Automatic tablet counting and sorting device and method using artificial intelligence and articulated robot

Abstract

The present disclosure relates to an automatic tablet counting and sorting device and a method using artificial intelligence and an articulated robot. The automatic tablet counting and sorting device comprises a main body; a tablet placement unit; an articulated robot unit including multiple robot arms and an end effector, the articulated robot unit being configured to spread or move the tablets arranged on the tablet placement unit or clean an upper surface of the tablet placement unit; an image capturing unit configured to capture the tablet placement unit; an identification unit configured to count a number of the tablets based on an image captured by the image capturing unit and classify the tablets based on the image and database information through the artificial intelligence; and a tablet return unit including a tablet return passage which is arranged to be inclined with respect to the tablet placement unit.

Description

AUTOMATIC TABLET COUNTING AND SORTING DEVICE AND METHOD USING ARTIFICIAL INTELLIGENCE AND ARTICULATED ROBOT

[0001] The present disclosure relates to an automatic tablet counting and sorting device and method using artificial intelligence and an articulated robot, which can spread or move tablets placed on a tablet placement unit or easily clean an upper surface of the tablet placement unit through an articulated robot unit, accurately count the number of tablets by spreading the tablets so that the tablets do not overlap each other, and accurately classify the tablets based on images and data information through artificial intelligence, thereby increasing the accuracy of classification and enabling smart tablet classification.

[0002] Recently, the number of prescriptions has been steadily increasing due to the aging population, and the burden of labor costs is very high in increasing the number of pharmacists who prepare prescription drugs according to prescriptions. In addition, there is a risk of drug accidents due to pharmacists' compounding errors as there are many types of drugs that are difficult to distinguish with the naked eye.

[0003] The conventional 'tablet sorting system' is disclosed in Korea Patent No. 10-2563982 (registered on August 1, 2023).

[0004] According to the registered patent, the tablet sorting system includes a supply device 100 that supplies multiple tablets fed into a first hopper 110 by dropping the tablets while transporting the tablets from a lower side to an upper side, and an alignment device 200 that aligns the tablets supplied by dropping the tablets through the supply device 100 as illustrated in FIG. 18, a tablet determination device 300 that captures an image of the tablets and determines the tablets based on the captured tablet image as illustrated in FIG. 19, and a sorting device 400 that receives the determined tablets and sorts the tablets into a corresponding sorting compartment 431 based on information on the tablets as illustrated in FIG. 20.

[0005] However, the tablet sorting system according to the registered patent may cause cross-contamination of medications as fine drug powder gets stuck in a movement path while the tablets move along the movement path, and has a risk of damaging the tablets by dropping the tablets in a free-fall manner.

[0006] The tablet sorting system has many restrictions on installation space since it is a large and complex device, and has many limitations in cleaning since separate equipment and personnel are required to clean the device. Therefore, the tablet sorting system has difficulty maintaining the best possible cleanliness in drug-related devices, which must prioritize cleanliness, and also has a risk that contaminants, such as grease, from the device may be mixed into the drug.

[0007] An object of the present disclosure is to address the above-described and other problems. The present disclosure provides an automatic tablet counting and sorting device and method using artificial intelligence and an articulated robot, which can spread or move tablets placed on a tablet placement unit or easily clean an upper surface of the tablet placement unit through an articulated robot unit including an end effector replaceably provided at an end of robot arms, spread the inserted tablets so that the tablets do not overlap each other, accurately count the number of tablets based on captured images, and accurately classify the tablets based on images and data information through artificial intelligence to enable accurate classification even in the case of tablets that are difficult to distinguish with the naked eye, thereby increasing the accuracy of tablet classification and enabling smart tablet classification.

[0008] An automatic tablet counting and sorting device according to the present disclosure using artificial intelligence and an articulated robot comprises a main body; a tablet placement unit provided at the main body, tablets being arranged on an upper surface of the tablet placement unit; an articulated robot unit including multiple robot arms and an end effector replaceably provided at an end of the robot arms, the articulated robot unit being configured to spread or move the tablets arranged on the tablet placement unit or clean the upper surface of the tablet placement unit; an image capturing unit configured to capture the tablet placement unit; an identification unit configured to count a number of the tablets based on an image captured by the image capturing unit and classify the tablets based on the image and database information through the artificial intelligence; and a tablet return unit including a tablet return passage which is provided at a lower side of the tablet placement unit and is arranged to be inclined with respect to the tablet placement unit.

