JP6988965B2 - Drug recognition device - Google Patents

Description

The present invention relates to a drug recognition device.

Drugs prescribed to patients may be returned to the department that manages drug prescriptions in medical institutions due to reasons such as prescription changes (returned drugs). Patent Document 1 discloses a returned drug sorting device that automatically recognizes and stores a returned drug in order to improve the efficiency of the return drug processing work and prevent human error in this work.

In general, returned drugs have various properties such as type, shape, size, and expiration date. However, in the returned drug sorting device disclosed in Patent Document 1, special consideration is given to storing returned drugs having various properties with a high degree of freedom in consideration of factors such as the efficiency of the subsequent payout work. Not paid. More specifically, no special consideration has been given to storing returned drugs with various properties with a high degree of freedom so that they can be freely dispensed according to prescription information, for example. ..

Further, the returned drug sorting device of Patent Document 1 captures an image of the returned drug and analyzes the contour thereof to detect the position of the returned drug. Then, the returned drug is adsorbed and transferred based on the detected position, and is automatically returned to the storage location. However, when recognizing the position of the returned drug to be transferred, if the returned drugs are in contact with each other or partially overlap, the outline becomes unclear and the position of one drug cannot be accurately detected. In some cases.

Further, the device of Patent Document 1 includes a returned drug storage unit for storing the returned drug. The returned medicine storage unit has a plurality of storage cassettes classified according to the type of returned medicine, and the returned medicine is sorted and stored in the storage cassette drawn from the returned medicine storage unit. .. Therefore, the device of Patent Document 1 requires a storage cassette for each type of returned drug, and therefore requires a large number of storage cassettes. In addition, space is required to withdraw the storage cassette from the returned drug storage section when storing the returned drug. As a result, the returned medicine storage unit becomes large. On the other hand, the storage unit of the conventional ampoule dispensing device is provided with a dedicated cassette for each drug type, and is operated by being taken out by a pharmacist, opening the lid, and storing one by one. For this reason, since a storage container, a lid, and a discharge mechanism are mounted on each cassette, one cassette is made large, and many kinds of it are mounted, so that the size is further increased.

Therefore, in Patent Documents 2 and 3, the applicant of the present application automatically recognizes drugs supplied in a non-aligned state with various properties such as type, shape, size, expiration date, etc., and has a high degree of freedom. We are proposing a drug sorting device that can secure and store the drug. In particular, in the drug sorting device of Patent Document 3, even when the drugs are in contact with each other or partially overlapped with each other, the position of one drug can be accurately detected, and a storage unit for sorting and storing the drugs is provided. It can be made compact.

Japanese Unexamined Patent Publication No. 2013-215343 International Publication 2015/170761 International Publication 2015/170762

However, even in the drug sorting apparatus of Patent Documents 2 and 3, foreign substances and stains, a plurality of drugs, or a returned drug in an unrecognizable posture are present in the image recognizing the returned drug, or the returned drug is out of the recognition range. In some cases, the returned drug may not be recognized correctly. When there is such an error, even if the image taken by the recognition unit is displayed, it is not possible to know which part of the image is the cause of the error, and it takes time to remove the cause of the error. rice field.

Therefore, in the present invention, the cause of an error such as foreign matter or dirt, a plurality of drugs, or a drug having an unrecognizable posture can be easily understood, and the cause of the error can be quickly removed. The subject is to provide the device.

As a first means for solving the above-mentioned problems, the present invention is:
A drug placement section on which the drug taken out of the tray is placed,
An imaging unit that photographs the drug placed on the drug placement unit,
In a drug recognition device provided with a recognition unit that recognizes a drug imaged by the imaging unit,
It has a discriminating unit that determines whether or not there is a foreign substance or a drug based on the image taken by the photographing unit.
The discriminating unit is characterized in that when it determines that there is a foreign substance or a drug in the image when the power supply of the drug recognition device is turned on, it prompts the removal of the foreign substance or the drug.
As a second means for solving the above-mentioned problems, the present invention is:
A drug placement section on which the drug taken out of the tray is placed,
An imaging unit that photographs the drug placed on the drug placement unit,
In a drug recognition device provided with a recognition unit that recognizes a drug imaged by the imaging unit,
It has a discriminating unit that determines whether or not there is a foreign substance or a drug based on the image taken by the photographing unit.
It is characterized in that the discrimination process by the discrimination unit is executed when the power supply of the drug recognition device is turned on.
It is preferable that the discriminating unit determines whether or not there is a foreign substance or a drug based on the presence or absence of an extracted image obtained by extracting a part of the image.
It is preferable to provide a display unit for displaying the content of the instruction to remove the foreign substance or the drug in the drug placement unit.
It is preferable that the display unit displays an identification mark for identifying a portion of the image where a foreign substance or a drug is present, and an error image created from the image.

When the number of the extracted images is a plurality, the discriminating unit is preferably configured to discriminate from the plurality of drugs.

It is preferable that the discrimination unit is configured to discriminate as the foreign matter when the number of pixels of the extracted image is equal to or less than a predetermined threshold value.

It is preferable that the discriminating portion is configured to discriminate that the drug placing portion is dirty when the edge brightness of the extracted image is equal to or less than a predetermined threshold value.

In the discriminating unit, the roundness represented by the ratio of the area of the image to the area of the circle passing through the point where the center point of the extracted image is the center point and the distance from the center point is maximum is equal to or higher than a predetermined threshold value. At some point, it is preferably configured to determine that it is the standing drug.

It is preferable that the discriminating unit is configured to determine that the drug is out of range when at least a part of the extracted image is out of a predetermined analysis region inside the imaging region by the imaging unit.

It is preferable that the display unit displays a coping method for the abnormality. By seeing this displayed coping method, the user can quickly and surely deal with the abnormality.

It is preferable that the display unit displays at least one of the plurality of drugs, a foreign substance, a stain on the drug placing portion, a standing drug, and an out-of-range drug as the cause of the abnormality. As a result, the cause of the abnormality can be easily understood, and the user can surely deal with the cause of the abnormality without any doubt.

It is preferable that the display unit displays a restart key for restarting the drug recognition device. Since it is not restarted until the restart key is pressed, the cause of the abnormality can be eliminated without any hassle.

When the discriminating unit determines that there is an abnormality in the image even if the restart key is pressed, the display unit is created from the identification mark for identifying the abnormal portion in the image and the image. In addition to displaying the error image, it is preferable to display the content of the instruction to remove the foreign substance or the drug in the drug placing portion and the coping method. If the restart key is pressed with insufficient measures to eliminate the cause of the abnormality, the patient will be instructed to remove the drug as soon as possible rather than displaying the details of the abnormality, so the restart can be performed quickly.

The discrimination unit determines whether or not there is a foreign substance or a drug in the image when the power of the drug recognition device is turned on.
When the discriminating unit determines that there is a foreign substance or a drug in the image, an error image created from the identification mark for identifying the portion of the image containing the foreign substance or the drug and the image is displayed, and the drug is displayed. It is preferable to display the content of the instruction to remove the foreign substance or the drug in the mounting portion and the coping method.
When the power is turned off due to a power failure, foreign matter or chemicals being processed may remain in the recognition unit, but when the power failure is restored and the power is turned on, the foreign matter or chemicals remaining in the recognition unit should be removed. By prompting, the operation can be started normally.

According to the present invention, when the power is turned off due to a power failure, the returned drug being processed may remain in the recognition unit, but when the power failure is restored and the power is turned on, the returned drug remaining in the recognition unit may remain. By urging you to remove the, you can start the operation normally.

The schematic front view of the returned medicine dispensing apparatus which concerns on embodiment of this invention. The schematic diagram which shows the layout of the returned medicine dispensing apparatus seen from the II-II line of FIG. A schematic showing the layout of the returned drug dispensing device as seen from the line III-III in FIG. A perspective view (a) showing the appearance of the returned drug dispensing device according to the embodiment of the present invention, and a front view (b) of an injectable drug dispensing line in which the returned drug dispensing device is installed. Schematic front view of the receiving part. Schematic plan view of the return tray. Schematic front view of the elevating part. Schematic front view of an orthogonal robot. Schematic plan view of the recognition part and the non-stored drug placement part. Schematic plan view of the label reader. Schematic plan view of a scalar robot and a support tray. Schematic side view of a scalar robot and a support tray. Schematic front view of the housing. Schematic front view of the housing. Schematic plan view of the storage tray. Block diagram of the recognition unit. The figure which shows the image of the camera after the binarization process which shows the returned medicine to be handled. The figure which shows the image of the camera after the binarization process which shows the returned medicine which is not the object of handling. The figure for demonstrating the measuring method of the size of the returned medicine. A further diagram to illustrate how to measure the size of the returned drug. The perspective view which shows the translucent plate of a recognition part. A plan view of a temporary placement portion showing a guard portion that prevents the returned drug from exceeding the analysis range. FIG. 21 is a sectional view taken along line XXII-XXII in FIG. The schematic diagram which shows the concept of a suction position. The conceptual diagram which shows the method of determining the suction position when the value of the degree of convexity is low. The conceptual diagram which shows the method of determining the suction position when the value of the degree of convexity is high. Top view of the drug (ampoule) having a knob on the label. The figure which shows the method of determining the adsorption position of the drug of FIG. 26. The plan view of the temporary placement part which shows the determination of the medicine which is out of the analysis range. Diagram showing the home screen shown on the display. The figure which shows the home screen which displayed the error. The figure which shows the error screen of a plurality of drugs. The figure which shows the pop-up screen of a door unlocking. The figure which shows the error screen of the standing medicine. The figure which shows the error screen of the out-of-range drug. The figure which shows the error screen of the chemical removal of a temporary place part. The figure which shows the error screen of the chemical removal of a label reading part. The figure which shows the error screen of chemical removal at the time of power-up. The flowchart which shows the flow from the temporary storage part of the recognition part to the place which is placed in the storage part or the non-stored medicine placement part. The flowchart of the subroutine of abnormality determination 2 of FIG. 38. The flowchart following FIG. 38 of the flow from the temporary storage part of the recognition part to the placement of the returned medicine in the storage part or the non-storage medicine placement part. The flowchart of the subroutine of abnormality determination 2 of FIG. 40. Flowchart of shape analysis processing. The flowchart of the subroutine of the chemical area extraction process of FIG. 42. The flowchart of the subroutine of the determination process of the suction coordinate / offset of FIG. 42.

