JP6155149B2 - Picking drug identification system suitable for drug picking inspection etc. - Google Patents

Description

  The present invention relates to a picking drug specifying system suitable for a drug picking inspection or the like for inspecting or auditing whether drug picking has been correctly performed according to a prescription in a dispensing pharmacy or the like.

  2. Description of the Related Art Conventionally, in a dispensing pharmacy or the like, a drug picking inspection system for inspecting or auditing whether drug picking has been correctly performed according to a prescription has been proposed. For example, in Patent Document 1, after a pharmacist picks a medicine, an inspector takes out a PTP sheet containing the picked medicine, and captures and recognizes a printing surface on which the barcode of the PTP sheet is described. A system has been proposed in which the name or ID of a drug on the PTP sheet is acquired, and whether or not the picked drug matches the prescription content to prevent dispensing errors.

JP 2004-167158 A

  However, in the system for preventing dispensing mistakes proposed by the above-mentioned Patent Document 1, after the pharmacist picks the medicine, the inspector picks up a plurality of PTP sheets picked up one by one and displays the barcode or the like. Since the image is recognized and the image is recognized, waiting time until the patient receives the dispensed medicine is required after the picking operation by the pharmacist, and extra time and time such as reading of the printed surface of the PTP sheet and image recognition are required. However, there is a problem that a lot of cost is required for providing a reading device for a printing surface of a PTP sheet and an image recognition processing device for obtaining a medicine name from the read image. Further, such a problem is present not only in a system for preventing dispensing mistakes but also in a system for investigating the cause of dispensing mistakes after the dispensing mistakes are found.

  Furthermore, conventionally, when a pharmacist tries to pick a medicine from a storage unit (storage box) in a storage shelf, the name of the drug or the name of the drug is determined by looking at the characters on the printed surface of the PTP sheet taken out from each storage unit. Since there was no choice but to confirm the contents etc., the pharmacist would like to know in advance (or at the same time as picking) detailed related information such as the efficacy, side effects, corresponding generic products, or stock quantity of the medicine in the containment section to be handed out. There was a problem that it was not easy to know in parallel).

  The present invention has been made paying attention to such problems of the prior art, and the medicine picked by the operator can be reduced in cost only by a simple configuration without increasing the waiting time of patients and the like. An object of the present invention is to provide a picking drug specifying system suitable for drug picking inspection and the like that can be specified. In addition, the present invention provides a picking drug identification that enables an operator to easily know in advance or concurrently in detail related information such as efficacy, side effects, corresponding generic products, or stock quantity of drugs to be picked. The purpose is to provide a system.

  The picking medicine specifying system according to the present invention for solving the above-described problem is a storage shelf in which storage units for storing a plurality of types or brands of drugs by type or brand are arranged in the vertical and horizontal directions. (Including a combination of a plurality of storage shelves), a mounting container on which one or a plurality of medicines taken out from the storage unit in the storage shelf are mounted, and each storage in the storage shelf A storage unit that records three-dimensional position data for each unit and records each storage unit in the storage shelf or its three-dimensional position data and identification data of a medicine stored in each storage unit in association with each other The medicine recording means, at least the operator's hand in front of the storage shelf, the distance image acquiring means for acquiring the above-mentioned storage containers and the distance images of the surroundings thereof, the distance image from the distance image acquiring means, and the Based on the three-dimensional position data of each storage unit recorded in the storage unit versus medicine recording unit, a storage unit specifying unit that specifies a storage unit that the operator's hand has approached or entered, and a distance image acquisition unit from Based on the distance image, an approach detection means for detecting that an operator's hand has approached or intruded into or near the storage container described above, a signal from the approach detection means, and from the container specifying means Based on the data related to the specified storage unit and the identification data of the drug recorded in the storage unit versus drug recording means, the operator takes out the drug from the storage unit in the storage shelf and places it in the mounting container And taking-out medicine data acquisition means for acquiring data relating to the taken-out medicine.

  Further, in the picking drug specifying system according to the present invention, when the taken-out drug data acquisition means detects that the operator's hand approaches or enters into the placement container or the vicinity thereof by the approach detection means, Data relating to the medicine corresponding to the storage part that the operator's hand has approached or entered before the detected time point is acquired as data relating to the medicine taken out of the storage part and placed in the mounting container. There may be.

  Further, in the picking drug specifying system according to the present invention, when the approach detection means detects that the operator's hand approaches or enters the placement container or the vicinity thereof, the time point of the detection When the operator's hand has not approached or entered any of the accommodating parts within a predetermined time before and when the operator's hand has approached or entered any of the accommodating parts after the time of the detection, Provided is a return medicine data acquisition means for acquiring data relating to a medicine corresponding to a storage part that the operator's hand has approached or entered after the time of detection as data relating to a medicine returned from the placement container to the storage part. It is desirable.

  In the picking medicine specifying system according to the present invention, when an operator takes a medicine out of the placement container and approaches his / her hand to the container to return the medicine to the container, the medicine to be taken out until then is taken. One or a plurality of containers that have been identified and acquired by the data acquisition means, and one or a plurality of drugs that have been taken out of the containers and placed in a mounting container. A comparison means for comparing the identification data of the above and the identification data of the container in which the operator approaches his / her hand so as to return the medicine taken out from the container described above, or the medicine to be contained therein, As a result, a warning output means for outputting a predetermined warning by a screen, sound, light, or the like may be provided when the identification data of both containers or medicines do not match. The comparison means and the warning means described below are described in the following “the placement container image obtained from the imaging means is compared with the placement container image obtained before or after the placement container image. In the case of the invention including the “in-container change detecting means for detecting that there is a change in the inner image”, the invention can be similarly applied.

  In addition, the picking medicine specifying system suitable for the medicine picking inspection or the like according to the present invention is a storage shelf in which storage units each storing a plurality of types or brands of drugs by type or brand are arranged in the vertical and horizontal directions ( Including a combination of a plurality of storage shelves), a substantially bowl-like or box-like mounting container on which one or a plurality of medicines taken out from the storage section in the storage shelf are placed, and the storage A storage unit-to-drug recording unit that records the three-dimensional position data of each storage unit in the shelf and the identification data of the drug stored in each storage unit in association with each other, and at least the work in front of the storage shelf A distance image acquisition means for acquiring a distance image of a person's hand, an imaging means for acquiring a visible light or infrared image of at least the placement container, a distance image from the distance image acquisition means, and the storage unit versus medicine Based on the three-dimensional position data recorded in the means, the accommodating portion having the three-dimensional position corresponding to the three-dimensional position of the worker's hand is identified as the accommodating portion in which the operator's hand is opposed or extended. There was a change in the in-container image by comparing the in-container image acquired this time from the storage unit specifying unit and the imaging unit with the in-container image acquired before or after that In-container change detecting means for detecting the in-container change signal, the signal from the in-container change detecting means, the data related to the specified storage part from the storage part specifying means, and the medicine recorded in the storage part-to-drug recording means Based on the identification data, an operator took out the medicine from the storage unit in the storage shelf and placed it in a loading container, and withdrawn medicine data acquisition means for acquiring data relating to the extracted medicine With features Is shall.

  In addition, the picking medicine specifying system according to the present invention includes a storage shelf (a combination of a plurality of storage shelves in which a plurality of kinds or brands of medicines are arranged in the vertical and horizontal directions, each containing a plurality of kinds or brands of medicines. Each of the storage units in the storage shelf, and a substantially bowl or box-shaped mounting container on which one or a plurality of medicines taken out from the storage unit in the storage shelf are mounted. Storage unit-to-medicine recording means for recording three-dimensional position data and identification data of drugs stored in each storage unit in association with each other, and at least the hand of the operator and the above-described device in front of the storage shelf Based on the distance image acquisition means for acquiring the distance image of the container, the distance image from the distance image acquisition means, and the three-dimensional position data recorded in the storage unit versus medicine recording means, the three-dimensional Corresponding to the position A storage unit specifying unit that specifies a storage unit having a three-dimensional position as a storage unit facing or extending the operator's hand, and the previous image in the mounting container acquired from the distance image acquisition unit and the front thereof Alternatively, the in-container change detecting means for detecting that there has been a change in the in-container image by comparing with the in-container image acquired later, the signal from the in-container change detecting means, and the accommodation Based on the data related to the specified storage unit from the unit specifying unit and the identification data of the drug recorded in the storage unit versus drug recording unit, the operator takes out the drug from the storage unit in the storage shelf and mounts it. And a taken-out medicine data obtaining means for obtaining data concerning placing in the placing container and the taken-out medicine.