[0009] In some embodiments, a tablet separation prevention guide is provided at the tablet placement unit to prevent the tablets arranged on the upper surface of the tablet placement unit from falling to the outside.

[0010] In some embodiments, the end effector includes at least two of a swiper, a gripper, a vacuum, or a brush and is provided to be replaceable.

[0011] In some embodiments, the swiper includes a straight swiper body, and swiper wing portions respectively arranged at both ends of the swiper body so as to be inclined with respect to the swiper body.

[0012] In some embodiments, the swiper is elastically supported at the end of the robot arm.

[0013] In some embodiments, the swiper is provided to be able to move in zigzags with respect to the tablet placement unit, if necessary.

[0014] In some embodiments, the articulated robot unit includes a first robot arm provided to be movable in an up-down direction with respect to the tablet placement unit, a second robot arm provided to be rotatable with respect to the first robot arm, and a third robot arm provided to be rotatable with respect to the second robot arm and arranged so that at least two of a swiper, a gripper, a vacuum, or a brush are able to be replaced.

[0015] In some embodiments, the tablet return unit further includes a cover configured to open and close the tablet return passage, and a cover moving means configured to move the cover.

[0016] An automatic tablet counting and sorting method according to the present disclosure using artificial intelligence and an articulated robot comprises steps of (a) introducing tablets into a tablet placement unit; (b) moving an end effector in a space without the tablets by multiple robot arms to spread the tablets placed on an upper surface of the tablet placement unit; (c) capturing an image of the upper surface of the tablet placement unit and counting a number of the spread tablets based on the captured image; (d) determining whether the number of the tablets counted in the step (c) is less than a prescribed number of tablets; (e) if an answer to the step (d) is determined as "Yes", notifying an insufficient quantity and returning to the step (a); (f) if the answer to the step (d) is determined as "No", determining whether the counted number of tablets is greater than the prescribed number of tablets; (g) if an answer to the step (f) is determined as "Yes", calculating a difference between the counted number of tablets and the prescribed number of tablets to calculate a return number of tablets; (h) calculating a boundary line for returning the return number of tablets calculated in the step (g); and (i) discharging the return number of tablets to the first tablet return unit while the end effector moves from the boundary line calculated in the step (h) to a first tablet return unit by the multiple robot arms.

[0017] In some embodiments, the automatic tablet counting and sorting method further comprises steps of, after the step (i), (j) capturing an image of the upper surface of the tablet placement unit and counting a remaining number of tablets based on the captured image; (k) storing the image captured in the step (j); (l) discharging the remaining tablets to a second tablet return unit while the end effector moves by the multiple robot arms; and (m) if the answer to the step (f) is determined as "No" proceeding to the step (j).

[0018] In some embodiments, in the step (h), the boundary line is calculated by counting the tablets positioned closest to the first tablet return unit.

[0019] An automatic tablet counting and sorting method according to the present disclosure using artificial intelligence and an articulated robot, comprises steps of (a) introducing tablets into a tablet placement unit; (b) moving an end effector in a space without the tablets by multiple robot arms to spread the tablets placed on an upper surface of the tablet placement unit; (c) capturing an image of the upper surface of the tablet placement unit and counting a number of the spread tablets based on the captured image; (n) displaying the number of tablets counted in the step (c); (o) storing the image captured in the step (c); (p) discharging a return number of tablets to a first tablet return unit while the end effector moves by the multiple robot arms; (q) asking whether to continue; (r) if an answer to the step (q) is determined as "Yes", proceeding to the step (a); and (s) if the answer to the step (q) is determined as "No", displaying a number of cumulative counted tablets and terminating.

[0020] An automatic tablet counting and sorting device and method using artificial intelligence and an articulated robot according to the present disclosure have the following effects.

[0021] The automatic tablet counting and sorting device and method according to the present disclosure can spread or move tablets placed on a tablet placement unit or easily clean an upper surface of the tablet placement unit through an articulated robot unit including an end effector replaceably provided at an end of robot arms, and reduce the entire size of the device, thereby increasing space efficiency and work efficiency.

