2d of the returned drug 2 may get caught between the endless belt 308 and the roller 309, it is preferable that the returned drug 2 be placed on the endless belt 308 by the Cartesian robot 700 in an orientation such that its base end 2b faces the stopper 317 when in contact with the roller 309.

[0074] Since the traveling direction F of the endless belt 308 and the extending direction of the rotation center line Rc of the roller 309 intersect non-orthogonally, the returned medicine 2 after contacting the roller 309 is guided by the roller 309 and moves in the extending direction of the rotation center line Rc of the roller 309 ( Y-side Finally, one end of the returned medication 2 in the direction of extension of the axis A comes into contact with the stopper 317, and the returned medication 2 moves in the direction of extension of the rotation center line Rc of the roller 309 ( Y-side As a result, the returned medication 2 is positioned relative to the label reading unit 302.

[0075] The returned medication 2 is maintained in a highly accurate position by the arrangement of the roller 309 relative to the endless belt 308 and the stopper 317 such that the direction of travel F of the endless belt 308 and the direction of extension of the rotation center line Rc of the roller 309 intersect non-orthogonally.

[0076] If the traveling direction F of the endless belt 308 and the extending direction of the rotation center line Rc of the roller 309 were perpendicular to each other, the returned medication 2 in contact with the roller 309 would move in the extending direction of the rotation center line Rc of the roller 309 and may separate from the stopper 317. Taking this into consideration, in order to maintain the contact state between the stopper 317 and the returned medication 2, the traveling direction F of the endless belt 308 and the extending direction of the rotation center line Rc of the roller 309 are made to intersect non-orthogonally.

[0077] By maintaining the returned drug 2 in a state where it is positioned with high accuracy, for example, the returned drug 2 is maintained within the field of view of the camera 311 of the label reading unit 302, and the barcode of the label 3 of the returned drug 2 is set and maintained within the readable area of ​​the barcode reader 312. As a result, high accuracy in recognizing the type and expiration date of the returned drug 2 by the camera 311 and the barcode reader 312 can be ensured.

[0078] The control device 1000 is configured to acquire information on the expiration date of the returned drug 2 based on an image of the label 3 captured by the camera 311 (it has an OCR unit that recognizes the expiration date written on the label 3). The control device 1000 is also configured to acquire information on the type of the returned drug 2 based on a barcode read by the barcode reader 312. In other words, the control device 1000 functions as part of the recognition unit that recognizes the type and expiration date of the returned drug 2.

[0079] As described above, if the barcode printed on the label 3 includes information on the type and expiration date of the returned drug 2 (for example, if a barcode indicating the expiration date is printed on the label 3), it is possible to obtain information including the type and expiration date of the returned drug 2 from the barcode read by the barcode reader 312. As a result, the camera 311 can be omitted.

[0080] As described above, since the type and expiration date are recognized from the label 3 of the returned drug 2 while the returned drug 2 is being rotated by the roller 309, there is a possibility that the recognition may fail. To address this, for example, the recognition may be repeated until a predetermined number of recognition failures occur or until a predetermined time has elapsed by repeating the recognition process (until a timeout occurs). For example, if the OCR unit cannot recognize the expiration date written on the label 3 shown in an image captured by the camera 311, a new image is captured by the camera 311. The OCR unit then performs the recognition process on the expiration date of the label 3 shown in the newly captured image. If recognition fails a predetermined number of times (e.g., 18 times) or if a timeout occurs, the returned drug 2 is treated as a non-storage drug whose label 3 cannot be read (and is stored in the non-storage drug placement boxes 401, 402 of the non-storage drug placement unit 400).

[0081] The control device 1000 is also configured to control the rotation speed of the roller 309 based on the outer diameter of the returned medicine 2 set in the label reading unit 302.