  Further, in the picking medicine specifying system according to the present invention, the in-container change detecting means includes the in-container image acquired this time (hereinafter referred to as “current image”) and the in-container container acquired immediately before. Compared with the image, it is to detect that the number, area or volume of the medicine in the placement container is reduced, and the taken-out medicine data acquisition means is the reduced from the in-container change detection means A signal indicating that, and "a storage unit that is identified from the distance image of the operator's hand acquired by the distance image acquisition unit after the current image is acquired and facing or extending the operator's hand" Based on the data and the drug identification data recorded in the storage unit vs. drug recording means, the operator picks up one or more drugs from the storage container and returns them to the storage unit in the storage shelf. And said It may be configured to obtain data relating to the drug.

  Further, in the picking medicine specifying system according to the present invention, the container specifying unit specifies and distinguishes a plurality of workers' hands from each other based on the distance image from the distance image acquiring unit, and specifies the distinguishing and identifying each other. Based on the respective three-dimensional positions of the hands of the plurality of workers, the storage portions in the storage shelf are specified by distinguishing each storage portion where the hands of the plurality of workers face each other or extend. Good.

  Further, in the picking drug specifying system according to the present invention, the in-container change detecting means is configured to detect the in-mounting container based on the images in the plural mounting containers having different colors or shapes. The change of the image is detected separately from each other. Further, the identification data of each mounting container having different characteristics such as color or shape and the identification of each worker picked using each mounting container. Container-to-worker recording means for recording data in association with each other may be provided.

  In the picking drug specifying system according to the present invention, the identification data of each drug recorded in the storage unit vs. drug recording means and the related information such as the efficacy and the quantity of the drug are recorded in association with each other. The storage unit or medicine recording means is configured to record the identification data of each medicine and related information such as the efficacy and stock quantity of the medicine in association with each other, Display means arranged in the vicinity, data of the storage part specified by the storage part specifying means or drug data specified by the extracted medicine data acquisition means, and the other recording means or the storage part vs. drug record And related information acquisition means for acquiring related information of a medicine corresponding to the storage unit facing or extended by the operator's hand, based on the related information recorded in the means, and the related information Display control means for displaying the related information acquired in said display means by resulting unit may include a.

  In the present invention, the operator's hand, placement container and their surrounding distance images (two-dimensional data having the value of the distance from the sensor to the object) are acquired, and the operator's hand and the surrounding distance are obtained. The container where the operator's hand approaches or enters based on the image is specified, and the operator's hand is placed in or near the mounting container based on the operator's hand, the mounting container and the surrounding distance image. When it is detected that an approach or intrusion has occurred, the taken-out medicine data acquisition means obtains data related to the medicine corresponding to the storage part that the operator's hand has approached or entered from the storage part in the storage shelf. Since it is specified and acquired as data related to the medicine taken out and placed in the loading container, the medicine picked by the operator for dispensing etc. can be simplified without increasing the waiting time of the patient etc. Low only in configuration The strike, it is possible to identify.

  Further, in the present invention, when it is detected that the operator's hand approaches or enters the placement container or the vicinity thereof, the operator's hand is within a predetermined time before the detection time. If the operator's hand has approached or entered any container after the time of the detection, the return medicine data acquisition means may detect the detection. Since the data related to the medicine corresponding to the container that the operator's hand approached or entered after the time point is specified and acquired as the data related to the medicine returned from the placement container to the container, the drug picking Inspection (inspection of dispensing errors) and investigation of the cause of dispensing errors can be performed with higher accuracy.

  Further, in the present invention, when the operator takes out the medicine from any of the storage sections in the storage shelf and places it in the placement container (releases the hand from the medicine), the taken-out medicine data acquisition means Since the identification data such as the brand of the medicine taken out from the container or the container taken out by the worker and placed in the placement container is obtained, the worker then removes the medicine from the placement container. In the case of taking out and returning to the container, the data of the container to be returned or the medicine to be stored in the container has been acquired by the extracted drug data acquisition means so far It differs from the data of the container or drug (one or more containers that the operator has previously approached or entered for picking, or one or more drugs removed from the container). When that happens Since so as to output a warning, the mistakes destination (receiving portion) back when the back of the drug from the mounting 置容 device into the receiving portion can be prevented.

  In the present invention, the three-dimensional position of each storage unit in the storage shelf is recorded in advance, and the image (distance image, visible light image, or infrared image) in the mounting container is detected by the in-container change detection means. When it is detected that there has been a change, that is, the number, area, or volume of the medicine in the mounting container has increased or decreased, the three-dimensional position of the operator's hand obtained from the distance image acquired by the distance image acquisition means The container having the corresponding three-dimensional position is identified as “the container in which the worker's hand has been stretched and the contents of the medicine taken out” (or “the container in which the medicine has been returned after being picked”). The medicine accommodated in the identified accommodation section is specified as “picked medicine” (or “medicine returned after being picked”). Therefore, according to the present invention, a medicine picked by an operator can be used without a waiting time for a patient or the like, and a simple distance image acquisition unit (in recent years, an inexpensive distance image sensor is commercially available). It becomes possible to specify at low cost only by the configuration.

  In particular, detection of a change in the image in the placement container (increase or decrease in the number, area, or volume of the medicine in the placement container) by the in-container change detection means is performed based on the distance image of the placement container. When doing so, the acquisition of the image in the placement container and the acquisition of the three-dimensional position of the worker's hand are obtained by one distance image acquisition means (the distance image of the “worker's hand and the placement container” is acquired. The distance image acquisition means), it becomes unnecessary to provide an image pickup means for acquiring a visible light or infrared image of the mounting container separately from the distance image acquisition means, and the entire apparatus is more inexpensive. become able to.

  Further, in the present invention, the information indicating that the number, area, or volume of the medicine in the placement container has decreased by the in-container change detection means, and the operator's hand acquired after the number, etc. has decreased. When the worker identifies the previous container and the medicine returned from the loading container (for example, by recognizing a mistake in picking that has already been performed) from the distance image of Since it is possible to specify that the medicine has been picked up from the loading container and returned to the predetermined storage section in the storage shelf, and the returned medicine can be specified, the inspection of the medicine picking (inspection of dispensing mistake) and the cause investigation of the dispensing mistake Etc. can be performed with higher accuracy.

  In the present invention, when there are a plurality of placement containers in an image (distance image, visible light image, or infrared image), the in-container change detection means When changes are detected by distinguishing them from each other corresponding to different characteristics for each placement container such as the color or shape of each placement container, the picked medicine is specified for each placement container. Can be recorded. Therefore, according to the present invention, for example, the identification data of a plurality of mounting containers having different characteristics such as color or shape and the identification data of a plurality of workers are recorded in association with each other, for example. Even if multiple workers pick up in parallel, the picked medicine is specified and recorded for each loading container, that is, for each worker, and medicine picking inspection (dispensing mistake inspection) and dispensing It becomes possible to investigate the cause of mistakes.