(Overview of the device)
Hereinafter, an embodiment of the present invention will be described by taking as an example a returned drug supply device 1 that sorts and stores returned drugs. 1 to 6 show a returned drug supply device 1 according to an embodiment of the present invention. The returned drug supply device 1 includes a receiving unit 100, an elevating unit 200, a recognition unit 300, a non-stored drug arranging unit 400, a storage unit 500, and a dispensing unit 600. Further, the returned drug supply device 1 includes an orthogonal robot 700, a scalar robot 800, and a support tray 900. Further, the returned drug supply device 1 includes a control device 1000 schematically shown in FIG. The control device 1000 comprehensively controls the operation of the returned drug supply device 1 based on the input from the control panel 1001 (which includes the display 1002) shown in FIG. 4, the input from the sensor, the camera, and the like.

The outline of the main functions of the returned drug supply device 1 is as follows. The returned drug supply device 1 includes, for example, the shape, size (length L1 and diameter or width W), type, and expiration date of the returned drug 2 (see FIG. 6) which is an ampoule 2A, a vial 2B, and a resin ampoule 2C. Recognize the properties. In the present embodiment, a label 3 on which character information including information on the type, expiration date, etc. and a barcode are printed is attached to the returned drug 2. The returned drug supply device 1 reads these information displayed on the label 3. Further, the returned drug supply device 1 temporarily stores the returned drug 2 after recognition in association with the identification information of the returned drug 2 (unique information given to each returned drug 2), and prescribes the returned drug. Payment is made based on data (for example, received from a higher-level system (HIS: Hospital Information System), which is an electronic medical record system). At the time of storage, a storage area is set according to the size of the returned drug 2 to be stored. The returned drug 2 is stored in a set storage area, and the returned drug 2 can be individually taken out at the time of withdrawal. Further, the returned drug supply device 1 discharges the returned drug 2 whose expiration date has passed.

The term "drug" as used herein means a drug contained in a container as shown in FIG. Therefore, "the shape and size of the drug" means the shape and size of the container, and "information such as the type and expiration date of the drug" refers to information such as the type and expiration date of the drug contained in the container. means. Also, in practice, the term "expiration date" may be used in place of the term "expiration date". However, these terms are practically synonymous. Therefore, in this specification, in order to avoid confusion, only the "expiration date" is used without using the "expiration date".

(Reception department)
As shown in FIGS. 1 to 3, the receiving unit 100 is arranged on the upper left front side when the returned drug supply device 1 is viewed from the front.

Referring to FIG. 5, the receiving unit 100 includes a fixed rack member 101 arranged so as to face each other in the horizontal direction (X direction in the drawing). The rack member 101 is provided with a plurality of pairs of rail grooves 101a and 101a for holding the plurality of return trays 4 in a multi-stage arrangement.

Referring to FIG. 6, the return tray 4 includes a tray body 4a having an upper opening in the figure and a flange-shaped portion 4b provided on the upper end edge of the tray body 4a. As shown in FIG. 6, the returned drug 2 (for example, ampoule 2A, vial 2B, resin ampoule 2C) contained in the return tray 4 has a shape, a size (length L1 and a width W), a type, and an expiration date. The properties are different. In addition, the orientations and postures of the returned medicines 2 contained in the returned tray 4 are not the same and are different from each other. That is, the returned drug 2 contained in the return tray 4 is in an unaligned state. Here, the direction of the returned drug 2 refers to the direction in which the longitudinal direction of the returned drug 2 (the axis A of the returned drug 2) extends in the XY plane in the figure. The term orientation with respect to the returned drug 2 may include the orientation of the tip 2a and the proximal end 2b of the returned drug 2 in addition to the direction in which the axis A of the returned drug 2 extends. However, the shape, size, type, expiration date, and other properties of the returned drug 2 contained in the return tray 4 may be unified. Further, the orientation and posture of the returned medicine 2 stored in the returned tray 4 may be the same. The returned drug 2 in the return tray 4 may partially overlap each other.

As shown in FIG. 5, the flange-shaped portion 4b of the return tray 4 is supported by the rail grooves 101a and 101a provided in the rack member 101. The rail grooves 101a and 101a are provided so as to penetrate from the end face on the front side in the Y direction to the end face on the back side in the drawing of the rack member 101. Therefore, a worker such as a medical worker can put the return tray 4 in and out of the rail grooves 101a and 101a from the front side of the return drug supply device 1. Further, the elevating unit 200, which will be described later, allows the return tray 4 to be taken in and out of the rail grooves 101a and 101a from the back side of the return drug supply device 1.

The receiving unit 100 includes an operation preparation button (not shown) provided on the rack member 101 on the right side in FIG. One operation preparation button is provided for each return tray 4 to be stored. After the operator stores the return tray 4 in the receiving unit 100, the corresponding operation preparation button is pressed, so that the elevating unit 200 can pull out the return tray 4 corresponding to the pressed operation preparation button by the control device 1000. It will be ready.

(Elevating part)
As shown in FIGS. 1 to 3, the elevating unit 200 is arranged on the left back side when the returned drug supply device 1 is viewed from the front.

Referring to FIG. 7, the elevating unit 200 includes a fixed linear motion guide 201 extending in the Z direction, a carriage 202 that moves up and down along the linear motion guide 201, and a table 203 mounted on the carriage 202. The table 203 includes a bottom portion 203a, side portions 203b and 203b provided on the left and right sides of the bottom portion 203a, and end portions 203c provided on the back side (back side in the Y direction) of the bottom portion 203a. The front side (front side in the Y direction) of the table 203 is open. Rail grooves 204 and 204 are provided on the side portions 203b and 203b. The rail grooves 204, 204 support the flange-shaped portion 4b of the return tray 4, thereby holding the return tray 4 on the table 203.

Continuing to refer to FIG. 7, the bottom 203a is provided with a fixed linear motion guide 205 extending in the depth direction (Y direction) of the returned drug supply device 1. Further, the base end side of the hook 207 is fixed to the carriage 206 that moves horizontally along the linear motion guide 205.

The elevating unit 200 can take out one return tray 4 from the receiving unit 100 and lower it to the same height position as the recognition unit 300 described later (conceptually indicated by reference numeral H in FIG. 1). Further, the elevating unit 200 can return the return tray 4 to the receiving unit 100 from the same height position H as the recognition unit 300.

(Orthogonal robot)
Referring to FIG. 8, the orthogonal robot 700 includes a suction nozzle 701 that releasably sucks the returned drug 2 by a vacuum supplied from a vacuum source (not shown) through a suction tube (not shown). A rubber suction pad 702 is attached to the tip of the suction nozzle 701. Referring to FIGS. 1 to 3, the range in which the adsorption nozzle 701 can adsorb and hold the returned drug 2 or release the returned drug 2 by adsorbing and holding it is the elevating part 200 (the above-mentioned height position). The orthogonal robot 700 is configured to include the entire range of the return tray 4) when it is in H, the recognition unit 300, and the non-stored drug placement unit 400.

The orthogonal robot 700 (suction nozzle 701) sucks and holds the returned drug 2 from the returned tray 4 held on the table 203 (height position H) of the elevating unit 200, holds it, and takes it out, and temporarily places it as described later provided in the recognition unit 300. Can be transferred to section 301. Further, the orthogonal robot 700 can adsorb and hold the returned drug 2 from the temporary placement unit 301, take it out, and transfer it to the label reading unit 302 described later provided in the recognition unit 300. Further, the orthogonal robot 700 can adsorb and hold the returned drug 2 from the label reading unit 302, take it out, and transfer it to the non-stored drug arranging unit 400.

The orthogonal robot 700 has a fixed Y-axis beam 703 extending in the depth direction (Y direction) of the returned drug supply device 1 below the receiving portion 100, and a carriage 704 moving along the Y-axis beam 703. Be prepared. An X-axis beam 705 extending in the width direction (X direction) of the returned drug supply device 1 is fixed to the carriage 704. Further, a carriage 706 that moves on the X-axis beam 705 is provided, and the head 707 is mounted on the carriage 706. The head 707 is provided with an elevating rod 708 that moves up and down by a ball screw mechanism. A suction nozzle 701 is attached to the lower end of the elevating rod 708 via a bracket 709. A spring 710 is interposed between the bracket 709 and the suction nozzle 701. By rotating the elevating rod 708 around the Z axis, the suction nozzle 701 can also rotate around the Z axis.

The returned drug 2 sucked and held by the suction nozzle 701 moves in the X direction by the linear motion of the carriage 706, moves in the Y direction by the linear motion of the carriage 704, and moves in the Z direction by the elevating and lowering of the elevating rod 708. Further, the returned drug 2 sucked and held by the suction nozzle 701 rotates around the axis (Z axis) of the suction nozzle 701 due to the rotation of the elevating rod 708 around the Z axis.