[0022] The automatic tablet counting and sorting device and method according to the present disclosure can also spread the introduced tablets so that the tablets do not overlap each other, accurately count the number of tablets based on captured images, and accurately classify the tablets based on images and data information through artificial intelligence to enable accurate classification even in the case of tablets that are difficult to distinguish with the naked eye, thereby increasing the accuracy of tablet classification to enable smart tablet classification and exactly providing the prescribed number of tablets. Hence, they can prevent medication accidents caused by pharmacists' compounding errors, reduce risks caused by medication prescription errors, and reduce risks caused by inventory quantity errors.

[0023] FIG. 1 is a front view, a perspective view, and a side view illustrating an automatic tablet counting and sorting device using artificial intelligence and an articulated robot according to an embodiment of the present disclosure.

[0024] FIG. 2 enlargedly illustrates an articulated robot unit of FIG. 1.

[0025] FIG. 3 enlargedly illustrates a swiper of FIG. 2.

[0026] FIG. 4 illustrates a form of a swiper according to the present disclosure.

[0027] FIG. 5 illustrates a structure in which a swiper according to the present disclosure is elastically supported.

[0028] FIG. 6 illustrates an embodiment of a movement direction of a swiper according to the present disclosure.

[0029] FIG. 7 illustrates a structure of a tablet return unit according to the present disclosure.

[0030] FIGS. 8 and 9 are perspective views illustrating an automatic tablet counting and sorting device using artificial intelligence and an articulated robot according to an embodiment of the present disclosure.

[0031] FIG. 10 illustrates am operation of a cover of FIG. 8.

[0032] FIGS. 11 to 13 illustrate other embodiments of a cover.

[0033] FIG. 14 illustrates a control system of an automatic tablet counting and sorting device using artificial intelligence and an articulated robot according to an embodiment of the present disclosure.

[0034] FIG. 15 and FIG. 17 are flowcharts illustrating an automatic tablet counting and sorting method using artificial intelligence and an articulated robot according to an embodiment of the present disclosure.

[0035] FIG. 16 illustrates an embodiment of a boundary line calculated in an automatic tablet counting and sorting method using artificial intelligence and an articulated robot according to an embodiment of the present disclosure.

[0036] FIGS. 18 to 20 are perspective views illustrating a conventional tablet sorting system.

[0037] Hereinafter, preferred embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. Before describing the embodiments, the terms or words used in the present disclosure and claims should not be interpreted as limited to their usual or dictionary meanings, and should be interpreted as meanings and concepts that conform to the technical idea of the present disclosure based on the principle that the inventors can appropriately define the concept of the term in order to explain their own invention in the best possible way.

[0038] Accordingly, the embodiments described in the present disclosure and the configurations illustrated in the drawings are only the most preferred embodiments of the present disclosure and do not represent all the technical ideas of the present disclosure, so it should be understood that there may be various equivalents and modified examples that can replace them at the time of this application.

[0039] An automatic tablet counting and sorting device using artificial intelligence and an articulated robot according to an embodiment of the present disclosure is illustrated in FIG. 1.

[0040] As illustrated in FIG. 1, an automatic tablet counting and sorting device using artificial intelligence and an articulated robot according to an embodiment of the present disclosure includes a main body 100, a tablet placement unit 200, an articulated robot unit 300, an image capturing unit (not shown), an identification unit (not shown), and a tablet return unit 500.

[0041] A display unit 110 that displays information on the number of counted tablets, etc. may be provided on a front surface of the main body 100.

[0042] The tablet placement unit 200 may be provided in the form of a plate on the main body 100 so that tablets can be arranged on an upper surface of the tablet placement unit 200.