  Further, in the present invention, the storage unit specifying means may store the storage units corresponding to the three-dimensional positions of the hands of each of the plurality of workers based on the distance image. When the picking motions of a plurality of workers are performed substantially simultaneously, each worker has his / her hand in hand. The extended storage section can be specified in association with each worker. Therefore, according to the present invention, for example, the identification data of a plurality of mounting containers having different characteristics such as color or shape and the identification data of a plurality of workers are recorded in association with each other, and each mounting By distinguishing features such as color or shape of the container from each other by an image or the like, even when a plurality of workers perform picking work in parallel, picking is performed for each loading container, that is, for each worker. It becomes possible to identify and record a medicine, to inspect medicine picking (inspection of dispensing mistake) and investigate the cause of dispensing mistake.

  Further, in the present invention, the related information acquisition unit includes data from the storage unit specifying unit or the taken-out drug data acquisition unit, and the drug-related information recorded in the other recording unit or the storage unit vs. drug recording unit. Based on the information, the related information of the medicine corresponding to the storage unit facing or extending the operator's hand is acquired, and the acquired related information is displayed on the display unit arranged in the storage shelf or in the vicinity thereof. I am doing so. Therefore, according to the present invention, during the drug picking operation, for example, the worker himself / herself only tries to reach or stretch toward the storage unit in which the target drug is stored. It is possible to visually check the related information such as the efficacy of the medicine in the container to be picked from now on the screen. Therefore, according to the present invention, the operator confirms the detailed contents of the medicine in the container immediately before taking out the medicine from the container (or in parallel with the medicine removal operation from the container). Therefore, the medicine picking work can be facilitated and the picking work mistake can be further reduced.

It is the schematic which shows the structure of the picking chemical | medical agent identification system which concerns on Embodiment 1 of this invention. FIG. 5 is a schematic diagram for explaining the operation of the first embodiment. FIG. 5 is a schematic diagram for explaining the operation of the first embodiment. FIG. 5 is a schematic diagram for explaining the operation of the first embodiment. FIG. 5 is a schematic diagram for explaining the operation of the first embodiment. It is the schematic which shows the structure of the picking chemical | medical agent identification system which concerns on Embodiment 2 of this invention. It is the schematic for demonstrating the operation | movement of this Embodiment 2. FIG. It is the schematic which shows the structure of the picking chemical | medical agent identification system which concerns on Embodiment 3 of this invention. It is the schematic for demonstrating the operation | movement of this Embodiment 3. FIG.

[Embodiment 1]
Embodiment 1 of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic diagram showing a configuration of a drug picking support system according to Embodiment 1 of the present invention. In FIG. 1, 1 is a storage shelf in which each storage section 2 that stores each drug for each type or brand is arranged in the vertical and horizontal directions, and 3 is for mounting a drug picked by a pharmacist 10 based on a prescription. A mounting table 4 is a work table for placing the mounting table 3 described above, 5 is a display disposed above the storage shelf 1, 6 is a mounting table 3 and a medicine placed therein A visible light camera 7 that acquires RGB images, 7 is a distance that is disposed in the vicinity (for example, above) of the storage shelf 1 and that acquires a distance image of the hand 10a of the pharmacist 10 and its surroundings (which may include the placement basket 3). In the first embodiment, the visible light camera 6 and the distance image sensor 7 are actually arranged in the depth direction of FIG. 1, but in FIG. 1, they are shown side by side for convenience of illustration. ing).

  In the first embodiment, the visible light camera 6 and the distance image sensor 7 of FIG. 1 are provided using “Kinect for Windows” (registered trademark, hereinafter referred to as “Kinect”) manufactured by Microsoft Corporation. Yes. Kinect (registered trademark) includes an RGB camera that acquires a surrounding color image, an infrared projector that irradiates a predetermined infrared dot pattern to the periphery, and an infrared camera that images the reflected infrared light. In addition, a processor for performing a process of estimating and tracking a skeletal part of the body based on comparison with an enormous number of sample images based on data (distance image) from the infrared camera is incorporated. Among these, the RGB camera constitutes the visible light camera 6 in FIG. 1, the infrared projector and the infrared camera constitute the distance image sensor 7 in FIG. 1, and the processor constitutes a part of the control unit 11 in FIG. . 1 obtains a distance image including depth information (depth information) for each pixel for each frame by irradiating infrared rays in a predetermined pattern and capturing the reflected light with an infrared camera. It is.

  Next, in FIG. 1, 11 controls the display 5, controls the visible light camera 6, receives and records image data acquired by it, controls the distance image sensor 7, and acquired it A control unit (comprising a personal computer or the like) that receives and records the distance image data. Reference numeral 12 denotes an eaves image storage unit that sequentially records and stores the images of the above-described installation cage 3 acquired by the visible light camera 6 at predetermined time intervals, for example, in association with the acquisition date and time, for example, and 13 denotes the distance image sensor 7. For example, the hand position data storage unit 14 that sequentially records and stores the three-dimensional position data of the hand of the pharmacist 10 acquired every predetermined time, for example, in association with the acquisition date and time, 14 is created using the Kinect (registered trademark). The three-dimensional position range of each storage unit 2 of the storage shelf 1 (x coordinates ○ to ●, y coordinates Δ to ▲, z coordinates □ to ■ are listed for each storage unit from coordinates based on the distance image) and each storage A storage unit-to-drug database in which identification data (including brands / names) of drugs stored in the unit 2 is recorded in association with each other, and 15 is identification data (including brands / names, etc.) of each drug and its effectiveness. Vice Use, replacement (generic products), or a drug-related database that recorded in association with each other related information (attribute information), such as inventory.

  Next, the operation of the first embodiment will be described. First, preliminary work will be described. As a preliminary work, Kinect (registered trademark, including the visible light camera 6 and the distance image sensor 7) is positioned above the storage shelf 1 so that the visible light camera 6 can image the mounting rod 3 and the distance. The image sensor 7 is arranged at a position where a distance image of the pharmacist 10 (and the storage shelf 1) performing the picking operation can be acquired. Next, by using a distance image sensor 7 of Kinect (registered trademark), the respective three-dimensional position ranges (x coordinates ○ to ●, y coordinates Δ to ▲, z coordinates of the storage units 2 in the storage shelf 1 are used. □ to ■ are listed for each storage unit), and the acquired three-dimensional position range (each three-dimensional position coordinate data) for each storage unit 2 is used to identify the drug stored in each storage unit 2 Data (name, brand, etc.) are recorded in association with each other, thereby creating the storage unit / drug database 14. In addition, a drug-related database 15 in which related information (attribute information) such as the efficacy, side effect, substitute product (generic product), or inventory quantity of each drug is recorded in association with the identification data of each drug is prepared in advance.

  Next, an operation of detecting and specifying the medicine taken out from each storage unit 2 by the pharmacist 10 when the pharmacist 10 is performing the picking operation will be described with reference to FIGS. 3 and 4, 21, 22, and 23 are PTP sheets (containing a medicine) placed on the table 3 by the pharmacist 10.

  First, the visible light camera 6 of Kinect (registered trademark) acquires the RGB image of the above-described stand 3 at predetermined time intervals, for example. The control unit 11 receives the image data from the visible light camera 6 every predetermined time, and sequentially records / accumulates the image storage unit 12 in association with the acquisition date and time. In addition, the Kinect (registered trademark) acquires a distance image obtained by imaging an infrared reflected light irradiated to an object with an infrared camera by using the mounted distance image sensor 7, and further, a built-in processor (or this) 3D position data of the hand of the pharmacist 10 is acquired, for example, every predetermined time from the acquired distance image. The control unit 11 in FIG. 1A receives the three-dimensional position data of the hand of the pharmacist 10 from the Kinect (registered trademark) every predetermined time, and sequentially records it in the hand position data storage unit 13 in association with the acquisition date and time. ·accumulate.

  Further, the control unit 11 is based on a distance image (three-dimensional position data of the hand of the pharmacist 10 transmitted every predetermined time from the Kinect (registered trademark)) transmitted from the distance image sensor 7 every predetermined time. For example, when the three-dimensional distance between the hand 10a of the pharmacist 10 and the storage unit 2a (see FIG. 2) is closer than a predetermined distance, the pharmacist 10 determines that the hand 10a is opposed to or extended from the storage unit 2 To do.