(Recognition part and non-stored drug placement part)
Referring to FIGS. 1 to 3, the recognition unit 300 includes an illumination 303 and a camera 304. The illumination 303 and the camera 304 are located above the elevating portion 200. Further, the recognition unit 300 includes a temporary placement unit 301 and a label reading unit 302 that form an example of the recognition unit in the present invention together with the camera 304. The temporary storage unit 301 and the label reading unit 302 are arranged on the lower left front side when the returned drug supply device 1 is viewed from the front, and are located below the receiving unit 100.

Referring to FIG. 9, the temporary placement section 301 includes a semi-transparent plate 305 (drug loading section) on which the returned drug 2 is placed, a lighting 306 arranged under the semi-transparent plate 305, and the like. A camera 307 (photographing unit) located above the translucent plate 305 is provided.

Referring to FIG. 10, the label reading unit 302 includes an endless belt 308 that is rotationally driven and a roller 309 arranged on the endless belt 308. The returned drug 2 rotates about its own longitudinal axis A by rotating the endless belt 308 and the roller 309. Further, the label reading unit 302 includes an illumination 310 and a camera 311 shown only in FIG. Further, the label reading unit 302 includes a barcode reader 312.

Referring to FIG. 9, the non-stored drug arranging unit 400 will be described in detail later, but the returned drug 2 that is not handled by the returned drug supply device 1, that is, the returned drug 2 (non-stored) that is not stored in the storage unit 500 in principle. It is a drug placement section for storing the drug 2'), and includes two non-storage drug placement boxes 401 and 402 arranged adjacent to the temporary placement section 301. These non-stored drug placement boxes 401 and 402 are provided with a placement groove for holding the non-stored drug 2'similar to the placement groove of the storage tray 5 described later.

(Operation until recognition of returned drug is completed)
Here, the returned drug supply device 1 until the recognition of the orientation and posture of the returned drug 2 stored in the return tray 4 of the receiving unit 100 and the properties such as the type, shape, size, and expiration date is completed. The operation of is explained.

First, the return tray 4 is transferred from the receiving unit 100 to the table 203 of the elevating unit 200. After the return tray 4 is transferred, the table 203 descends to the height position H (see FIG. 1). After the table 203 descends to the height position H, the recognition unit 300 starts recognition. First, the return tray 4 on the table 203 is irradiated with the illumination light (preferably light having high directivity) from above from the illumination 303, and the camera 304 takes a picture. Then, based on the image taken by the camera 304, the position of the returned medicine 2 in the returned tray 4 is recognized and the medicine is set as the storage target medicine. The details of this recognition process will be described later. Based on this recognition result, the suction nozzle 701 of the orthogonal robot 700 sucks and holds the returned medicine 2 in the return tray 4 one by one, and transfers it onto the translucent plate 305 of the temporary placement portion 301 (see FIG. 9). ). At this time, the adsorption nozzle 701 adjusts the direction of the returned drug 2 adsorbed and held by rotating around its own axis (Z axis).

In the temporary storage section 301, the returned drug 2 is placed on the translucent plate 305. The illumination 306 arranged below the translucent plate 305 by the illumination 306 irradiates the translucent plate 305 with light. The illumination light is preferably high-intensity light. The camera 307 photographs the returned drug 2 on the translucent plate 305 while the illumination 306 irradiates the light. The shape, size, and orientation of the returned drug 2 (the direction in which the axis A extends in the XY plane and the tip 2a and the proximal end 2b are facing), which will be described in detail later based on the image taken by the camera 307. Including) is recognized. Further, the suction position of the returned drug 2 (the position of being sucked by the suction nozzle 701 of the orthogonal robot 700 and the suction nozzle 801 of the scalar type robot 800) is calculated from the image taken by the camera 307. The calculation of the adsorption position of the returned drug 2 will be described in detail later. Based on the recognition result of the image taken by the camera 307, the suction nozzle 701 of the orthogonal robot 700 sucks and holds the returned drug 2 on the translucent plate 305 and transfers it to the label reading unit 302. At this time, the adsorption nozzle 701 adjusts the direction of the returned drug 2 adsorbed and held by rotating around its own axis (Z axis).

In the label reading unit 302, which will be described in detail later, the rotation of the endless belt 308 and the roller 309 causes the returned drug 2 to rotate around its own axis A (see FIG. 10). The label reading device (camera 311 and bar code reader 312) reads the label 3 of the returned drug 2 while irradiating the rotating returned drug 2 with illumination light from the illumination 310. From the image taken by the camera 311, the character information regarding the expiration date and the like displayed on the label 3 of the returned drug 2 is recognized, and the posture of the returned drug 2 around the axis A is recognized. Further, in addition to the shooting by the camera 311, the barcode reader 312 reads the barcode included in the label 3. The type of the returned drug 2 and the expiration date are recognized by the image taken by the camera 311 and the barcode read by the barcode reader 312. The type of the drug and the expiration date may be recognized only by either the image captured by the camera 311 or the barcode read by the barcode reader 312. For example, when the barcode included in the label 3 of the returned drug 2 includes the type of the returned drug 2 and the expiration date, only the barcode reader 312 is provided without the camera 311 and the barcode by the barcode reader 312 is provided. By reading, the type of returned drug 2 and the expiration date can be recognized. After the recognition is completed, the rotation of the endless belt 308 and the roller 309 is stopped so that the rotation of the returned drug 2 around the axis A is stopped in the posture in which the label 3 faces upward (Z direction). Whether or not the label 3 is facing upward can be confirmed based on the captured image of the camera 311.

For example, if the expiration date recognized by the label reading unit 302 has already passed, or if the expiration date cannot be recognized by the label reading unit 302, the returned drug 2 is an orthogonal type as a non-stored drug 2'. It is adsorbed and held by the suction nozzle 701 of the robot 700, and is transferred to the non-stored drug placement boxes 401 and 402 of the non-stored drug placement unit 400. Further, any one of the return trays 4 of the receiving unit 100 (for example, the return tray 4 at the bottom) is used as a tray for the non-stored drug 2'that functions as a part of the non-stored drug placement unit 400, and the non-stored drug is used. The non-stored drug 2'of the non-stored drug placement boxes 401 and 402 is returned to the return tray 4.

(Scalar type robot and support tray)
Referring to FIGS. 11 and 12, the scalar robot 800 includes a suction nozzle 801 that releasably adsorbs the returned drug 2 by a vacuum supplied from a vacuum source (not shown). A rubber suction pad 802 is attached to the tip of the suction nozzle 801. The range in which the suction nozzle 801 can adsorb and hold the returned drug 2 or release the adsorbed and held returned drug 2 by releasing the adsorption is the range in which the label reading unit 302 of the recognition unit 300 and all the storage trays 5 included in the storage unit 500 are provided. The scalar type robot 800 is configured to include the entire range of the payout tray 8 and the entire area of the payout tray 8 arranged at the payout position described later.

The scalar type robot 800 (suction nozzle 801) can suck and hold the returned drug 2 from the label reading unit 302 of the recognition unit 300, take it out, and transfer it to the storage tray 5 provided in the storage unit 500, which will be described later. Further, the scalar type robot 800 can adsorb and hold the returned drug 2 from the storage tray 5 and take it out, and transfer it to the payout tray 8 described later in the payout unit 600.

The scalar type robot 800 includes a pair of fixed linear motion guides 803 and 803 extending in the height direction (Z direction) of the returned drug supply device 1 and carriages 804 and 804 moving on these linear motion guides 803 and 803. .. Carriage 804,804 supports the end of the X-axis beam 805 extending in the width direction (X direction) of the returned drug supply device 1. The base 806 is fixed to the X-axis beam 805. The proximal end side of the first arm 807 connected to the base 806 rotates about the Z axis, and the proximal end side of the second arm 808 connected to the distal end side of the first arm 807 also rotates about the Z axis. A head 809 is rotatably attached to the tip end side of the second arm 808 around the Z axis. The suction nozzle 801 is held by the bracket 810 fixed to the head 809 via the spring 811. The head 809 is equipped with a barcode reader 812 (shown only in FIG. 11) and a presence / absence detection sensor 820 for detecting the returned drug 2. The bar code reader 812 is mounted at a position shifted laterally with respect to the suction nozzle 801 and reads the bar code of the label 3 affixed to the returned drug 2 located below the suction nozzle 801 from diagonally above. It has become like. In other words, the bar code reader 812 receives the returned drug 2 when the suction nozzle 801 is located above the returned drug 2 in the same manner as the positional relationship between the bar code reader 812 and the bar code reader 312 with respect to the returned drug 2 in the label reading unit 302. It is arranged so as to face the bar code of the label 3 affixed to.

The presence / absence detection sensor 820 is a reflection type photoelectric sensor in the present embodiment, and emits light toward the lower region of the suction nozzle 801 and receives the reflected light to receive the reflected light in the lower region of the suction nozzle 801. It detects the presence or absence of the returned drug 2 in the above.

The returned drug 2 sucked and held by the suction nozzle 801 moves in the Z direction by the direct motion of the X-axis beam 805 (carriage 804), and moves on the XY plane by the rotation of the first arm 807 and the second arm 808. .. Further, the returned drug 2 adsorbed on the suction nozzle 801 rotates around the axis (Z axis) of the suction nozzle 801 by the rotation of the head 809 with respect to the tip end portion of the second arm 808.

Referring to FIGS. 1, 11 and 12, the support tray 900 is fixed to the lower end of a rod 901 that moves up and down with respect to the base 806 of the scalar robot 800. In the present embodiment, the support tray 900 is provided with an arrangement groove for holding the returned medicine 2 similar to the storage tray 5 described later. As shown in FIG. 12, by raising and lowering the rod 901, the support tray 900 is separated from the returned drug 2 sucked and held by the suction nozzle 801 at a height position close to the returned drug 2 sucked and held by the suction nozzle 801. Move up and down to the height position.