[0082] The reason for this is that when the outer diameter of the returned drug 2 is relatively small and the rotation speed of the roller 309 is relatively high, the circumferential speed of the returned drug 2 is high. As a result, there is a possibility that the barcode reader 312 will not be able to accurately read the barcode on the label 3 affixed to the outer surface of the returned drug 2. To address this, the control device 1000 controls the roller drive unit so that the rotation speed of the roller 309 decreases as the outer diameter of the returned drug 2 decreases. To make this possible, the control device 1000 is configured to calculate the outer diameter of the returned drug 2 based on the shape and size (size in the extension direction of the axis A) of the returned drug 2 acquired from an image captured by the camera 307 of the temporary placement unit 301 of the recognition unit 300.

[0083] (Determining the adsorption position) Next, referring to Figures 21 to 23, we will explain how to calculate the suction position of the returned drug 2 (the position where it is picked up by the suction nozzle 701 of the Cartesian robot 700 and the suction nozzle 801 of the scalar robot 800) based on an image taken by the camera 307 of the temporary storage section 301.

[0084] 21, in the case of vial 2B, the head 2d protrudes relatively little from the body 2c, and the difference in diameter between the body 2c and the head 2d is also small, so if the suction position SP is set to approximately the midpoint of the length (total length L1), the weight balance will be good when the vial is picked up by the suction nozzles 701, 801. In other words, in the case of vial 2B, if the suction position SP is set to approximately the midpoint of the total length L1, the vial will be stably held by the suction nozzles 701, 801.

[0085] 21 , in the case of ampoule 2A, the head 2d protrudes relatively far from the body 2c, and the difference in diameter between the body 2c and the head 2d is also large. Therefore, if the suction position SP is set to approximately the midpoint of the overall length L1, the weight balance will be poor when suctioned by the suction nozzles 701 and 801. In the case of ampoule 2A, if the suction position SP is set to approximately the midpoint of the length L2 of the body 2c, rather than the overall length L1, the weight balance will be good when suctioned by the suction nozzles 701 and 801. In other words, in the case of ampoule 2A, if the suction position SP is set to approximately the midpoint of the length L2 of the body 2c, suction nozzles 701 and 801 will be able to stably hold the ampoule. This is also true for resin ampoule 2C.

[0086] For the above reasons, the adsorption position SP of the returned medicine 2 is calculated based on the image taken by the camera 307 of the temporary storage section 301 in the following manner.

[0087] First, an envelope 313 is set for the outline of the image (a planar image of the returned drug 2) captured by the camera 307 (step 1 in FIGS. 22 and 23). The convexity is calculated from this envelope 313 (step 1 in FIGS. 22 and 23). The more the envelope 313 can enclose the returned drug 2 in a straight line, the closer the convexity value approaches 1. In other words, 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 smaller the difference in diameter of the neck connecting the body 2c and the head 2d relative to the body 2c and the head 2d.

[0088] If the calculated convexity value is equal to or greater than a preset threshold value (which can be set in the range of 0.8 to 0.9, for example), it can be determined that the returned drug 2 photographed by the camera 307 has a shape that can be assumed to be that of a vial 2B, and therefore the midpoint of the total length L1 and the midpoint of the width W is set as the suction position SP (step 2 in Figure 22).

[0089] If the calculated convexity value is less than the above-mentioned preset threshold, it is determined that the returned medicine 2 photographed by the camera 307 has a shape that can be estimated as an ampule 2A (or a resin ampule 2C). 2c In order to set the middle of the length L2 as the pickup position SP, the following process is performed.

[0090] First, by comparing the envelope 313 with the outline of the image of the returned drug 2, the constricted portion 314, which corresponds to the neck portion (partially narrowed portion) between the body portion 2c and the head portion 2d, is extracted (step 2 in Figure 23).

[0091] Next, a rectangular area 315 is created by enclosing the extracted constricted portion 314 with straight lines (step 3 in FIG. 23).