  Further, the control unit 11 compares the RGB image transmitted from the visible light camera 6 with the immediately preceding RGB image at any time, and compares the image in the previous table 3 (the object placed on the previous table 3). It is determined whether or not the number or area of the item (medicine) placed on the table 3 has increased or decreased. Then, for example, the control unit 11 compares the previously acquired image (see FIG. 3A) with the currently acquired image (see FIG. 3B), and is placed on the table 3 described above, for example. If it is determined that the total area of the sheet (PTP sheet) has “increased”, it extends to the storage portion 2a in the storage shelf 1 immediately before the current image (see FIG. 3B) is acquired. The three-dimensional position data of the hand of the pharmacist 10 (see FIG. 2) is acquired from the hand position data storage unit 13. Then, the control unit 11 refers to the storage unit drug database 14 from the acquired three-dimensional position data, and stores the data (identification) of the storage unit 2 corresponding to the three-dimensional position data and the drug stored therein. Data).

  As described above, the control unit 11 causes the pharmacist 10 to take out the drug from the storage unit 2a in the storage shelf 1 and place it on the mounting basket 3, and to remove the drug from the storage unit 2a and store it in the mounting basket 3 The name and brand name of the medicine placed in (the PTP sheet 22 present in the image of FIG. 3B but not in the image of FIG. 3A) is specified. In addition, when a new image is acquired, the control unit 11 compares the previously acquired image (see FIG. 3B) with the newly acquired image (see FIG. 3C) thereafter. Then, when it is determined that, for example, the number or area of the sheets (PTP sheets) placed on the table 3 is increased, the same operation as described above is repeated.

  As shown in the operation example of FIG. 3 described above, in the first embodiment, when the image of the mounting rod 3 changes, for example, when the total number or area of the objects (medicine) on the mounting rod 3 increases. The control unit 11 reads the corresponding storage unit 2 and the medicine as its contents from the three-dimensional position of the hand of the pharmacist 10 acquired immediately before, “the pharmacist 10 takes out the placement unit 2a It is specified as “the drug placed in 3”. Therefore, according to the first embodiment, the picking operation of the medicine that the pharmacist 10 has taken out from the container 2a and placed in the placement basket 3 only by providing Kinect (registered trademark) that is currently commercially available at a low price. It becomes possible to specify at the same time. Therefore, according to the first embodiment, the picking medicine can be specified without increasing the waiting time of the patient and at a very low cost. As a result, the prevention of the dispensing mistake and the cause investigation of the dispensing mistake can be performed. Etc. can be realized efficiently.

  Next, for example, the control unit 11 compares the previously acquired image (see FIG. 4B) with the currently acquired image (see FIG. 4C), and is placed on the table 3 described above. For example, when it is determined that the number or area of the objects (PTP sheets) is “decreased”, any storage unit in the storage shelf 1 immediately after the current image (see FIG. 4C) is acquired. The three-dimensional position data of the hand of the pharmacist 10 extending to 2 is acquired from the hand position data storage unit 13. Then, the control unit 11 refers to the storage unit drug database 14 from the acquired three-dimensional position data, and stores the storage unit 2 corresponding to the three-dimensional position data and the data (brands) stored therein. Etc.). As described above, the control unit 11 causes the pharmacist 10 to pick up one or a plurality of drugs from the loading basket 3 (for example, to be aware of an error in the picking that has already been performed) and transfer it to the corresponding storage unit 2 in the storage shelf 1. The name and brand related to the returned medicine and the medicine returned to the container 2 (the PTP sheet 22 which was present in the image of FIG. 4B but is no longer the image of FIG. 4C) are specified. .

  As shown in the operation example of FIG. 4 described above, in the first embodiment, when the total number or area of the object (medicine) on the placement basket 3 decreases, the control unit 11 is acquired immediately after that. From the three-dimensional position of the hand of the pharmacist 10, the corresponding storage unit 2 and the drug as its contents are picked up and stored from the mounting cage 3 (for example, when the pharmacist 10 notices an error in picking already performed). It is specified as “the drug returned to part 2”. Therefore, according to the first embodiment, “the pharmacist 10 (for example, notices an error in the picking that has already been performed) picks up the drug from the loading basket 3 and returns it to the storage unit 2, and stores it in that way. It is also possible to specify the “medicine returned to the department”, and as a result, it becomes possible to perform a drug picking inspection (dispensing error inspection), a cause investigation of the dispensing error, and the like with higher accuracy.

  Next, the operation of the portion of the first embodiment according to the present invention will be described with reference to FIG. As described above, the control unit 11 transmits the distance image transmitted from the distance image sensor 7 every predetermined time (three-dimensional position data of the hand of the pharmacist 10 transmitted from the Kinect (registered trademark) every predetermined time). For example, when the distance between the hand 10a of the pharmacist 10 and any one of the storage units 2a is closer than a predetermined distance, it is determined that the pharmacist 10 has extended the hand 10a to the storage unit 2a. And the control part 11 specifies the accommodating part 2a corresponding to the three-dimensional position of the said hand 10a with reference to the accommodating part versus chemical | medical agent database 14 from the three-dimensional position of the hand 10a of the pharmacist 10 at the time of the said determination, Furthermore, the medicine corresponding to the container 2a is specified. Then, the control unit 11 refers to the drug related database 15, acquires related information (attribute information) of the specified drug, and displays the related information on the display 5. FIG. 5 shows an example of the screen of the display 5 displayed in this way.

  For example, when the hand 10a of the pharmacist 10 extends close to the storage unit 2-5 (for example, the second storage unit from the left and the fifth storage unit from the top in the storage rack 1 of FIG. 2) (the contents are still from the storage unit 2-5) The control unit 11 identifies the corresponding storage unit 2-5 from the three-dimensional position of the hand 10a, and refers to the drug-related database 15, so that the storage unit 2- The related information of the medicine accommodated in 5 is acquired. Then, this is transmitted to the display 5 to display, for example, “accommodating section 2-5 artist 10 mg blood pressure sclerosing agent generic is in stock in carvedilol tablet accommodating section 2-1.” As a result, the pharmacist 10 looks at the relevant information (identification information such as brands and attribute information such as efficacy) of the contents (medicine) in the container 2-5 that he is about to take out. Makes it easier and more efficient to check whether the drug that is about to be taken out (or is currently being taken out) matches the contents of the prescription. Can be reduced.

[Embodiment 2]
Next, the configuration and operation of the second embodiment of the present invention will be described with reference to FIGS. 6 and 7, the same parts as those in FIGS. 1 and 2 are denoted by the same reference numerals, and description thereof is omitted. In FIG. 6, reference numeral 24 indicates identification data such as ID or name of each pharmacist when each of a plurality of pharmacists performs picking work at the same time, and each mounting rod (the color or shape, etc.) used by each pharmacist. The container-to-worker recording unit records identification data that can be distinguished from each other in association with each other. FIG. 7 shows that two pharmacists 10 and 20 perform drug picking in parallel while using a plurality of mounting rods 3a and 3b that can be distinguished from each other by characteristics such as color or shape. Shows the case.