When the suction nozzle 801 sucks and transfers the returned medicine 2, the scalar type robot 800 horizontally moves the suction nozzle 801 by the first arm 807 and the second arm 808 to position it above the support tray 900. .. At this time, the head 809 is rotated so that the adsorbed returned drug 2 matches the direction of the arrangement groove of the support tray 900. Then, by raising the rod 901, the support tray 900 is moved from a height position separated from the returned drug 2 to a height position approaching the returned drug 2. As a result, even if the returned drug 2 being transferred is disengaged from the suction pad 802 that is being sucked, the support tray 900 can prevent the returned drug 2 from falling below the suction nozzle 801. As a result, the returned drug 2 can be transferred at a higher speed while preventing the returned drug 2 from being damaged due to the adsorption disengagement.

Further, the returned drug 2 that has fallen on the support tray 900 may be adsorbed again by the adsorption nozzle 801 and transferred.

(Storage part)
As shown in FIGS. 1 to 3, the storage unit 500 is arranged on the far right side when the returned drug supply device 1 is viewed from the front.

Referring to FIGS. 13 and 14, the storage unit 500 includes a linear motion guide 501 extending in the Z direction. A holding frame 502 for holding the storage tray 5 so as to be able to be taken out is held in the linear motion guide 501 so as to be able to move up and down. The holding frames 502 are arranged in multiple stages. Linear guides 503 and 503 extending in the Z direction are arranged on both sides of the storage trays 5 arranged in multiple stages. Carriage 504 and 504 that move up and down on these linear motion guides 503 and 503 are provided. The carriage 504 is equipped with a lift mechanism 505 that can move between the retracted position shown in FIG. 13 and the protruding position shown in FIG. The lift mechanism 505 is also arranged in the depth direction in the figure. Further, the lift mechanism 505 may be arranged in multiple stages.

With the lift mechanism 505 in the retracted position as shown in FIG. 13, the carriages 504 and 504 move to positions corresponding to one holding frame 502. Next, the lift mechanism 505 moves to the protruding position as shown in FIG. 14 and enters the lower side of the holding frame 502. When the carriages 504 and 504 rise in this state, the holding frame 502 into which the lift mechanism 505 has entered The holding frame 502 on the upper stage is lifted upward. As a result, a gap G is formed between the holding frame 502 into which the lift mechanism 505 has entered and the holding frame 502 one step lower than the holding frame 502. Through this interval G, the suction nozzle 801 of the scalar type robot 800 can access the storage tray 5 held in the holding frame 502 one step lower than the holding frame 502 into which the lift mechanism 505 has entered. In other words, by providing this interval G, the suction nozzle 801 of the scalar type robot 800 transfers the returned drug 2 to the storage tray 5 for all the storage trays 5 (storage operation) and returns. It is possible to perform an operation of adsorbing and holding the drug 2 and taking it out from the storage tray 5 (delivery operation).

The storage tray 5 includes at least one of three types suitable for storing the small (S), medium (M), and large (L) returned drug 2. Each storage tray 5 includes a tray body 5a having an open upper portion and a flange-shaped portion 5b provided on the upper end edge of the tray body 5a.

Referring to FIG. 15, the bottom of the tray main body 5a extends to the returned drug supply device 1 in the depth direction (Y direction) and is arranged at intervals in the width direction (X direction) of the returned drug supply device 1. A plurality of ridges (protrusions) 6 are provided. A linear arrangement groove (recess) 7 is formed between the adjacent ridges 6, and the returned drug 2 is housed in the arrangement groove 7.

(Payout section)
The payout unit 600 includes a transport mechanism 601. The transport mechanism 601 moves and positions the payout tray 8 from the inlet 602 schematically shown in FIG. 1 to the payout position (the position on the front side in the drawing of the storage unit 500), and positions the payout tray 8 after the payout operation is completed. It is carried out from the outlet 603 schematically shown in 1.

The returned drug supply device 1 of the present embodiment is installed in the injectable drug payout line 10, for example, as shown in FIG. 4 (b). A supply lifter 11, a label printer 12, a bottle dispenser 13, an aligned dispenser 14, a cold storage machine or a special drug dispenser 15, a tray discharge unit 16, a stacking lifter 17, and the like are arranged in the injection medicine payout line 10. The returned drug supply device 1 of the present embodiment is installed next to the label printer 12. The payout tray 8 carried out from the returned medicine supply device 1 receives the medicines to be paid out from each device of the injectable medicine payout line 10, is usually supplied by the discharge unit 18 to a transport cart (not shown), and is transported to the ward. The payout tray 8 containing the medicines used in a short time such as the medicines requiring urgent need to pass through the discharge unit 16 and is supplied to the stacking lifter 17.

As shown in FIG. 4A, the payout tray 8 is equipped with an electronic paper 8a in which information such as a patient name, a ward, a ward, and an implementation date is written. The electronic paper 8a transmits power via the electronic paper erasing antenna 18a provided at the lower part of the label printer 12 shown in FIG. 4B and the electronic paper writing antenna 18b provided at the lower part of the tray discharge unit 16. It is possible to supply and rewrite the displayed contents by a rewriting device (not shown). At the position of the electronic paper erasing antenna 18a, the information about the tray used so far is erased, and at the position of the electronic paper writing antenna 18b, new information about the conveyed tray is written. If there is a failure in the rewrite signal of the electronic paper 8a for some reason, a writing failure to the electronic paper 8a may occur, but conventionally, there has been no means for detecting it from the outside.

Therefore, in the present embodiment, the following measures are taken for the purpose of preventing display troubles and erroneous transport of the tray 8 due to the detection of write defects to the electronic paper 8a from the outside. ..
That is, by utilizing the fact that the electronic paper 8a changes from all black to all white in the rewriting procedure, a detection means for detecting the change of the electronic paper 8a from black to white during the operation of rewriting the electronic paper 8a is provided. If the detection means does not detect that the electronic paper 8a changes from black to white, it is determined that the electronic paper has not been rewritten, and a warning to that effect is given.

Specifically, the liquid crystal screen of the electronic paper 8a is irradiated with a laser, and the process of rewriting the electronic paper 8a from the reflected wave ("rewriting start" ⇒ "all black" ⇒ "all white" ⇒ "rewriting completed" ), When the change from all black to all white of the liquid crystal screen cannot be detected, it is determined that the rewriting has not been performed, and a display of the rewriting abnormality to the electronic paper 8a is output to the display 1002.
The purpose of installing the rewriting abnormality detection sensor of the electronic paper 8a is not to deal with the phenomenon that the rewriting fails because the power cannot be supplied as in the conventional case, but due to mechanical troubles such as wiring disconnection and liquid crystal cracking. Since it is to detect the state where the rewriting could not be performed, it is not necessary to execute erasure or rewriting by retrying after the detection that the rewriting could not be performed and the warning is issued. When a warning is issued, the electronic paper 8a is replaced with a new one that has not failed.

(Operation of storing and paying out returned drugs)
The operation of storing the returned drug 2 after the recognition is completed in the recognition unit 300 in the storage unit 500 (storage operation) and the operation of discharging the returned drug 2 from the storage unit 500 to the payout tray 8 arranged at the payout position in the payout unit 600 (payout operation). And explain. The storage operation and the payout operation are mainly executed by controlling and operating the recognition unit 300, the storage unit 500, the payout unit 600, and the scalar type robot 800 by the control device 1000.

First, the storage operation will be described.

The returned drug 2 of the label reading unit 302 is sucked and held by the suction nozzle 801 of the scalar type robot 800. With respect to the returned drug 2 adsorbed and held by the suction nozzle 801, the storage position (which position of which storage tray 8 is stored) with respect to the storage area, that is, the range occupied at the time of storage, at least according to the size of the returned drug 2. Ruka) is set. In the present embodiment, the range occupied by the stored area at the time of storage corresponds to the length L1 and the width W of the returned drug 2. The area shown at the time of storage includes a margin for not interfering with the other returned drug 2. Among the plurality of storage trays 5 of the storage unit 500, it is searched for which of the storage trays 5 the placement groove 7 the returned drug 2 sucked and held by the suction nozzle 801 can be placed. According to this search result, the storage tray 5 in which the returned drug 2 is placed and the placement groove 7 (the storage position of the returned drug 2) are determined. Focusing on one storage tray 5, when the arrangement groove 7 of "No. 3" is already filled with the returned drug 2 as shown in FIG. 15, the other arrangement grooves 7 are adsorbed by the suction nozzle 801. It is a candidate for a storage position where the returned drug 2 is placed. For example, in the case of the groove of "No. 6", two returned drugs 2 are already arranged, but the length between these returned drugs 2 is equal to or larger than the range shown at the time of storage described above for the returned drug 2 to be stored. If so, it may be a candidate for arranging the returned drug 2 that is adsorbed and held by the adsorption nozzle 801.

As described above, at the end of recognition by the label reading unit 302, the returned drug 2 is in a posture in which the label 3 faces upward. The suction nozzle 801 of the scalar type robot 800 sucks and holds the returned drug 2 while the bar code of the label 3 maintains the upward posture, and the corresponding arrangement groove 7 of the corresponding storage tray 5, that is, as described above. The returned drug 2 is transferred to the determined storage area.

With respect to the returned drug 2 stored in the storage unit 500, the control device 1000 associates with the identification information of each returned drug 2 and associates it with the above-mentioned storage area, that is, any position (with the arrangement groove 7) of any storage tray 5. It remembers whether or not it is arranged in the arrangement groove 7). Further, the control device 1000 stores the type and the expiration date in association with the identification information of each returned drug 2.