[0092] Then, two regions 316a and 316b are created by removing a rectangular region 315 from the outline of the image of the returned drug 2 (step 4 in FIG. 23). These regions 316a and 316b correspond to the area other than the constricted portion 314 of the outline of the image of the returned drug 2. One of these regions 316a and 316b corresponds to the body 2c of the returned drug 2, and the other corresponds to the head 2d. The areas of the regions 316a and 316b are compared, and the one with the larger area (corresponding to the body 2c) is retained as the processing target, while the one with the smaller area (corresponding to the head 2d) is excluded from the processing target. In this example, the area of ​​the region 316a is larger than the area of ​​the region 316b, so the region 316a is retained as the processing target.

[0093] Finally, the midpoint of the length L2' (corresponding to the length L2 of the body 2c of the ampoule 2A) and the midpoint of the width W' (corresponding to the width W of the body 2c of the ampoule 2A) of the region 316a is set as the suction position SP (step S100 of FIG. 23). 5 ).

[0094] By the above procedure, the suction position SP where the returned medicine 2 can be stably held by the suction nozzles 701 and 801 can be automatically determined based on the image taken by the camera 307 of the temporary placement section 301.

[0095] (Processing from recognition of the shape of returned medicines to transportation) Next, an example of the flow from the recognition of the shape etc. of the returned medicine 2 described above to the transportation of the returned medicine 2 based on the recognition result will be described with reference to FIGS. 24A and 24B.

[0096] First, in step S101, the returned medicine 2 is placed on the semi-transparent plate 305 in the temporary placement section 301 of the recognition section 300 by the Cartesian robot 700.

[0097] Next, in step S102, the returned medicine 2 placed on the semi-transparent plate 305 is photographed by the camera 307 arranged above it.

[0098] The image captured by the camera 307 in step S102 is subjected to image processing (edge ​​detection processing, binarization processing) by the control device 1000 in step S103.

[0099] In step S104, the control device 1000 acquires information about the shape of the returned medicine 2 placed on the semi-transparent plate 305 of the temporary placement section 301 based on the image of the camera 307 that has been image-processed in step S103.

[0100] In step S105, the control device 1000 determines whether the shape of the returned drug 2 placed on the translucent plate 305 of the temporary placement unit 301 is the shape of a drug to be handled, based on the information on the shape of the returned drug 2 acquired in step S104. If the shape of the returned drug 2 is the shape of a drug to be handled, the process proceeds to step S106, and if not (if the returned drug 2 is not the shape of a drug to be handled), the process proceeds to step S115.

[0101] In step S106, the control device 1000 acquires information about the size of the returned medicine 2 placed on the semi-transparent plate 305 of the temporary placement section 301 based on the image of the camera 307 that has been image-processed in step S103.

[0102] In step S107, the control device 1000 determines whether the size of the returned drug 2 placed on the translucent plate 305 of the temporary storage section 301 is the size of a drug to be handled, based on the size information of the returned drug 2 acquired in step S106. If the size of the returned drug 2 is the size of a drug to be handled, the process proceeds to step S108, and if not (if the returned drug 2 is not the size of a drug to be handled), the process proceeds to step S115.

[0103] In step S108, the returned medicine 2 in the temporary storage section 301 is transported to the label reading section 302 by the orthogonal robot 700. As a result, the returned medicine 2 is set in the label reading section 302.

[0104] In step S109, the control device 1000 106Based on the size (outer diameter) of the returned medicine 2 acquired in step 2, the rotation speed of the roller 309 of the label reading unit 302 that comes into contact with the returned medicine 2 and rotates the returned medicine 2 is adjusted.

[0105] In step S110, the control device 1000 determines whether the label 3 of the returned drug 2 can be accurately read by the camera 311 or the barcode reader 312. If the expiration date and the barcode indicating the type of returned drug 2 written on the label 3 can be accurately read, the process proceeds to step S111. If the expiration date and the barcode cannot be accurately read, for example, because they are partially erased, the process proceeds to step S115.

[0106] In step S111, the label 3 of the returned medicine 2 is accurately read by the camera 311 or the barcode reader 312 in the label reading unit 302.