  In the second embodiment, the control unit 11 (actually, the control unit 11 and the processor built in the distance image sensor 7) is configured to include a part of Kinect (registered trademark). Kinect (Kinct for Windows SDK (registered trademark) provided by Microsoft Corporation in the United States) is a distance image distinguished for each of a plurality of users, that is, a distance associated with each user ID of the plurality of users. It has a function of simultaneously obtaining an image (a distance image labeled with each user ID. A distance image in which each user has an index value for distinguishing each user). In the second embodiment, such a control unit 11 (actually, the control unit 11 and the processor built in the distance image sensor 7) is included in the infrared camera (distance image sensor 7) included in Kinect (registered trademark). Based on the image data of each pharmacist's hand etc. from a part of the pharmacist, and the distance images around the hands 10a and 20a of each of the plurality of pharmacists 10 and 20 are acquired in association with the ID of each pharmacist 10 and 20 To do. And the control part 11 is each accommodating part 2a from which the hand 10a, 20a of each pharmacist 10,20 extended or it entered based on the distance image respectively corresponding to the acquired ID of each pharmacist 10,20. , 2b and related information (identification information such as brands and attribute information such as efficacy) related to the drug contained therein is acquired in association with the ID of each pharmacist 10, 20, and the drug related information is acquired for each pharmacist. The information is displayed on the display 5 in association with the IDs 10 and 20. In this case, for example, the display 5 is divided into screens for each pharmacist 10 and 20, and each pharmacist 10 and 20 is about to pick each of the divided screens (the hands 10 a and 20 a of the pharmacists 10 and 20). Related information such as brand name, efficacy, or stock quantity of the medicine in the storage units 2a, 2b is displayed.

  Next, in the second embodiment, the control unit 11 has a function of discriminating the plurality of mounting rods 3a and 3b from each other based on the RGB image from the visible light camera 6 based on the color and shape (image recognition software). It has. Therefore, the control unit 11 identifies the mounting rods 3a and 3b on which the plurality of pharmacists 10 and 20 put the picking drugs from each other based on the image from the visible light camera 6, and each of these mounting rods 3a. , 3b can be detected by distinguishing from each other that there has been a change in the image in the images (increase or decrease in the amount of medicine placed on the mounting rods 3a, 3b).

  In the second embodiment, the control unit 11 recognizes a plurality of hands separately from each other based on the distance image from the distance image sensor 7 (for example, a nearby person's hand and a far person's hand). (In addition, Kinect (registered trademark) has a function to estimate and track each skeleton combination for each player and its movement separately.) Also have). Therefore, the control unit 11 can recognize the three-dimensional positions and movements of the hands 10a and 20a of the plurality of pharmacists 10 and 20 separately from each other based on the distance image from the distance image sensor 7. . Therefore, the control unit 11 uses the storage units 2a and 2b that the plurality of pharmacists 10 and 20 respectively pick up based on the three-dimensional positions of the hands 10a and 20a of the plurality of pharmacists 10 and 20, respectively. , 20 in correspondence with the hands 10a and 20a, respectively.

  In the second embodiment, as described above, the ID or name of each pharmacist 10 and 20 to be picked and each mounting rod 3a and 3b used by each pharmacist 10 and 20 (different from each other by color or shape). A container-to-worker recording unit 24 is provided for recording identification data of possible ones) in association with each other. Therefore, in the second embodiment, the control unit 11 refers to the container-to-worker recording unit 24, so that even when there are a plurality of mounting rods 3 a and 3 b, changes in the mounting rods 3 a and 3 b ( The increase / decrease in area or increase / decrease in medicine) and the picked medicine in each of the mounting rods 3a, 3b obtained thereby can be identified and recorded in association with the ID or name of each pharmacist 10, 20 or the like. it can.

Next, under the above-described configuration, the control unit 11 according to the second embodiment uses the following procedure to pick up drug data picked up by the pharmacists 10 and 20 and placed in the placement baskets 3a and 3b. Like to get.
1. When the pharmacists 10 and 20 bring their hands close to the storage units 2a and 2b in the storage rack 1 or put their hands into the storage units 2a and 2b, the control unit 11 Start tracking the skeleton. And the control part 11 is a stage in which each pharmacist 10 and 20 puts his hand 10a and 20a in each accommodating part 2a and 2b, or the own hands 10a and 20a in each accommodating part 2a and 2b, The data x and y of the medicine to be picked (in this case, only the identification data such as the medicine name and the ID uniquely representing the medicine may be recognized) are recognized as described above. Further, the control unit 11 associates the three-dimensional positions of the hands 10a and 20a with the drug data x and y while tracking the hands 10a and 20a.
2. When the distance between the three-dimensional position of each hand 10a, 20a and the placement basket 3a, 3b is equal to or less than the threshold value, the control unit 11 stores the drug data x, y and the placement basket 3a, 3b or possession thereof. The person (pharmacist 10, 20) is associated.
3. The controller 11 determines that the pharmacists 10 and 20 have performed the picking operation when the area in the mounting rods 3a and 3b increases (adds the data x and y of the drug to the picking history of the pharmacists 10 and 20). ).

Moreover, the control part 11 of this Embodiment 2 carries out the following procedures, and each pharmacist 10 and 20 picks the medicine which was once picked up and placed in the placement baskets 3a and 3b, and then the placement baskets 3a and 3b. When the medicine is taken out from the container and returned to the storage units 2a and 2b, the returned data of the medicine is acquired.
1. The control unit 11 starts tracking the skeletons of the hands 10a and 20a of the pharmacists 10 and 20 when the area in the placement baskets 3a and 3b decreases.
2. Of the hands 10a and 20a recognized for the first time after the start of tracking, the control unit 11 has the respective hands 10a and 20a located closest to the mounting rods 3a and 3b and the owners of the mounting rods 3a and 3b ( The information (ID etc.) of the pharmacists 10 and 20) is linked.
3. When the pharmacists 10 and 20 bring their hands 10a and 20a close to or into the storage units 2a and 2b in the storage shelf 1, the control unit 11 controls the pharmacists 10 and 20 to store the storage units 2a and 2a. It is determined that the medicine of the medicine data x, y corresponding to 2b has been returned from the placement baskets 3a, 3b into the storage units 2a, 2b (in this case, the medicine data is determined from the picking history of the pharmacists 10, 20). delete x and y).

  As described above, in the second embodiment, even when drug picking is performed in parallel by a plurality of pharmacists 10 and 20, increase / decrease of the drugs in the mounting cages 3 a and 3 b and the picked storage units 2 a and 2 2b and the medicine can be specified for each placement basket 3a, 3b and for each pharmacist 10,20. Therefore, according to the second embodiment, it is possible to improve the efficiency of the medicine picking inspection (dispensing mistake inspection) performed in parallel by a plurality of persons and to track the medicine picked for each worker. As a result, investigation of the cause of dispensing errors can be performed more efficiently and with high accuracy.

[Embodiment 3]
Next, the configuration and operation of the picking drug specifying system according to the third embodiment of the present invention will be described with reference to FIGS. 8 and 9, the same reference numerals are given to parts having the same basic configuration as the parts in FIGS. 1 to 7. In the following description of the configuration and operation related to the third embodiment, the description of the parts common to the first and second embodiments may be omitted.

  In FIG. 8, 1 is a storage shelf in which storage units 2 for storing each drug for each type or brand are arranged in the vertical and horizontal directions, and 3 is for mounting a drug picked by a pharmacist 10 based on a prescription. A mounting table 4 is a work table for placing the mounting table 3 described above, 5 is a display disposed above the storage shelf 1, 6 is a mounting table 3 and a medicine placed therein A visible light camera 7 for acquiring RGB images, 7 is a distance image sensor disposed in the vicinity (for example, above) of the storage shelf 1 and acquires distance images of the hand 10a of the pharmacist 10, the placement basket 3 and their surroundings. (In the third embodiment, the visible light camera 6 and the distance image sensor 7 are actually arranged side by side in the left-right direction as viewed from the pharmacist 10 side as shown in FIG. 9. In FIG. 8, for convenience of illustration, It is shown as aligned in the depth direction as viewed from the dosage nurses 10 side).

  In the third embodiment, the visible light camera 6 and the distance image sensor 7 of FIG. 8 are those provided in Kinect (registered trademark). Kinect (registered trademark) includes an RGB camera that acquires a surrounding color image, an infrared projector that irradiates a predetermined infrared dot pattern to the periphery, and an infrared camera that images the reflected infrared light. In addition, a processor that performs processing such as estimating and tracking a body skeletal part from comparison with a large number of sample images based on data (distance image) from the infrared camera is incorporated. Among these, the RGB camera constitutes the visible light camera 6 in FIG. 8, the infrared projector and the infrared camera constitute the distance image sensor 7 in FIG. 1, and the processor constitutes a part of the control unit 31 described later. The distance image sensor 7 in FIG. 8 obtains a distance image including depth information (depth information) for each pixel for each frame by, for example, irradiating infrared rays in a predetermined pattern and capturing the reflected light with an infrared camera. To do.