Next, the payout work will be described.

The suction nozzle 801 of the scalar type robot 800 sucks and holds the returned drug 2 from the storage tray 5 of the storage unit 500, and transfers it to the payout tray 8 arranged at the payout position.

The payout operation is executed based on the prescription data received by the returned drug supply device 1 from, for example, a higher-level system such as an electronic medical record system. As described above, the type and expiration date of the returned drug 2 stored in the storage unit 500 and the identification information are stored in association with each other, and the location of the returned drug supply device 1 in the storage unit 500 is also identified. It is stored in association with the information. Specifically, the control device 1000 includes a medicine master that stores the type, expiration date, and storage area of the returned medicine 2 stored in the storage unit 500 in association with the identification information. Moreover, as described above, since the space G can be provided between the storage trays 5 arranged in multiple stages, the adsorption nozzle 801 may be the returned drug 2 stored in any of the storage trays 5 arranged in multiple stages. It can be freely adsorbed and held as needed. Therefore, as a result of referring to the drug master, if it can be confirmed that the drug included in the prescription data is the returned drug 2 stored in the storage unit 500, the drug can be paid out without restriction according to the prescription data. In addition, it is possible to efficiently pay out according to prescription data, such as paying out drugs of the same type that are close to the expiration date. Further, as a result of referring to the drug master, if it can be confirmed that the drug included in the prescription data is not stored in the storage unit 500, it is possible to execute a process such as displaying a necessary display on the display 1002 of the control panel 1001.

The operation of the payout work will be specifically described. Through the interval G formed by the lift mechanism 505, the suction nozzle 801 of the scalar type robot 800 accesses the returned drug (hereinafter referred to as the payout drug in the description of the payout operation) 2 to be paid out. At this time, the bar code reader 812 detects the label of the payout drug 2, and the control device 1000 verifies whether or not the payout drug 2 is the payout target. When it is confirmed that the payout drug 2 is the payout target, the payout drug 2 is adsorbed by the suction nozzle 801 and is taken out from the storage tray 5 and transferred to the payout tray 8. At this time, when a plurality of payout agents 2 to be dispensed exist in the storage unit 500, the control device 1000 determines the payout agent 2 having the earliest expiration date as the payout agent 2 to be dispensed, and the payout agent 2 is determined. Control to pay out 2.

On the other hand, if the control device 1000 determines that the payout drug 2 is not the payout drug 2 to be paid out, or if the label 3 (bar code) cannot be recognized, the control device 1000 uses the suction nozzle. At 801 the dispensed agent 2 is adsorbed and controlled to be transferred to the label reading unit 302 of the recognition unit 300. If the label 3 of the payout agent 2 is recognized by the label reading unit 302, the payout agent 2 is stored again in the storage unit 500 by the scalar type robot 800. On the other hand, if the label 3 of the payout drug 2 is not recognized by the label reading unit 302, the payout drug 2 is transferred to the non-stored drug placement unit 400 (non-stored drug placement boxes 401, 402) by the orthogonal robot 700. Will be done. Alternatively, if it matches the payout agent 2 to be paid out, it may be directly transferred to the payout tray 8 by the scalar type robot 800.

As described above, according to the returned drug supply device 1 of the present embodiment, the returned drug 2 supplied in a non-aligned state with various properties such as type, shape, size, expiration date, etc. is automatically delivered. It can be recognized and stored with a high degree of freedom, and can be freely paid out according to the prescription data.

(Details of recognition processing)
From here, the temporary placement unit 301 and the label reading unit 302 in the recognition unit 300 of the return drug supply device 1 in the return drug supply device 1 of the present embodiment will be described in more detail.

FIG. 16 is a schematic diagram of the recognition unit 300. The recognition unit 300 includes a first imaging unit 1003a, a second imaging unit 1003b, a third imaging unit 1003c, a barcode reader 312, a control calculation unit 1004, a first transfer unit 1005a, a second transfer unit 1005b, and a display unit 1006. ..

The first photographing unit 1003a, the second photographing unit 1003b, and the third photographing unit 1003c include a portion having a function of transmitting image data photographed by the camera 304, the camera 307, and the camera 311, respectively. The barcode reader 312 includes a portion having a function of transmitting information read from the barcode on the label of the returned drug. The control calculation unit 1004 is included in the control device 1000, and includes hardware including a storage device such as a CPU (Central Processing Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory), and software mounted on the hardware. Is built by. The control calculation unit 1004 includes a first control calculation unit 1004a, a second control calculation unit 1004b, and a storage unit 1004c. The first transfer unit 1005a and the second transfer unit 1005b include an orthogonal robot 700 and a scalar robot 800, respectively. The display unit 1006 includes a display 1002.

The first control calculation unit 1004a includes a binarization processing unit 1007, a recognition processing unit 1008, and an orthogonal robot drive control unit 1009.
The binarization processing unit 1007 receives the image data captured by the camera 304 of the first photographing unit 1003a, and generates a binarized image by binarizing the image data.
The recognition processing unit 1008 detects the position, orientation, and substantially intermediate position of the returned drug 2 based on the binarized image.
The orthogonal robot drive control unit 1009 drives the orthogonal robot 700 of the first transfer unit 1005a based on the information such as the position of the returned agent 2 detected by the recognition processing unit 1008 to temporarily place the returned agent 2 in the return agent 2 301. Controls the transfer onto the translucent plate 305 (see FIG. 9).

The second control calculation unit 1004b includes an image processing unit 1010, an abnormality determination unit 1011, an analysis unit 1012, and a scalar type robot drive control unit 1013.
The image processing unit 1010 performs edge detection processing and binarization processing on the image captured by the second imaging unit 1003b, and acquires information on the shape and size of the returned drug 2.
The abnormality determination unit 1011 determines an abnormal state in which the shape, size, type, and expiration date (property) of the returned drug 2 placed on the temporary storage unit 301 cannot be recognized, and creates an error image. As will be described later, the abnormal state is a plurality of drugs, foreign substances / dirt such as dust, standing drugs, and drugs outside the range of analysis, and the abnormality determination unit determines these abnormalities and makes an abnormality in the captured image. Create an error image with the identification mark indicating the part superimposed.
The analysis unit 1012 recognizes the shape, size, type, and expiration date (property) of the returned drug 2. Specifically, the temporary placement unit 301 of the recognition unit 300 recognizes the shape and size of the returned drug 2, and the label reading unit 302 recognizes the type of the returned drug 2. Then, based on the recognition result of the property, the control device 1000 (determination processing unit) determines whether or not the returned drug 2 is a drug to be handled by the returned drug supply device 1.

It should be noted that the "handled" drug referred to here has at least a shape and size that can be handled due to the structure of the returned drug supply device 1, and is of a type previously determined by the user to be handled by the returned drug supply device 1. Say a drug.
The scalar type robot drive control unit 1013 drives the scalar robot 800 of the second transfer unit 1005b to transfer the returned agent 2 to the label reading unit 302 based on the information such as the position of the returned agent 2 detected by the analysis unit 1012. Control and transfer from the label reading unit 302 to the storage unit 500 are performed.

The storage unit 1004c stores the position, orientation, substantially intermediate position of the returned drug detected by the recognition processing unit 1008, and the shape, size, type, and expiration date (property) of the returned drug analyzed by the analysis unit 1012. Further, as will be described later, the storage unit 1004c has an error code number corresponding to an error of a plurality of drugs, a foreign substance / dirt, a standing drug, an out-of-range drug, etc., an error content, an instruction content, and a coping method for dealing with the error. Is stored in advance.

The display unit 1006 includes a display 1002 and displays a home screen, an error screen, and the like.

(Recognition of drug shape and size)
As described above, the temporary placement unit 301 of the recognition unit 300 recognizes the shape and size of the returned drug 2 (information on the shape and size is acquired). Therefore, as shown in FIGS. 1 and 9, the returned drug 2 has its longitudinal axis A parallel to the mounting surface 305a on the mounting surface 305a (plane on the camera 307 side) of the translucent plate 305. It is placed so that it becomes. Then, the returned medicine 2 placed on the translucent plate 305 was arranged above the translucent plate 305 in a state of being illuminated from below by the illumination 306 arranged below the translucent plate 305. Taken by camera 307.

The control device 1000 is configured to acquire information on the shape and size of the returned drug 2 based on the image taken by the camera 307. That is, the control device 1000 functions as a part of the recognition unit 300 for recognizing the shape and size of the returned drug 2.

The control device 1000 is also configured to image-process the image of the camera 307 in which the returned drug 2 is captured (having an image processing unit) in order to acquire information on the shape and size of the returned drug 2. As image processing for the image of the camera 307, for example, an edge detection process for detecting the edge of the image of the returned drug 2 appearing in the image and a binarization process for binarizing (black and white) the image are performed. .. Based on the edge detection processed image and the binarized image, the control device 1000 acquires information on the shape and size of the returned drug 2.

Further, the control device 1000 is configured to determine whether the shape of the returned drug 2 is the shape of the drug to be handled by the returned drug supply device 1 based on the shape of the acquired returned drug 2.

The returned medicine 2 returned via the return tray 4 includes, for example, a medicine having a shape that is caught between the endless belt 308 and the roller 309 in the label reading unit 302, a medicine having a shape that cannot be held by the scalar type robot 800, and a storage unit. A drug having a shape that cannot be stored in the 500, that is, a drug having a shape that cannot be handled by the returned drug supply device 1 due to its structure may be included. As an example, a drug stored in a bag or box, a drug that is partially missing, a drug whose label is partially peeled off, or a drug whose label is partially peeled off is attached to another drug. Drugs and the like can be mentioned. Since such a returned drug cannot be handled by the returned drug supply device 1 due to its structure, it is treated as a drug (non-stored drug) that is not subject to handling.