[0043] It is preferable that the articulated robot unit 300 is arranged on an upper side of the tablet placement unit 200 and includes a plurality of robot arms and an end effector that is replaceably provided at an end of each of the robot arms. An embodiment of the articulated robot unit 300, as illustrated in FIG. 2, may include a first robot arm 310, a second robot arm 320, and a third robot arm 330. It is preferable that the first robot arm 310 is provided to be able to move up and down with respect to the tablet placement unit 200. To this end, in the present embodiment, a support post 340 is installed on the upper surface of the tablet placement unit 200. Further, a slide hole 341 is formed to elongate in the support post 340 along an up-down direction of the main body 100, and a part of the first robot arm 310 is installed so as to be movable along the slide hole 341. Hence, the first robot arm 310 is provided so as to be movable in the up-down direction with respect to the tablet placement unit 200. The second robot arm 320 is provided so as to be rotatable with respect to the first robot arm 310, and the third robot arm 330 is provided so as to be rotatable with respect to the second robot arm 320. Although the articulated robot unit 300 in the present embodiment is illustrated and described as including the three robot arms 310, 320, and 330, the number and shape of the robot arms may be changed and implemented based on embodiments. In addition, the present embodiment illustrates and describes that two articulated robot units 300 are respectively arranged on two sides of the tablet placement unit 200, but the number and position of the articulated robot units 300 may be changed based on embodiments.

[0044] An end effector is provided at an end of the third robot arm 330. The end effector may include at least two of a swiper 350, a gripper, a vacuum, or a brush and may be provided so that they can be replaced. The end effector may be replaced manually, but may also be automatically replaced by a robot, or the like. Using the end effector, tablets placed on the upper surface of the tablet placement unit 200 can be spread or moved, or the upper surface of the tablet placement unit 200 can be cleaned.

[0045] As an example of the end effector, the swiper 350 is illustrated in FIG. 3. As illustrated in FIG. 3, it is preferable that the swiper 350 according to the present embodiment includes a straight swiper body 351 and swiper wing portions 353 at both ends of the swiper body 351. The swiper wing portions 353 are respectively arranged at both ends of the swiper body 351 so as to be inclined with respect to the swiper body 351, and thus the swiper 350 has a shape as illustrated in FIG. 4. As described above, as both end portions of the swiper 350 are designed to be angled, the tablets can be prevented from falling to both sides of the swiper 350 during a swiping process.

[0046] As illustrated in FIG. 5, it is preferable that the swiper 350 is elastically supported at the end 330 of the robot arms 310, 320, and 330. In the present embodiment, the swiper 350 is elastically supported by an elastic means 360, such as a spring, on the third robot arm 330. As described above, as the swiper 350 is elastically supported at the end 330 of the robot arms 310, 320, and 330, even if the swiper 350 partially passes over the tablets or the tablet placement unit 200, the swiper 350 can prevent damage by providing a cushioning effect in the up-down direction of the main body 100. In addition, the swiper 350 is designed so that its cross-sectional area decreases as the swiper 350 goes from top to bottom, thereby minimizing the area in contact with the tablet placement unit 200 and reducing a friction with the tablet placement unit 200.

[0047] Furthermore, as illustrated in FIG. 6, it is preferable that the swiper 350 is provided to move in zigzags along the movement direction, if necessary. During the swiping process, the tablets may fall to both sides of the swiper 350. This can be monitored by a vision camera or the like. If there is a risk that the tablets will fall to both sides of the swiper 350, the swiper 350 may move in zigzags along the movement direction.

[0048] The image capturing unit is provided on the main body 100 to capture images of the upper surface of the tablet placement unit 200, and may be a camera or the like.

[0049] The identification unit counts the number of tablets based on the images captured by the image capturing unit and classifies the tablets based on the images and database information using artificial intelligence.

[0050] As illustrated in FIG. 7, the tablet return unit 500 includes a tablet return passage 510 provided at a lower side of the tablet placement unit 200. It is preferable that the tablet return passage 510 is arranged to be inclined with respect to the tablet placement unit 200 so that the tablets moving along the tablet return passage 510 are not damaged. In the present embodiment, the tablet return passage 510 is inclined so as to be arranged inward as it goes downward from the tablet placement unit 200. A storage container 520 may be provided at an end of the tablet return passage 510 to accommodate the tablets moving along the tablet return passage 510. A front surface of the storage container 520 is exposed to the front surface of the main body 100, and the storage container 520 includes a handle or the like. Hence, the tablets accommodated in the storage container 520 can be taken out by pulling the storage container 520 forward. In the present embodiment, the tablet return units 500 are respectively provided on both sides of the tablet placement unit 200. The present embodiment illustrates and describes that two tablet return units 500 are provided, but the number and arrangement of the tablet return units 500 may vary depending on embodiments.