  Next, in FIG. 8, 31 controls the display 5, controls the visible light camera 6, receives image data acquired by it, records it in a recording means, controls the distance image sensor 7, and It is a control unit (consisting of Kinect (registered trademark) and a personal computer) that receives the acquired distance image data and records it in the recording means. Reference numeral 32 denotes a heel position tracking unit that tracks the position of the mounting ledge 3 in a three-dimensional space based on data from the distance image sensor 7. The eyelid position tracking unit 32 has a corresponding shape or the like by comparing and collating with the sample shape data or the like of the mounting rod 3 recorded in advance from the distance image of each frame acquired by the distance image sensor 7. A portion of the mounting rod 3 (a part of the distance image) is specified, and the mounting rod 3 and a predetermined vicinity region 3c thereof (for example, a range of about 1 to 15 cm or about 2 to 6 cm above the mounting rod 3) (In) 3D coordinate data is acquired. Then, the three-dimensional movement of the mounting rod 3 is tracked based on the obtained shape and the like data between the frames and the identity or proximity of the three-dimensional coordinate data (in the third embodiment, the above-described third embodiment) The eyelid position tracking unit 32 is mounted outside the Kinect (registered trademark) by the present inventor).

  Reference numeral 33 denotes a hand position tracking unit that tracks the positions of the pharmacist 10 and its hand 10a in a three-dimensional space based on the data from the distance image sensor 7. The hand position tracking unit 33 includes, for example, a pharmacist 10 having a corresponding shape or the like by comparing with a sample shape data or the like of a worker recorded in advance from the distance image of each frame acquired by the distance image sensor 7. A part of the hand 10a (a part in the distance image) is specified, and three-dimensional coordinate data of the pharmacist 10 and the hand 10a are acquired. Then, the three-dimensional movement of the pharmacist 10 and its hand 10a is tracked based on the acquired shape etc. data between the frames and the identity or proximity of the three-dimensional coordinate data (Kinect (registered trademark)). ) Also implements a function for tracking each part of the body including the wrist based on the skeleton information of the player. In the third embodiment, the hand position tracking unit 33 is provided by the inventor as Kinect (registered trademark). Implemented outside of)).

  Reference numeral 34 denotes a hand position data storage unit that sequentially records and stores the three-dimensional position data of the hand 10a of the pharmacist 10 acquired by the distance image sensor 7 every predetermined time, for example, in association with the acquisition date and time, and 14 is the Kinect. The three-dimensional position ranges (from the coordinates based on the distance image, x coordinates ○ to ●, y coordinates Δ to ▲, z, which are prepared in advance using (registered trademark) A storage unit-to-drug database 15 in which coordinates □ to ■ are listed for each storage unit) and identification data (including brand name / name) of the drug stored in each storage unit 2 are recorded in association with each other. Drug-related data in which identification data (including brand / name) of each drug and related information (attribute information) such as efficacy, side effects, alternatives (generic products), or inventory quantity are recorded in association with each other It is over the nest.

  Next, the operation of the third embodiment will be described. In the third embodiment, the distance image sensor 7 obtains a distance image between the hand 10a of the pharmacist 10 and the placement basket 3 as described above, and based on this, the three-dimensional position data of the hand 10a and the placement basket 3 is obtained. Is acquired for each frame. Then, the heel position tracking unit 32 and the hand position tracking unit 33 are configured so that the three-dimensional positions of the hand 10a and the mounting rod 3 are based on the three-dimensional position data of the frames of the hand 10a and the mounting rod 3 respectively. Track movement.

  For example, when the hand 10a of the pharmacist 10 approaches or enters a certain storage unit 2a in the storage rack 1 (the state shown in FIGS. 8A and 9A), the control unit 31 determines that the distance Based on the data from the image sensor 7 and the data from the hand position tracking unit 33, it is detected and recognized that the hand 10a of the pharmacist 10 has approached or entered the housing unit 2a, and the housing in which the hand 10a has approached or entered. 3D position coordinate data of the part 2a is acquired, and the brand name data etc. of the medicine stored in the storage part 2a is referred to from the 3D position coordinate data of the storage part 2a with reference to the storage part-drug database 14 To get.

  Thereafter, for example, the hand 10a of the pharmacist 10 is placed within a predetermined time such as about 0.5 to 2 seconds from the time when the hand 10a of the pharmacist 10 approaches or enters the certain storage unit 2a in the storage shelf 1. When approaching or invading the placing cage 3 or its neighboring region 3c (for example, a region of about 1 to 15 cm or about 2 to 6 cm above the placing cage 3) (shown in FIGS. 8B and 9B) State), based on the data from the distance image sensor 7 and the data from the heel position tracking unit 32, the control unit 31 has approached or entered the placement basket 3 or its neighboring area 3c. Detect and recognize things. Based on this detection, the control unit 31 stores the above-mentioned accommodation in which the hand 10a of the pharmacist 10 approaches or enters immediately before the detection (before a predetermined time such as about 0.5 to 2 seconds elapses). The brand name data of the medicine accommodated in the part 2a is specified and acquired as data relating to the medicine picked by the pharmacist 10. The above operation is repeated in the same manner every time the pharmacist 10 performs an operation of taking out the drug from each storage unit 2 and placing it in the loading basket 3 in the process of picking for dispensing or the like.

  Next, another operation according to the third embodiment will be described. For example, the control unit 31 detects and recognizes that the hand 10a of the pharmacist 10 has approached or entered the placement basket 3 or its neighboring region 3c (the state shown in FIGS. 8B and 9B). The fact that the hand 10a of the pharmacist 10 has approached or entered any one of the storage units 2 in the storage shelf 1 before the time of the detection (for example, before a predetermined time such as about 0.5 to 2 seconds elapses) When the detection or recognition is not made, the control unit 31 determines whether the hand 10a of the pharmacist 10 is in the storage shelf 1 after the hand 10a of the pharmacist 10 approaches or enters the placement basket 3 or its vicinity region 3c. It is detected and determined whether or not the container 2 has been approached or entered. Then, after the hand 10a of the pharmacist 10 approaches or enters the placement basket 3 or its vicinity region 3c, the hand 10a of the pharmacist 10 approaches or enters any one of the accommodating portions 2a (FIG. 8 (a) and When the state shown in FIG. 9A is detected or the like, the control unit 31 stores the brand name data of the drug corresponding to the containing unit 2a that the hand 10a of the pharmacist 10 approaches or enters, and the pharmacist 10 It is specified and acquired as data relating to the medicine taken out from the loading basket 3 and returned to the container 2a. The above operation is repeated in the same manner every time the pharmacist 10 performs an operation of taking out the medicine from the placement basket 3 and returning it to each container 2 during the picking process.

  Further, in the third embodiment, when the pharmacist 10 takes out a certain medicine from the placement basket 3 and brings his hand close to the container 2a in order to return it to the container 2a, for example, the controller 31 The one or a plurality of storage units 2 in which the corresponding pharmacist 10 has acquired or approached the hand 10a and the one or a plurality of the drugs taken out from the storage unit 2 and placed in the mounting basket 3 The identification data is compared with the identification data of the container 2a in which the hand 10a is approached so as to return the medicine taken out from the table cage 3 by the pharmacist 10 and the medicine to be in the container 2a. Yes. And as a result of said comparison, the control part 31 is the identification data of both the accommodating parts and the medicine (that is, the picked one or more accommodating parts 2 and the one or more already acquired by the control part 31). If the identification data of the drug and the identification data of the container 2a that the pharmacist 10 has reached to return the drug and the drug that should be in it do not match each other, a predetermined warning is displayed on the screen, By outputting with sound or light or the like, the pharmacist indicates that the above does not match (that is, the container 2a to which the medicine is to be returned may not be the original correct container 2 to which the medicine is to be returned). 10 is warned.