An example of a method of determining the shape of the returned drug 2 based on the image (image processed image) of the camera 307 will be described.

17A and 17B show binarized images. FIG. 17A shows a binarized image Pic in which an ampoule-shaped image of the returned drug 2 (black-painted image) Im, which is the shape of the drug to be handled by the returned drug supply device 1, is captured. FIG. 17B is a binarized image Pic showing an image (black-painted image) Im'of the returned drug 2 in the shape of an ampoule in which the label 3 is partially peeled off, which is the shape of the drug not to be handled. 'Indicates.

First, the control device 1000 extracts a rectangular region Sr (Sr') circumscribing the black-painted image Im (Im') in the image Pic (Pic') of the camera 307. Next, the center line CL (CL') of the rectangular region Sr (Sr') extending in the longitudinal direction of the rectangular region Sr (Sr') (the direction in which the long side Sa (Sa') extends) is calculated. Then, the control device 1000 determines whether or not the black-painted image Im (Im') has a symmetrical shape with respect to the center line CL (CL').

In the case of the image Pic of FIG. 17A, since the black-painted image Im has a shape symmetrical with respect to the center line CL, the control device 1000 determines that the shape of the returned drug 2 reflected in the image Pic is the shape of the drug to be handled. judge. On the other hand, in the case of the image Pic'of FIG. 17B, since the black-painted image Im'has an asymmetrical shape with respect to the center line CL', the control device 1000 does not handle the shape of the returned drug 2 reflected in the image Pic'. It is determined that the shape of the drug is.

After it is determined that the returned drug 2 placed on the translucent plate 305 of the temporary storage portion 301 is in the shape of the drug to be handled, the control device 1000 determines that the size of the returned drug 2 is the size of the drug to be handled. It is determined whether or not it is a size (size). Therefore, the size of the returned drug 2 is measured (calculated).

In the case of the present embodiment, in order to acquire information on the size of the returned drug 2, the length of the returned drug 2 in the longitudinal direction (extending direction of the axis A) is first measured (calculated). A method of measuring (calculating) the length of the returned drug 2 in the longitudinal direction will be described.

18 and 19 are diagrams for explaining a method of measuring (calculating) the size of the returned drug 2.

When the returned drug 2 (vial 2B) placed on the translucent plate 305 as shown in FIG. 18 is photographed by the camera 307 above it, the returned drug 2 is transferred to the image Pic of the camera 307 as shown in FIG. Is reflected. Based on the longitudinal length Lm and the widthwise lengths W1 and W2 of the image of the returned drug 2 shown in this image Pic, the size of the returned drug 2 is set to the longitudinal direction (axis line) by utilizing the similarity of the triangle. The actual length Lact (in the extending direction of A) is calculated. A method for calculating the actual length Lact of the returned drug 2 in the longitudinal direction based on the image Pic of the camera 307 is described in detail in WO 2015/170762.

When the actual length of the returned drug 2 in the longitudinal direction (extending direction of the axis A) can be calculated in this way, the returned drug 2 is based on the information on the shape of the returned drug 2 obtained before that. The actual size of other parts can also be calculated. For example, if the returned drug 2 is a vial 2B, the actual outer diameter of the body 2c can be calculated.

Further, in measuring (calculating) the actual length Lact in the longitudinal direction of the returned drug 2, the returned drug 2 is placed on the translucent plate 305 so that the optical axis OA1 of the camera 307 and the returned drug 2 intersect. It is preferably positioned on the surface 305a. In particular, it is preferable that the returned drug 2 is positioned with respect to the translucent plate 305 so that the optical axis OA1 of the camera 307 and the axis A of the returned drug 2 are orthogonal to each other.

For example, FIG. 20 is a perspective view of a translucent plate (drug mounting plate) 305 in which an uneven portion is formed as a positioning portion for positioning the returned drug 2.

In the case of the present embodiment, the translucent plate 305 is composed of a translucent base plate 305A and a transparent positioning plate 305B mounted on the base plate 305A and provided with a mounting surface 305a on which the returned drug 2 is placed. Has been done. The base plate 305A includes a frame body 305c that projects upward from the periphery of the positioning plate 305B and prevents the returned drug 2 from falling off from the mounting surface 305a.

The positioning plate 305B is detachably attached to the base plate 305A. The positioning plate 305B also positions the returned drug 2 with respect to the translucent plate 305 so that the optical axis OA1 of the camera 307 and the axis A of the returned drug 2 mounted on the mounting surface 305a are orthogonal to each other. It is provided with a pair of linear ridges 305b. The pair of linear ridges 305b extend in parallel at intervals in the diagonal direction of the rectangular positioning plate 305B, and project from the mounting surface 305a toward the camera 307 side. When the returned drug 2 is arranged between the pair of ridges 305b, the pair of ridges 305b abut on the outer peripheral surface of the body 2c. As a result, the returned medicine 2 is positioned with respect to the mounting surface 305a of the translucent plate 305 with its axis A orthogonal to the optical axis OA1 of the camera 307. By providing the pair of ridges 305b in the diagonal direction of the positioning plate 305B, the pair of ridges 305b is longer than the pair of ridges 305b provided in parallel with one side of the positioning plate 305B having the same shape. The range of the returned drug 2 placed in the space can be increased so that the returned drug 2 can be reliably placed.

Of the frame 305c of the base plate 305A, the frame 305c located at the back of the device is provided with a plurality of air blowing holes 305d for removing foreign substances such as dust and hair on the mounting surface 305a. The air blowing hole 305d is connected to a blower source such as a compressor (not shown), and after the device starts operating, air is blown from diagonally above the mounting surface 305a as shown by an arrow in the figure, thereby blowing air onto the mounting surface 305a. It is configured to blow off foreign matter. The air blowing hole 305d is not limited to the back frame 305c, but may be provided in the front or left and right frame 305c.

Further, the positioning plate 305B (mounting surface 305a) is set with an analysis range AR for analyzing the position, orientation, shape and size of the returned drug 2 based on the image of the camera 307. The analysis range AR is set at a position on the mounting surface 305a at a predetermined distance from the frame body 305c on the center side. That is, the returned drug 2 is normally located within the analysis range AR as a whole when it is placed on the mounting surface 305a and positioned by the ridge portion 305b. However, the returned drug 2 may be arranged so that the axis line is inclined with respect to the extending direction of the ridge portion 305b when the returned medicine 2 is transferred from the return tray 4 to the temporary storage portion 301. This occurs, for example, when a detection error occurs in the picking position or the axial direction of the returned drug 2 in the return tray 4. In this case, referring to FIG. 21 showing a plan view of the temporary placement portion 301, the returned drug 2 is not positioned by the ridge portion 305b and rolls down from the ridge portion 305b to the surrounding frame 305c. , It goes out of the analysis range AR, and the whole is not located in the analysis range AR. As a result, the control device 1000 cannot correctly analyze the shape and size of the returned drug 2.

As a response to this, as shown in FIG. 21, the translucent plate 305 is provided with a guard portion 305e protruding from the mounting surface 305a inside the analysis range AR. The guard portion 305e is provided along the four sides of the rectangular analysis range AR, and prevents the returned drug 2 from protruding from the analysis range AR even if it rolls outward. As shown in FIG. 22, the guard portion 305e is dimensioned inward from the analysis range AR so that photography within the analysis range AR is possible even if the returned drug 2 having the maximum diameter abuts on the guard portion 305e. There is.

If the returned drug 2 can be positioned with respect to the translucent plate 305 (that is, the optical axis OA1 of the camera 307), the positioning portion formed on the translucent plate 305 is a pair of linear protrusions shown in FIG. Not limited to section 305b. For example, the uneven portion for positioning the returned drug 2 may be a groove.

Further, the translucent plate 305 may be composed of one translucent plate instead of the base plate 305A and the positioning plate 305B. In that case, an uneven portion for positioning the returned drug 2 is formed on one plate. However, when the translucent plate 305 is composed of the base plate 305A and the positioning plate 305B, the returned drug supply device 1 can be configured by preparing a plurality of positioning plates having different shapes of the uneven portions for positioning the returned drug 2. It can handle more diverse shapes and sizes of drugs.

When the control device 1000 determines that the shape and size of the returned drug 2 whose shape and size are recognized by the temporary placement unit 301 of the recognition unit 300 are the shape and size of the drug to be handled. As shown in FIG. 9, it is conveyed by the orthogonal robot 700 to the label reading unit 302 adjacent to the temporary placement unit 301.

On the other hand, even if the shape of the returned drug 2 is determined to be the shape of the drug not to be handled or the shape is the shape of the drug to be handled, the size is determined to be the size of the drug not to be handled. The returned drug 2 is transferred as the non-stored drug 2'to the non-stored drug placement box 401, 402 of the non-stored drug placement unit 400 or the return tray 4 for the non-stored drug.

(Determining the adsorption position)
Next, with reference to FIGS. 23 to 25, based on the image taken by the camera 307 of the temporary placement unit 301 (that is, based on the shape and size information of the returned drug 2 acquired as described above). ), The method of calculating the suction position of the returned drug 2 (the position of being sucked by the suction nozzle 701 of the orthogonal robot 700 and the suction nozzle 801 of the scalar type robot 800) will be described.