[0051] As illustrated in FIG. 8, it is preferable that the tablet return unit 500 further includes a cover 530 and a cover moving means (not shown) that automatically moves the cover 530. As illustrated in FIGS. 8 and 9, the cover 530 moves in a horizontally sliding manner with respect to the tablet placement unit 200 to open and close the tablet return passage 510.

[0052] It is preferable that the tablet placement unit 200 includes tablet separation prevention guides 210 and 220 to prevent the tablets placed on the upper surface of the tablet placement unit 200 from falling to the outside. It is preferable that the tablet separation prevention guides 210 and 220 are provided along the edge of the tablet placement unit 200. In the present embodiment, the tablet separation prevention guides 210 are respectively provided along a front side and a rear side of the tablet placement unit 200, and the tablet separation prevention guides 220 provided along both sides of the tablet placement unit 200 are provided on the cover 530. In addition, it is preferable that an inner surface 210a of each of the tablet separation prevention guides 210 provided along the front side and rear side of the tablet placement unit 200 is formed as an inclined surface that is inclined so that inner surface 210a widens outward as it goes from the bottom to the top. As above, a space 200a surrounded by the tablet separation prevention guides 210 and 220 is formed on the upper surface of the tablet placement unit 200. The tablets are introduced into the space 200a. Since the inner surface 210a of the tablet detachment prevention guide 210 is formed as the inclined surface, when the introduced tablet touches the inclined surface 210a, the tablet may be introduced into the space 200a along the inclined surface 210a.

[0053] As an embodiment in which covers 530, 540, 550, and 560 open and closes the tablet return passage 510, the present disclosure presents the following four embodiments.

[0054] First, as illustrated in FIG. 10, the cover 530 may be provided so as to be movable in a horizontally sliding manner with respect to the tablet placement unit 200. If the cover 530 is provided as above, when the cover 530 slidably moves horizontally to the left in the drawing as illustrated in (a) of FIG. 10, the tablet return passage 510 is closed, and when the cover 530 slidably moves horizontally to the right in the drawing as illustrated in (b) of FIG. 10, the tablet return passage 510 is opened. In this embodiment, the tablet separation prevention guide 220 arranged on an upper part of the tablet placement unit 200 is provided on one side of the cover 530. The tablet separation prevention guide 220 may protrude vertically upward along one side of the cover 530, and a reinforcing rib 221 supporting one surface of the tablet separation prevention guide 220 may be provided on one side of the tablet separation prevention guide 220.

[0055] Next, as illustrated in FIG. 11, the cover 540 may be provided so as to be movable in a vertically sliding manner with respect to the tablet placement unit 200. If the cover 540 is provided as above, as illustrated in (a) of FIG. 11, when the cover 540 moves upward in a vertically sliding manner in the drawing and is arranged on the upper part of the tablet placement unit 200, the tablet placed on the upper surface of the tablet placement unit 200 cannot be discharged into the tablet return passage 510, and thus the tablet return passage 510 is closed. Further, as illustrated in (b) of FIG. 11, when the cover 540 moves downward in a vertically sliding manner in the drawing and is arranged on a lower part of the tablet placement unit 200, the tablet placed on the upper surface of the tablet placement unit 200 can be discharged into the tablet return passage 510, and thus the tablet return passage 510 is opened.

[0056] Next, as illustrated in FIG. 12, the cover 550 may be provided so that one side of the cover 550 is hinged. That is, one side of the cover 550 may be hinge-coupled to the tablet placement unit 200. If the cover 550 is provided as above, as illustrated in (a) of FIG. 12, when the cover 550 rotates counterclockwise in the drawing, the cover 550 is arranged parallel to the upper surface of the tablet placement unit 200, and thus the tablet return passage 510 is closed. Further, as illustrated in (b) of FIG. 12, when the cover 530 rotates clockwise in the drawing, one side of the cover 530 is arranged to be spaced apart from the upper surface of the tablet placement unit 200, and thus the tablet return passage 510 is opened.