  Since Kinect (registered trademark) has a function of simultaneously identifying and tracking the skeleton parts of a plurality of persons from distance image data, when such Kinect (registered trademark) is used, a plurality of persons are used. Can simultaneously identify and track the hand 10a of each pharmacist 10 and the placement basket 3 held by each of the pharmacists 10, and as a result, each of the plurality of pharmacists 10 can be picked from the accommodating portion 2 and placed in the placement basket 3 Data relating to the medicines and data relating to the medicines that each of the plurality of pharmacists 10 has taken out from their placement baskets 3 and returned to the container 2 can be specified and acquired simultaneously.

  As described above, in the third embodiment, after identifying the accommodating portion 2a in which the hand 10a of the pharmacist 10 has approached or entered based on the distance image of the hand 10a of the pharmacist 10 and its surroundings (for example, about 0.5 to Within a predetermined time such as within 2 seconds), the pharmacist 10 hand 10a approaches or enters the placement basket 3 or its neighboring area 3c based on the distance image of the hand 10a of the pharmacist 10 and the placement basket 3 and its surroundings. When the control unit 31 detects that the hand 10a of the pharmacist 10 has approached or entered the data corresponding to the storage unit 2a, the pharmacist 10 stores the drug from the storage unit 2a in the storage shelf 1. Since it was made to acquire as the data regarding the medicine taken out and placed in the loading basket 3, the medicine picked by the pharmacist 10 for dispensing or the like can be easily performed without increasing the waiting time of the patient or the like. Only at a low cost configuration, it is possible to identify.

  Further, in the third embodiment, when it is detected that the hand 10a of the pharmacist 10 has approached or invaded the placement basket 3 or its neighboring region 3c, before the time of the detection or the like ( For example, the hand 10a of the pharmacist 10 has never approached or entered any one of the accommodating portions 2 within about 0.5 to 2 seconds), and the accommodating portion 10 When the pharmacist 10 approaches or intrudes 2, the control unit 31 sends data relating to the medicine corresponding to the storage unit 2 a that the hand 10 a of the pharmacist 10 approaches or enters after the time of the detection or the like from the placement basket 3. Since it is acquired as data relating to the medicine taken out and returned to the container 2a, it becomes possible to carry out the inspection of medicine picking (inspection of dispensing mistake) and investigation of the cause of dispensing mistake with higher accuracy.

  Further, in the third embodiment, when the pharmacist 10 takes out a certain medicine from the loading basket 3 and brings the hand close to the container 2a in order to return it to the container 2a, for example, it has been acquired so far. One or a plurality of storage units 2 in which the pharmacist 10 has approached or intruded the hand 10a, and identification data of one or a plurality of drugs taken out from the storage unit 2 and placed in the placement basket 3, and the pharmacist When the comparison is made between the container 2a in which the hand 10a is approached and the identification data of the medicine that should be in the container 10a when the hand 10a tries to return the medicine taken out from the table cage 3 and the medicine 10 should be in the two, the two do not match each other Since a predetermined warning is output with a screen, sound, light, etc., the pharmacist 10 notices a mistake in picking and returns the medicine taken out from the mounting cage 3 to the wrong container. It would, it is possible to effectively prevent. Such comparison and warning can be applied not only to the third embodiment but also to the first and second embodiments.

  The embodiments of the present invention have been described above. However, the present invention is not limited to those described as the first embodiment, and various modifications and changes can be made. For example, in the first and second embodiments, the infrared projector and the infrared camera provided in Kinect (registered trademark) are used as the distance image acquisition unit. However, the present invention is not limited to this. For example, a distance image sensor based on the “Time-of-Flight” method may be used.

  In FIGS. 2 and 7 according to the first and second embodiments, the example in which the medicine is picked from each storage unit 2 in one storage shelf 1 is shown. However, the present invention places a plurality of storage shelves side by side. Even when the present invention is applied to a case where a plurality of storage shelves are arranged, each of the storage units in the plurality of storage shelves Regardless of which storage shelves are included, based on the respective three-dimensional positions, it is determined (specified) whether or not the storage unit is a picked storage part in which the operator's hand is stretched.

  In the first and second embodiments, the control unit 11 changes the medicine (the number or area of medicines) in the placement basket 3 based on the RGB image of the placement basket 3 acquired by the visible light camera 6. However, the present invention is not limited to this. For example, the control unit 11 may use the infrared camera included in the distance image sensor 7 such as FIGS. Based on the infrared image of the mounting rod 3 picked up by the “infrared camera installed separately from the infrared camera of the sensor 7”, the change of the drug in the mounting rod 3 (increase or decrease in the number or area of the drugs) is determined. (In this case, the visible light camera 6 shown in FIGS. 1 and 6 is unnecessary). Furthermore, in the present invention, for example, the distance image sensor 7 acquires at least the distance images of the “hands 10a and 20a of the workers 10 and 20 and the placement rods 3, 3a and 3b”, and the control unit 11 Based on the distance image of the placement baskets 3, 3a, 3b acquired by the image sensor 7, a change in the medicine in the placement baskets 3, 3a, 3b (increase or decrease in the number, area, or volume of the medicine) is determined. (In this case, since the visible light camera 6 shown in FIGS. 1 and 6 is not necessary, an effect such as cost reduction of the apparatus can be obtained).

  Further, in the first embodiment, the configuration (see FIG. 5 and the like) for displaying related information of the drug that the pharmacist is trying to pick on the display is referred to as “inside the mounting rods 3, 3a, 3b”. The determination is made in association with determination of drug change (increase / decrease in the number, area, or volume of the drug) and identification of the drug picked from the container by the pharmacist or the like, but the present invention is limited to this. Instead, for example, “determination of a change in the medicine in the mounting bowl 3, 3a, 3b (increase or decrease in the number, area, or volume of the medicine) and identification of the medicine picked from the container by the pharmacist” Without performing, the pharmacist or the like may acquire the related information of the medicine that is about to be picked (or is being picked) and display it on the display. In this manner, “determination of changes in the drugs in the mounting bowls 3, 3a, 3b (increase or decrease in the number, area, or volume of the drugs) and identification of the drugs picked from the container by the pharmacist” are not performed. The effect of supporting the drug picking work by the pharmacist or the like can be sufficiently exerted only by displaying the related information of the drug that the pharmacist or the like is about to pick (or being picked) on the display.

  Further, in the first embodiment, the storage unit versus drug database 14 that records the three-dimensional position data of each storage unit and the identification data (brand name, etc.) of the drug stored in each storage unit in association with each other, A drug-related database 15 that records drug identification data and attribute information of each drug (attribute data such as efficacy, drug company name, side effect, or inventory quantity) in association with each other is configured separately from each other. However, in the present invention, these may be configured as one database (that is, the relationship between the three-dimensional position data of each container and the medicine stored in each container) Configured as a single database that records information (identification data such as brands and attribute data such as efficacy, pharmaceutical company name, side effects, or inventory quantity) in association with each other It may be so that).

  In the first embodiment, the display 5 is installed on the storage shelf 1 together with Kinect (registered trademark) (fixed with bolts or adhesive tape) (see FIG. 1). The display in the present invention is not limited to this. For example, like a display provided in a smartphone or a tablet terminal, a wearable portable terminal or wristwatch that is carried by a pharmacist or worn on the body. It may be a display provided in the type terminal.

  Furthermore, although not shown in FIG. 7 relating to the second embodiment, in the present invention, when a plurality of pharmacists perform drug picking work in parallel as in the second embodiment, a separate pharmacist is provided for each pharmacist. By providing the display 5, in accordance with the picking work of each pharmacist, each person will be able to display information related to the medicine that the person is about to pick or the medicine stored in the container during picking. It is also possible to display on a portable terminal or a display provided on a wearable terminal that each pharmacist or the like carries or uses.