Referring to FIG. 23, the vial 2B has a relatively small amount of protrusion of the head 2d from the body 2c, and the difference in diameter between the body 2c and the head 2d is also small, so that the vial 2B is approximately intermediate in length (total length L1). If the position is set to the suction position SP, the weight balance is good when sucked by the suction nozzles 701 and 801. That is, in the case of the vial 2B, if the substantially intermediate position of the total length L1 is set to the suction position SP, the holding by the suction nozzles 701 and 801 is stable.

Continuing to refer to FIG. 23, in the ampoule 2A, the amount of protrusion of the head 2d from the body 2c is relatively large, and the difference in diameter between the body 2c and the head 2d is also large. When set to SP, the weight balance is not good when sucked by the suction nozzles 701 and 801. In the case of the ampoule 2A, if the substantially intermediate position of the length L2 of the body portion 2c is set to the suction position SP instead of the total length L1, the weight balance is good when the suction nozzles 701 and 801 are sucked. That is, in the case of the ampoule 2A, if the substantially intermediate position of the length L2 of the body portion 2c is set to the suction position SP, the holding by the suction nozzles 701 and 801 is stable. This point is the same in the case of the resin ampoule 2C.

For the above reason, the adsorption position SP of the returned drug 2 is calculated by the following procedure based on the image taken by the camera 307 of the temporary placement unit 301.

First, an envelope (or an circumscribing rectangle) 313 with respect to the outer contour of the image taken by the camera 307 (the image of the returned drug 2 in a plan view) is set (step 1 in FIGS. 24 and 25). Further, the convexity is calculated from the envelope 313 (step 1 in FIGS. 24 and 25). The degree of convexity approaches 1 so that the envelope 313 can surround the returned drug 2 with a straight line. That is, the larger the convexity value (maximum value is 1), the smaller the difference in diameter between the body 2c and the head 2d, and the diameter of the neck connecting the body 2c and the head 2d with respect to the body 2c and the head 2d. It also means that the difference between them is small.

If the calculated convexity value is equal to or greater than a preset threshold value (for example, it can be set in the range of 0.8 to 0.9), the returned drug 2 taken by the camera 307 can be estimated to be the vial 2B. Since it can be determined that the shape has a shape, the middle of the total length L1 and the middle of the width W are set as the suction position SP (step 2 in FIG. 24).

If the calculated convexity value is less than the above-mentioned preset threshold value, it can be determined that the returned drug 2 photographed by the camera 307 has a shape that can be estimated to be ampoule 2A (or resin ampoule 2C). In order to set the middle of the length L2 of the body portion 2c at the suction position SP, the following processing is performed.

First, by comparing the envelope line (or circumscribing rectangle) 313 with the outer contour of the image of the returned drug 2, it corresponds to the neck portion (partially reduced diameter portion) between the body portion 2c and the head portion 2d. , The constricted portion 314 is extracted (step 2 in FIG. 25).
Next, a rectangular region 315 surrounding the extracted constricted portion 314 with a straight line is created (step 3 in FIG. 25).

Then, by removing the rectangular region 315 from the outer contour of the image of the returned drug 2, two regions 316a and 316b are created (step 4 in FIG. 25). These regions 316a and 316b correspond to regions other than the constricted portion 314 of the outer contour of the image of the returned drug 2. Further, one of these regions 316a and 316b corresponds to the body portion 2c of the returned drug 2, and the other corresponds to the head portion 2d. The areas of the regions 316a and 316b are compared, the larger area (corresponding to the body 2c) is left as the processing target, and the smaller area (corresponding to the head 2d) is excluded from the processing target. In this example, since the area of the region 316a is larger than the area of the region 316b, the region 316a is left as a processing target.

Finally, the middle of the length L2'(corresponding to the length L2 of the body 2c of the ampoule 2A) and the middle of the width W'(corresponding to the width W of the body 2c of the ampoule 2A) of the region 316a are set as the suction position SP. Set (step 5 in FIG. 25).

By the above procedure, the suction position SP capable of stably holding the returned drug 2 by the suction nozzles 701 and 801 can be automatically determined based on the image taken by the camera 307 of the temporary placement unit 301. As a result, the orthogonal robot 700 conveys the returned drug 2 placed on the translucent plate 305 of the temporary placement section 301 to the label reading section 302 with its axis A parallel to the horizontal direction. It can be safely placed on the endless belt 308 of the label reading unit 302 of the recognition unit 300 without colliding the tip of the head 2d.

(Adsorption position determination process)
As shown in FIG. 26, in the case of a drug having a knob 2b for peeling off a part of the label 2a, for example, Isobolin (registered trademark), the tip of the knob 2b is warped and close to the neck. , There is a risk of erroneous detection of the suction position. That is, originally, the intermediate position of the length of the body should be set as the suction position, but the neck cannot be detected due to the presence of the knob, and the intermediate position of the entire length may be set as the suction position.

As a means for determining the suction position to prevent such false detection,
In a drug recognition device that recognizes drug identification information
The drug placement section on which the drug is placed and the drug placement section
An imaging unit that photographs the drug placed on the drug placement unit,
Based on the image of the drug taken by the photographing unit, the image is reduced in the vertical direction to obtain the difference area between the image before reduction and the image after reduction, and the image in the difference area is horizontally reduced. It includes an image processing unit including an opening process for opening, a process for selecting a longer region of the opened image, and a process for obtaining the center coordinates of the longer region.

FIG. 27 shows the adsorption position determination process. First, the image of the returned drug (step 1) taken by the camera 307 of the temporary placement portion 301 is binarized and edge-processed (step 2), and the image is imaged so that the position of the image is in the center of the shooting area and is horizontal. Is converted to affine (step 3). Subsequently, the image is reduced in the vertical direction (step 4), the difference area between the image before reduction and the image after reduction is obtained (step 5), and the opening process is performed in the horizontal direction (step 6). The thin portion is removed and divided into a region consisting of two images of the neck portion and a region consisting of two images of the body portion (step 7). Therefore, the longer region is selected (step 6), the inverse affine transformation is performed (step 8), and the center coordinate of the union of the two images of the remaining longer region is set as the adsorption position (step 9). .. Further, the distance between the suction position and the center point of the contour of the head is set as an offset (step 10). This offset is used to position the drug 2 so that the bottom of the returned drug 2 does not hit the stopper 317 when the drug is transferred to the label reader 302 and placed on the endless belt 308.

By the vertical reduction process and the horizontal opening process in the adsorption coordinate determination process of FIG. 27, even if the knob of the label is close to the neck, the knob portion appearing in the captured image can be removed, so that the drug can be removed. The center position of the body of the body can be set to the suction position.

(Recognition of drug type and expiration date)
As described above, the label reading unit 302 of the recognition unit 300 recognizes the type and expiration date of the returned drug 2 (information on the type and expiration date is acquired). Therefore, as shown in FIG. 10, the label reading unit 302 comes into contact with the endless belt 308 on which the returned drug 2 is placed and the returned drug 2 placed on the endless belt 308, and causes the returned drug 2 to come into contact with each other. It has a roller 309 that rotates about the axis A. Further, the label reading unit 302 has a belt driving unit (not shown) for driving the endless belt 308 and a roller driving unit (not shown) for driving the roller 309. The belt drive unit and the roller drive unit are, for example, motors and are controlled by the control device 1000.

As shown in FIG. 10, the returned drug 2 continues to rotate about the axis A by the roller 309 while being positioned and maintained with respect to the label reading unit 302. The label 3 of the returned drug 2 in rotation is photographed by the camera 311 and read by the barcode reader 312.

On the label 3, the expiration date of the returned drug 2 is described, and a bar code indicating the type of the returned drug 2 is described.

The control device 1000 is configured to acquire information on the expiration date of the returned drug 2 based on the image of the label 3 taken by the camera 311 (recognizing the expiration date described on the label 3). Has an OCR unit). Further, the control device 1000 is configured to acquire information on the type of the returned drug 2 based on the barcode read by the barcode reader 312. That is, the control device 1000 functions as a part of the recognition unit 300 for recognizing the type and expiration date of the returned drug 2.

After the label reading unit 302 finishes recognizing the type of the returned drug 2 and the expiration date, the endless belt 308 and the roller 309 are stopped.

When the control device 1000 acquires information on the type and expiration date of the returned drug 2 of the label reading unit 302 via the camera 311 and the barcode reader 312, is the acquired type and expiration date the drug to be handled? It is configured to determine whether or not.

For example, if the type of the returned drug 2 is a type previously determined by the user to be handled by the returned drug supply device 1, the returned drug 2 is determined to be a drug to be handled. Specifically, if the recognized type is a type stored in the drug master, the returned drug 2 is determined to be a drug to be handled. If not, it is determined that it is not handled.

If the expiration date has not expired or is sufficient, the returned drug 2 is determined to be a drug to be handled. On the other hand, if the expiration date has already expired or the remaining expiration date is several days (for example, 2 to 3 days), the returned drug 2 is determined not to be handled.

When the control device 1000 determines that the returned drug 2 whose type and expiration date have been recognized by the label reading unit 302 of the recognition unit 300 is the type and expiration date of the drug to be handled, it is a scalar type as described above. It is transferred to the storage unit 500 by the robot 800.

On the other hand, the returned drug 2 of the label reading unit 302 determined to have at least one of the type and the expiration date of the drug not to be handled is the non-stored drug 2'in the non-stored drug arranging unit 400. It is transferred to the non-stored drug placement boxes 401 and 402 (eventually transferred to the non-stored drug return tray 4').

(Error handling)
In the process of image processing the returned drug 2 placed on the temporary placement section 301 of the recognition unit 300, there are abnormalities such as the presence of a plurality of drugs, foreign substances, stains, standing drugs, or the returned drug outside the analysis range AR. And, the shape and size of the returned drug 2 cannot be recognized, and the adsorption position cannot be determined. Therefore, in such a case, it is necessary to display an error on the display 1002 and urge the user to eliminate the cause of the error.