[0057] Next, as illustrated in FIG. 13, the cover 560 may be provided so that one side of the cover 560 is hinged. That is, one side of the cover 560 may be arranged on the upper surface of the tablet placement unit 200 and hinge-coupled to the tablet placement unit 200. If the cover 560 is provided as above, as illustrated in (a) of FIG. 13, when the cover 560 rotates counterclockwise in the drawing, an end of the cover 560 is in contact with the tablet placement unit 200, and thus the tablets placed on the upper surface of the tablet placement unit 200 cannot be discharged into the tablet return passage 510, and the tablet return passage 510 is closed. Further, as illustrated in (b) of FIG. 13, when the cover 560 rotates clockwise in the drawing, the end of the cover 560 is spaced apart from the tablet placement unit 200, and thus the tablets placed on the upper surface of the tablet placement unit 200 can be discharged into the tablet return passage 510, and the tablet return passage 510 is opened.

[0058] FIG. 14 illustrates a control system of an automatic tablet counting and sorting device using artificial intelligence and an articulated robot according to an embodiment of the present disclosure. As illustrated in FIG. 14, a control system of an automatic tablet counting and sorting device using artificial intelligence and an articulated robot according to an embodiment of the present disclosure includes an input / output unit including an image capturing unit and a display unit 110, an identification unit including an artificial intelligence model and a tablet verification algorithm, a robot driving unit including a plurality of robot arms and an end effector and a robot control algorithm, a user operation unit including a tablet placement unit and a tablet return unit 500, and main software connecting them. The main software is connected to a database server by a communication unit.

[0059] An automatic tablet counting and sorting method using artificial intelligence and an articulated robot according to an embodiment of the present disclosure is illustrated in FIG. 15 and FIG. 17.

[0060] Referring to FIG. 15, first, multiple tablets are introduced into the tablet placement unit 200 (step (a)).

[0061] Next, the counting and sorting method moves an end effector in a space, in which there is no tablet, to spread the tablets placed on the upper surface of the tablet placement unit 200 (step (b)). In this instance, the swiper 350 may be used as the end effector, and the swiper 350 rotates or linearly moves on the upper surface of the tablet placement unit 200 to spread the tablets. Before the end effector 350 moves to the empty space without the tablet, an image capturing unit may capture an image of the upper surface of the tablet placement unit 200 to check a distribution position of the tablets. The counting and sorting method may determine the position of the empty space without the tablet based on the captured image.

[0062] Next, the counting and sorting method captures an image of the upper surface of the tablet placement unit 200 using the image capturing unit and counts the number of spread tablets based on the captured image (step (c)).

[0063] Next, the counting and sorting method determines whether the number of tablets counted in the step (c) is less than the prescribed number of tablets (step (d)).

[0064] If an answer to the step (d) is determined as "Yes", the counting and sorting method notifies the display unit 110 of an insufficient quantity and returns to the step (a) (step (e)).

[0065] If the answer to the step (d) is determined as "No", the counting and sorting method determines whether the counted number of tablets is greater than the prescribed number of tablets (step (f)).

[0066] If an answer to the step (f) is determined as "Yes", the counting and sorting method calculates a difference between the counted number of tablets and the prescribed number of tablets to calculate the return number of tablets (step (g)).

[0067] Next, the counting and sorting method calculates a boundary line for returning the return number of tablets calculated in the step (g) (step (h)). If tablet return units 500a and 500b are respectively provided on both sides of the tablet placement unit 200 as illustrated in FIG. 16, a first tablet return unit 500a arranged on the left in the drawing may be a tablet return unit, and a second tablet return unit 500b arranged on the right in the drawing may be a tablet storage unit. In the step (g), the counting and sorting method may calculate the boundary line by counting tablets positioned closest to the first tablet return unit 500a as illustrated in FIG. 16. For example, if the number of tablets placed on the upper surface of the tablet placement unit 200 is counted as 13 and the prescribed number of tablets is 10, the return number of tablets may be calculated as 3 in the step (g). In this case, the boundary line may be calculated as illustrated in (a), (b), and (c) of FIG. 16.

[0068] Next, the counting and sorting method moves the end effector 350 from the boundary line calculated in the step (g) to the first tablet return unit 500a and discharges the return number of tablets to the first tablet return unit 500a (step (i)).