[0107] In step S112, the control device 1000 acquires information on the type and expiration date of the returned drug 2 based on the label 3 of the returned drug 2 read in step S111.

[0108] In step S113, the control device 1000 determines whether the type and expiration date of the returned drug 2 set in the label reading unit 302 are the type and expiration date of the drug to be handled, based on the information on the type and expiration date of the returned drug 2 acquired in step S112. That is, it determines whether the type of the returned drug 2 is the type stored in the drug master, and whether the expiration date has not passed or is sufficiently far away. If both the type and expiration date of the returned drug 2 are those of the drug to be handled, the process proceeds to step S114. If not, the process proceeds to step S115.

[0109] In step S114, the returned drug 2 in the label reading unit 302 is transported by the scalar robot 800 to the storage unit 500 as a drug to be handled. That is, the returned drug 2 whose shape, size, type, and expiration date are the same as those of the drug to be handled is stored in the storage unit 500.

[0110] In step S115, the returned medicine 2 whose shape is determined to be an unacceptable medicine in step S105, the returned medicine 2 whose size is determined to be an unacceptable medicine in step S107, S Returned drugs 2 whose labels 3 are determined to be unreadable in step S110, or whose type and / or expiration date are determined to be those of drugs that are not eligible for handling in step S113, are transported (stored) in the non-storage drug placement section 400 as non-storage drugs.

[0111] (Variation) Various modifications of the above-described embodiment will now be described.

[0112] In the above-described embodiment, if the returned medicine 2 is a medicine to be handled, it is transferred from the returned tray 4 to the temporary storage section 301 and the label reading section 302 of the recognition section 300, and then stored in the storage tray 5 of the storage section 500. Alternatively, the returned medicine 2 may be stored in the storage section 500 via the label reading section 302, without passing through the temporary storage section 301.

[0113] Specifically, the temporary storage section 301 is provided in anticipation of the case where the shape and size of the returned drug 2 returned via the returned tray 4 are such that they cannot be handled by the returned drug supply device 1.

[0114] However, if most of the returned drugs 2 returned via the return tray 4 are drugs that can be handled by the returned drug supply device 1, for example, because users are thoroughly aware of the system or because they open the box delivered by the drug manufacturer and immediately store the drugs directly into this device, it would be extremely wasteful to perform shape and size recognition on all such returned drugs 2 in the temporary storage section 301.

[0115] To deal with this, the returned medication 2 in the return tray 4 is first transferred to the label reading unit 302 of the recognition unit 300 by the Cartesian robot 700 (placed on the endless belt 308). Next, before the endless belt 308 and roller 309 start to move, the returned medication 2 on the endless belt 308 is photographed by the camera 311. Based on the photographed image, the orientation of the returned medication 2 on the endless belt 308 is recognized. With regard to the recognized orientation, it is determined whether or not the base end 2b of the returned medication 2 is oriented toward the stopper 317. If not, the orientation is changed by the Cartesian robot 700.

[0116] The orientation of returned drug 2 is as follows: Product When the returned drug 2 is present in the tray 4, i.e., when the returned tray 4 is placed on the table 203 of the lifting unit 200, it can also be recognized based on an image captured by the camera 304 located above the returned tray 4. The orientation of the returned drug 2 in the returned tray 4 is recognized based on the image from the camera 304, and based on the recognition result, the Cartesian robot 700 places the returned drug 2 on the endless belt 308 of the label reading unit 302 so that the base end 2b of the returned drug 2 is positioned on the stopper 317 side.

[0117] The returned medicine 2 is transferred directly from the return tray 4 to the label reading unit 302, where its type and expiry date are recognized by a camera 311 and a barcode reader 312.

[0118] Based on the recognized type, information on the shape and size of the returned drug 2 is acquired. Specifically, the control device 1000 is provided with a size information master that stores the type, shape, and size of a drug in association with each other. By referring to the information stored in this size information master, the control device 1000 acquires the shape and size corresponding to the type of returned drug 2 recognized by the label reading unit 302. Then, based on the acquired shape and size, a storage area in the storage unit 500 for the returned drug 2 is determined.