DESCRIPTION OF SYMBOLS 1 Storage shelf 2, 2a, 2b Storage part 3, 3a, 3b Mounting rod 5 Display 6 Visible light camera 7 Distance image sensor 10, 20 Pharmacist 10a, 20a Pharmacist's hand 11, 31 Control part 12 籠 Image storage part 13 Hand Position data storage unit 14 Storage unit vs. drug database 15 Drug-related databases 21, 22, 23 PTP sheet 24 Container vs. worker recording unit 32 Bag position tracking unit 33 Hand position tracking unit

Claims (9)

A storage shelf (including a combination of a plurality of storage shelves) in which each storage unit that stores a plurality of types or brands of drugs is stored in the vertical and horizontal directions;
A mounting container on which one or a plurality of medicines taken out from the storage section in the storage shelf are mounted;
While recording the three-dimensional position data for each storage unit in the storage shelf, the storage unit in the storage shelf or the three-dimensional position data thereof and the identification data of the medicine respectively stored in each storage unit Storage unit vs. drug recording means for recording in association with each other;
Distance image acquisition means for acquiring at least the operator's hand in front of the storage shelf, the storage container described above, and distance images of the surroundings thereof;
A storage unit that identifies the storage unit that the operator's hand has approached or entered based on the distance image from the distance image acquisition unit and the three-dimensional position data of each storage unit recorded in the storage unit versus medicine recording unit Specific means,
Based on the distance image from the distance image acquisition means, an approach detection means for detecting that the operator's hand has approached or entered into the storage container or the vicinity thereof, and
Based on a signal from the approach detection unit, data on the specified storage unit from the storage unit specifying unit, and drug identification data recorded in the storage unit vs. drug recording unit, the operator stores the storage unit. Taking out the medicine from the storage part in the shelf and putting it in the placement container, and taking out medicine data acquiring means for acquiring data relating to the taken out medicine;
A picking drug identification system suitable for drug picking inspection and the like characterized by comprising:   In Claim 1, when the said extraction | collection medicine data acquisition means detects that an operator's hand approached or penetrate | invaded into the said container or its vicinity area | region by the said approach detection means from the said detected time point. Data relating to the medicine corresponding to the container that the operator's hand has approached or entered before is acquired as data relating to the medicine that the worker has taken out from the container and placed in the loading container. Picking drug identification system suitable for drug picking inspection.   In claim 1, when it is detected by the approach detection means that an operator's hand has approached or intruded into the storage container or the vicinity thereof, within a predetermined time before the time of the detection. When the operator's hand has never approached or entered any of the housing parts and the operator's hand has approached or entered any of the housing parts after the detection time, the worker is after the detection time. Characterized in that it is provided with return drug data acquisition means for acquiring data relating to a medicine corresponding to a storage unit that has been approached or invaded by the operator as data relating to a medicine taken out from the placement container and returned to the storage part. Picking drug identification system suitable for drug picking inspection. A storage shelf (including a combination of a plurality of storage shelves) in which each storage unit that stores a plurality of types or brands of drugs is stored in the vertical and horizontal directions;
A mounting container on which one or a plurality of medicines taken out from the storage section in the storage shelf are mounted;
While recording the three-dimensional position data for each storage unit in the storage shelf, the storage unit in the storage shelf or the three-dimensional position data thereof and the identification data of the medicine respectively stored in each storage unit Storage unit vs. drug recording means for recording in association with each other;
Distance image acquisition means for acquiring at least a distance image of an operator's hand in front of the storage shelf;
Imaging means for obtaining at least a visible light or infrared image of the container described above;
Based on the distance image from the distance image acquisition unit and the three-dimensional position data of each storage unit recorded in the storage unit versus medicine recording unit, a storage unit in which an operator's hand is closely facing or extended A container identifying means to identify;
The in-container change for detecting that there is a change in the in-container image by comparing the in-container image acquired this time from the imaging means with the in-container image acquired before or after that Detection means;
Based on the signal from the in-container change detection means, the data related to the specified storage part from the storage part specifying means, and the medicine identification data recorded in the storage part-to-drug recording means, Taking out medicines from the storage unit in the storage shelf and placing them in a loading container and taking out medicine data acquisition means for acquiring data related to the medicines taken out;
A picking drug identification system suitable for drug picking inspection and the like characterized by comprising: A storage shelf (including a combination of a plurality of storage shelves) in which each storage unit that stores a plurality of types or brands of drugs is stored in the vertical and horizontal directions;
A mounting container on which one or a plurality of medicines taken out from the storage section in the storage shelf are mounted;
While recording the three-dimensional position data for each storage unit in the storage shelf, the storage unit in the storage shelf or the three-dimensional position data thereof and the identification data of the medicine respectively stored in each storage unit Storage unit vs. drug recording means for recording in association with each other;
A distance image acquisition means for acquiring a distance image of at least the hand of the worker in front of the storage shelf and the storage container described above;
A storage unit that identifies the storage unit that the operator's hand has approached or entered based on the distance image from the distance image acquisition unit and the three-dimensional position data of each storage unit recorded in the storage unit versus medicine recording unit Specific means,
A container for detecting that there has been a change in the in-container image by comparing the in-container image acquired this time from the distance image acquisition means with the in-container image acquired before or after that Internal change detection means;
Based on the signal from the in-container change detection means, the data related to the specified storage part from the storage part specifying means, and the medicine identification data recorded in the storage part-to-drug recording means, Taking out medicines from the storage unit in the storage shelf and placing them in a loading container and taking out medicine data acquisition means for acquiring data related to the medicines taken out;
A picking drug identification system suitable for drug picking inspection and the like characterized by comprising: In claim 4 or 5,
The in-container change detecting means compares the in-container image acquired this time (hereinafter referred to as “current image”) with the in-container image acquired immediately before, Detecting that the number, area, or volume of the drug has decreased,
The extracted medicine data acquisition means includes a signal indicating that the decrease has occurred from the in-container change detection means, and “a distance image of an operator's hand acquired by the distance image acquisition means after the current image is acquired. Based on the data related to the storage unit specified by the operator's hand facing or extended "and the medicine identification data recorded in the storage unit versus drug recording means, Picking medicine suitable for medicine picking inspection, etc., characterized in that one or a plurality of medicines are picked up from the container and returned to the housing section in the housing shelf, and data concerning the returned medicine is also acquired. system. In any one of Claim 4 to 6,
The storage unit specifying unit specifies a plurality of workers 'hands separately from each other based on the distance image from the distance image acquisition unit, and each of the three-dimensional positions of the plurality of workers' hands specified separately from each other Based on the above, for the medicine picking inspection or the like characterized by distinguishing and identifying each of the accommodating portions in which the hands of a plurality of workers face each other or extend among the accommodating portions in the accommodating shelf Suitable picking drug identification system. In any one of Claim 4-7,
The in-container change detection means is configured to detect a change in the image in each mounting container based on images of a plurality of mounting containers having different characteristics such as color or shape. ,
Further, container-to-worker recording means for recording the identification data of each mounting container having different characteristics such as color or shape and the identification data of each worker picked using each mounting container in association with each other A picking drug identification system suitable for drug picking inspection and the like characterized by comprising: In any one of Claims 1-8,
When an operator takes a drug out of the loading container and tries to return it to a container, the operator approaches the container so that the extracted drug data acquisition unit has acquired that work. The identification data of one or a plurality of medicines taken out from the one or a plurality of accommodation parts that the operator has approached or intruded or placed in the placement container, and the worker from the placement container described above A comparison means for comparing the containing portion where the hand is approached to return the taken out medicine or the identification data of the medicine to be in the containing section;
As a result of the comparison, a warning output means for outputting a predetermined warning with a screen, sound or light when the identification data of both containers or medicines do not match each other,
A picking drug identification system suitable for drug picking inspection and the like characterized by comprising:

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