[0069] Next, the counting and sorting method captures an image of the upper surface of the tablet placement unit 200 and counts the remaining number of tablets based on the captured image (step (j)).

[0070] Next, the counting and sorting method stores the image captured in the step (j) after final check (step (k)).

[0071] Next, the counting and sorting method discharges the remaining tablets to the second tablet return unit 500b illustrated in FIG. 16 by moving the end effector 350 by multiple robot arms 310, 320, and 330 (step (l)).

[0072] If the answer to the step (f) is determined as "No" the counting and sorting method proceeds to the step (j) (step (m)).

[0073] Referring to FIG. 17, if a user selects a cumulative counting function, the process may proceed as follows.

[0074] First, multiple tablets are introduced into the tablet placement unit 200 (step (a)).

[0075] Next, the counting and sorting method moves the end effector 350 in a space, in which there is no tablet, to spread the tablets placed on the upper surface of the tablet placement unit 200 (step (b)).

[0076] Next, the counting and sorting method captures an image of the upper surface of the tablet placement unit 200 using the image capturing unit and counts the number of spread tablets based on the captured image (step (c)).

[0077] Next, the counting and sorting method displays the number of tablets counted in the step (c) on the display unit 110 (step (n)).

[0078] Next, the counting and sorting method stores the image captured in the step (c) in tablet inventory data (step (o)).

[0079] Next, the counting and sorting method discharges the return number of tablets to the first tablet return unit 500a while the end effector 350 moves by the multiple robot arms 310, 320, and 330 (step (p)).

[0080] Next, the counting and sorting method asks whether to continue (step (q)).

[0081] If an answer to the step (q) is determined as "Yes", the counting and sorting method proceeds to the step (a) (step (r)).

[0082] If the answer to the step (q) is determined as "No", the counting and sorting method displays the number of cumulative counted tablets, stores the captured image in the tablet inventory data, and terminates (step (s)).

[0083] An automatic tablet counting and sorting device and method using artificial intelligence and an articulated robot according to the present disclosure have the following effects.

[0084] The automatic tablet counting and sorting device and method according to the present disclosure can spread or move tablets placed on the tablet placement unit 200 or easily clean the upper surface of the tablet placement unit 200 through the articulated robot unit 350 including the end effector 350 replaceably provided at the end 330 of the robot arms 310, 320, and 330, and reduce the entire size of the device, thereby increasing space efficiency and work efficiency.

[0085] The automatic tablet counting and sorting device and method according to the present disclosure can also spread the introduced tablets so that the tablets do not overlap each other, accurately count the number of tablets based on the captured images, and accurately classify the tablets based on the images and data information through artificial intelligence to enable accurate classification even in the case of tablets that are difficult to distinguish with the naked eye, thereby increasing the accuracy of tablet classification to enable smart tablet classification and exactly providing the prescribed number of tablets. Hence, they can prevent medication accidents caused by pharmacists' compounding errors, reduce risks caused by medication prescription errors, and reduce risks caused by inventory quantity errors.

[0086] As described above, although the present disclosure has been described by limited embodiments and drawings, the present disclosure is not limited thereto. Various modifications and variations are possible within the scope of the technical idea of the present disclosure and the equivalent scope of the claims described below by a person having ordinary skill in the art to which the present disclosure pertains.

[0087] [Description of Reference Numerals]