[0119] If the shape and size information corresponding to the type recognized by the label reading unit 302 is not present in the size information master, the returned drug 2 in the label reading unit 302 is transferred to the temporary storage unit 301 to acquire the shape and size information. Then, as described above, the shape and size information of the returned drug 2 is acquired in the temporary storage unit 301. The acquired shape and size information of the returned drug 2 is associated with the type of the returned drug 2 and stored in the size information master. Furthermore, a storage area in the storage unit 500 for the returned drug 2 is determined based on the shape and size.

[0120] It is also possible to update or add new or existing association information of the type, shape, and size of the returned drug 2 stored in the size information master via, for example, an internet environment. For example, based on drug information provided by a supplier, new association information of the type, shape, and size of the returned drug 2 may be added to the size information master via a PC (personal computer) connected to an internet environment. This eliminates or reduces the need to transfer the returned drug 2 from the label reading unit 302 to the temporary storage unit 301 and obtain information on the shape and size of the returned drug 2 in the temporary storage unit 301.

[0121] The storage tray is not limited to that of the embodiment, and for example, a deformable member may be arranged on the bottom of the tray body 5a of the storage tray 5, which deforms when the returned medication 2 is placed thereon and maintains the position and posture of the placed returned medication 2. In other words, the storage tray 5 may be one that can store the returned medication 2 flatly so that the orientation and posture of the returned medication 2 are maintained in a manner different from that of the embodiment. Also, as shown in FIG. 25, the storage section 500 may have a plurality of step portions 9, each capable of placing a returned medication 2 thereon.

[0122] In the embodiment, both the Cartesian robot 700 and the SCARA robot 800 pick up the returned medicine 2 using the suction nozzle 701, 801 However, these robots may releasably hold the returned drug 2 mechanically instead of by suction.

[0123] Although the present invention has been described using a returned medicine supplying device as an example, the present invention is not limited to a medicine supplying device for returned medicines, i.e., the medicines supplied to the receiving section are not limited to returned medicines. [Explanation of symbols]

[0124] 1 Returned 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 200 Lifting section 201 Linear guide 202 Carriage 203 Table 203a bottom 203b Side 203c end 204 Rail groove 205 Linear guide 206 Carriage 207 Hook 300 Recognition part 301 Temporary storage 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 part 315 Rectangular area 316a,316b area 400 Non Drug storage section 401,402 Non-storage drug placement box 500 Storage Unit 501 Linear guide 502 Retaining frame 503 Linear guide 504 Carriage 505 Lifting members 600 Payout Section 601 Transport mechanism 602 Entrance 603 Exit 700 Cartesian robot 701 Suction nozzle 702 Suction pad 703 Y-axis beam 704 Carriage 705 X-axis beam 706 Carriage 707 Head 708 Lifting Rod 709 Bracket 710 Spring 800 Scalar Robot 801 Suction nozzle 802 Suction pad 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 900 Support Tray 901 Rod 1000 control device 1001 Control Panel 1002 Display

Claims

[Claim 1] a recognition unit that recognizes the type of drug; a storage tray for storing the medicine after recognition by the recognition unit; a dispensing mechanism that dispenses the medicine from the storage tray; a support tray supported by the dispensing mechanism; a control device that stores information associating the types of the medicines stored in the storage tray with their positions within the storage tray; Equipped with The dispensing mechanism includes: a fixing member that is three-dimensionally movable at least within the arrangement area of ​​the storage tray; an adsorption member held by the fixing member and adapted to adsorb the medicine stored in the storage tray; an elastic member interposed between the fixing member and the suction member; Equipped with the suction member can be elastically lifted relative to the fixing member by the elastic member, the dispensing mechanism moves the suction member above the support tray when suctioning the medicine with the suction member and dispensing the medicine from the storage tray based on the prescription data and the information; Drug sorting device.

Images