[0088] 100: main body 200: tablet placement unit

[0089] 210, 220: tablet separation prevention guide

[0090] 300: articulated robot unit 310: first robot arm

[0091] 320: second robot arm 330: third robot arm

[0092] 350: swiper 351: swiper body

[0093] 353: swiper wing portion 500: tablet return unit

[0094] 510: tablet return passage 530, 540, 550, 560: cover

Claims

1.An automatic tablet counting and sorting device using artificial intelligence and an articulated robot, comprising:a main body;a tablet placement unit provided at the main body, tablets being arranged on an upper surface of the tablet placement unit;an articulated robot unit including multiple robot arms and an end effector replaceably provided at an end of the robot arms, the articulated robot unit being configured to spread or move the tablets arranged on the tablet placement unit or clean the upper surface of the tablet placement unit;an image capturing unit configured to capture the tablet placement unit;an identification unit configured to count a number of the tablets based on an image captured by the image capturing unit and classify the tablets based on the image and database information through the artificial intelligence; anda tablet return unit including a tablet return passage which is provided at a lower side of the tablet placement unit and is arranged to be inclined with respect to the tablet placement unit.2.The automatic tablet counting and sorting device of claim 1, wherein a tablet separation prevention guide is provided at the tablet placement unit to prevent the tablets arranged on the upper surface of the tablet placement unit from falling to the outside.3.The automatic tablet counting and sorting device of claim 1, wherein the end effector includes at least two of a swiper, a gripper, a vacuum, or a brush and is provided to be replaceable.4.The automatic tablet counting and sorting device of claim 3, wherein the swiper includes:a straight swiper body; andswiper wing portions respectively arranged at both ends of the swiper body so as to be inclined with respect to the swiper body.5.The automatic tablet counting and sorting device of claim 3, wherein the swiper is elastically supported at the end of the robot arm.6.The automatic tablet counting and sorting device of claim 3, wherein the swiper is provided to be able to move in zigzags with respect to the tablet placement unit, if necessary.7.The automatic tablet counting and sorting device of claim 1, wherein the articulated robot unit includes:a first robot arm provided to be movable in an up-down direction with respect to the tablet placement unit;a second robot arm provided to be rotatable with respect to the first robot arm; anda third robot arm provided to be rotatable with respect to the second robot arm and arranged so that at least two of a swiper, a gripper, a vacuum, or a brush are able to be replaced.8.The automatic tablet counting and sorting device of claim 1, wherein the tablet return unit further includes:a cover configured to open and close the tablet return passage; anda cover moving means configured to move the cover.9.An automatic tablet counting and sorting method using artificial intelligence and an articulated robot, comprising steps of:(a) introducing tablets into a tablet placement unit;(b) moving an end effector in a space without the tablets by multiple robot arms to spread the tablets placed on an upper surface of the tablet placement unit;(c) capturing an image of the upper surface of the tablet placement unit and counting a number of the spread tablets based on the captured image;(d) determining whether the number of the tablets counted in the step (c) is less than a prescribed number of tablets;(e) if an answer to the step (d) is determined as "Yes", notifying an insufficient quantity and returning to the step (a);(f) if the answer to the step (d) is determined as "No", determining whether the counted number of tablets is greater than the prescribed number of tablets;(g) if an answer to the step (f) is determined as "Yes", calculating a difference between the counted number of tablets and the prescribed number of tablets to calculate a return number of tablets;(h) calculating a boundary line for returning the return number of tablets calculated in the step (g); and(i) discharging the return number of tablets to the first tablet return unit while the end effector moves from the boundary line calculated in the step (h) to a first tablet return unit by the multiple robot arms.10.The automatic tablet counting and sorting method of claim 9, further comprising steps of, after the step (i):(j) capturing an image of the upper surface of the tablet placement unit and counting a remaining number of tablets based on the captured image;(k) storing the image captured in the step (j);(l) discharging the remaining tablets to a second tablet return unit while the end effector moves by the multiple robot arms; and(m) if the answer to the step (f) is determined as "No" proceeding to the step (j).11.The automatic tablet counting and sorting method of claim 9, wherein in the step (h), the boundary line is calculated by counting the tablets positioned closest to the first tablet return unit.12.An automatic tablet counting and sorting method using artificial intelligence and an articulated robot, comprising steps of:(a) introducing tablets into a tablet placement unit;(b) moving an end effector in a space without the tablets by multiple robot arms to spread the tablets placed on an upper surface of the tablet placement unit;(c) capturing an image of the upper surface of the tablet placement unit and counting a number of the spread tablets based on the captured image;(n) displaying the number of tablets counted in the step (c);(o) storing the image captured in the step (c);(p) discharging a return number of tablets to a first tablet return unit while the end effector moves by the multiple robot arms;(q) asking whether to continue;(r) if an answer to the step (q) is determined as "Yes", proceeding to the step (a); and(s) if the answer to the step (q) is determined as "No", displaying a number of cumulative counted tablets and terminating.

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