In the determination of the plurality of drugs, the number of binarized extracted images F in the photographed area is counted, and if it is 2 or more, it is determined to be a plurality of drugs.

In the determination of foreign matter / dirt, if the number of pixels of the binarized extracted image F in the photographed area is equal to or less than the threshold value (15000 pixels), it is determined to be foreign matter such as dust. Further, if the number of pixels is equal to or greater than the threshold value but the edge brightness of the image is equal to or less than the threshold value, it is determined to be dirty.

In the determination of the standing drug, the roundness of the binarized extracted image F in the photographed region is obtained, compared with the threshold value 0.7, and if it is equal to or higher than the threshold value, it is determined to be the standing drug. ^{The roundness is obtained by the area of the extracted image F / (rmax 2} × π), where rmax is the distance between the center point of the extracted image F and the farthest point from the center point. When the extracted image F is a perfect circle, the roundness is 1, but the threshold value for determining the standing drug is preferably between 0.7 and 1.

In the determination of the out-of-range drug, it is determined whether or not the entire extracted image F is included in the analysis range AR described above. As shown in FIG. 28, when the analysis range AR is formed, for example, 10 mm inside the imaging region of the mounting surface 305a, the upper left apex of the mounting surface 305a is the origin (0,0), and the length of the mounting surface 305a. Let x, y be, and if the sides of the photographed area are equivalent to x, y, the analysis ranges are (10,10)-(x-10,10) and (10,10)-(10). , Y-10). If even one pixel of the extracted image F is not included in the analysis range AR, it is determined to be an out-of-range drug.

In the label reading unit 302 of the recognition unit 300, binarized extraction is performed in the captured image area by the camera 311 of the label reading unit 302 before the operation is started when the power is turned on (including when the power is restored after a power failure). Only the presence or absence of the image F is determined.

When the above error is determined, the control device 1000 creates an error image. The error image is superimposed with an identification mark that identifies an abnormal portion in the image captured by the camera 304 or the camera 311. The identification mark is preferably a color that can clearly distinguish a rectangular or circular frame, an arrow, or the like from an image or a background. For example, to surround the contours of a plurality of extracted images F determined to be a plurality of drugs, an extracted image F determined to be a foreign substance / dirt, an extracted image F determined to be a standing drug, and an extracted image F determined to be an out-of-range drug. For example, the red frame is superimposed on.

The storage unit 1004c stores in advance an error code number corresponding to an error such as a plurality of drugs, foreign matter / dirt, standing drug, out-of-range drug, error content, and a coping method for dealing with the error.

The control device 1000 sounds a buzzer and displays an "error" button in the message section of the home screen of the display to notify the user that an error has occurred. Alternatively, the buzzer may be sounded, an error screen described later may be displayed, and an "error" button may be displayed when the user selects to close the error screen without processing the error.

FIG. 29 shows the home screen 1101 of the display 1002. On the home screen 1101, the operating status of the device such as "standby", the line and unit number, the number of empty return trays (non-stored drug placement boxes 401, 402), the presence or absence of chemicals in the NG tray (non-stored), Whether or not the returned medicine can be returned, the locked state of each door of the device, the amount of medicine loaded in the storage part, the mode state, the information part indicating the sideways "▲" and "■" buttons, and "Select processing" , Etc., status section indicating whether there is a shortage, change of registration of expiration date, presence of medicines near the expiration date, presence of expired medicines, presence of long-term retention medicines, presence of excess medicines, and "instruction collection". , "Inquiry / filling", "various settings", "door unlocking" and "end" processing are shown. As shown in FIG. 30, the message unit displays an "error" button 1102 when a predetermined error is determined by the abnormality determination described later.

When the "error" button 1102 is pressed by the user, the control device 1000 switches the home screen 1101 to the error screen 1103, while the error code number corresponding to the error determined from the storage unit 1004c, the error content or the instruction content, and the coping method. Is called and displayed on the error screen 1103 together with the error image.

FIG. 31 is an example of the error screen 1103 when it is determined that there are a plurality of chemicals, but the same applies when it is determined that it is foreign matter / dirt. In the upper left part of the error screen 1103, the error code number 1104 and the error content 1105 "multiple drug detection" are displayed. The error image 1106 is displayed on the right side of the error screen 1103. The error image 1106 is displayed by superimposing the identification mark 1107 of the red frame surrounding the outline of the two returned drugs 2 on the photographed image of the temporary placement portion 301 on which the two returned drugs 2 are placed. On the left side of the error screen 1103, the coping method 1108 for the error is displayed. In the coping method 1108, unlocking the door, removing the chemical, closing the door, and pressing the restart button are shown in order. A "restart" button 1109 and a "close" button 1110 are displayed in the lower left of the error screen 1103, and a "door unlock" button 1111 and a "buzzer stop" button 1112 are displayed in the lower right.

When the error screen 1103 is displayed, the user first presses the "stop buzzer" button 1112 on the error screen 1103 to stop the buzzer, confirms the error content, and cancels the error according to the procedure described in the countermeasure 1108. can. When the "door unlocking" button 1111 is pressed, the door unlocking screen 1113 shown in FIG. 32 pops up. The door is unlocked. While referring to the portion surrounded by the identification mark 1107 in the red frame in the error image 1106, the returned drug 2 existing on the temporary placement portion 301 in the open door, or foreign matter / dirt can be removed. After removing the cause of the error, the door is closed and the "restart" button 1105 of the error screen 1103 is pressed to close the error screen 1103. As a result, the operation of the device is restarted.

FIG. 33 is an example of the error screen 1103 when it is determined to be a standing drug. The configuration of the error screen 1103 is the same as that shown in FIG. The error content 1105 is displayed as "the drug is standing". In the error image 1106, the identification mark 1107 of the red frame surrounding the outline of the standing medicine is superimposed on the photographed image of the temporary placement portion 301 on which the standing medicine is placed.

FIG. 34 is an example of the error screen 1103 when it is determined that the drug is out of range. The configuration of the error screen 1103 is the same as that shown in FIG. The error content 1105 is displayed as "out of range of chemicals". In the error image 1106, the identification mark 1107 of the red frame surrounding the outline of the out-of-range drug is superimposed on the photographed image of the temporary placement portion 301 partially placed outside the analysis range.

If the cause of the error still remains even after the "restart" button 1105 is pressed, the error screen 1103 is displayed again. FIG. 35 is an example of the error screen 1103 when the cause of the error is not removed. The configuration of the error screen 1103 is the same as that shown in FIG. Since this error screen 1103 is the second time, the instruction content 1114 of "drug removal" is displayed instead of the error contents such as "multiple chemicals detected", "drugs are standing", and "outside the chemical range", and the chemicals are displayed. It is an expression that encourages early removal.

FIG. 36 is an error screen 1103 in the label reading unit 302 of the recognition unit 300. When the power is restored after a power failure, if the returned drug 2 or foreign matter remains on the endless belt 308 of the label reading unit 302, the subsequent label reading of the returned medicine 2 cannot be performed. To urge. The configuration of the error screen 1103 is the same as that shown in FIG. Instead of the error content, the instruction content 1114 "Chemical removal" is displayed. In the error image 1106, the identification mark 1107 of the red frame surrounding the outline of the returned drug or the foreign substance is superimposed and displayed on the photographed image of the label reading unit 302 in which the returned drug 2 or the foreign substance remains.

FIG. 37 is an error screen 1103 displayed when a returned drug or a foreign substance remains in the temporary placement section 301, the label reading section 302, and the non-stored drug placement section 400 of the recognition unit 300 when the power supply is turned on. The configuration of the error screen 1103 is the same as that shown in FIG. Instead of the error content, the instruction content 1114 "Chemical removal" is displayed. In the error image 1106, the identification mark 1107 of the red frame surrounding the outline of the returned drug or the foreign substance is superimposed and displayed on the photographed image of the label reading unit 302 in which the returned drug 2 or the foreign substance remains. As a coping method 1108, the door is unlocked, the shape confirmation unit (temporary storage unit 301), the roller unit (label reading unit 302), the temporary storage table (non-stored drug placement unit 400) are removed of chemicals, and the door is closed. The presses on the restart button are shown in order.

As described above, according to the error content 1105 displayed on the error screen 1103, the image of the error image 1106 and the identification mark 1107, and the coping method 1108, the user can determine what is the cause of the error and where the cause is. Since it is possible to understand whether to deal with the error, the error can be eliminated quickly and surely.

(Overall flow)
Next, an example of the flow from the recognition of the shape and the like of the returned drug 2 described so far to the transportation of the returned drug 2 based on the recognition result will be described with reference to FIGS. 38 to 41.

In step S101 of FIG. 38, it is determined whether or not the power is turned on, and if the power is turned on, the camera 307 and the camera 311 take pictures of the temporary placement unit 301 and the label recognition unit 302 of the recognition unit 300 in step S102. Will be done.

The image captured in step S102 is image-processed by the control device 1000 in step S103 (edge detection process, binarization process).

In step S104, the recognition unit 300 performs the abnormality determination 1 of the returned drug or the foreign substance.

FIG. 39 shows the flow of abnormality determination 1. In step S201, it is determined whether or not there is a drug or a foreign substance in the captured image of the temporary placement unit 301 and the label recognition unit 302 of the recognition unit 300. The determination of the drug or foreign substance is as described above. In step S202, if there is no drug or foreign substance, a return is made, if there is, a buzzer is notified in step S203, and in step S204, an "error" button 1102 is displayed on the home screen 1101 of the display 1002. If the "error" button 1102 is pressed in step S205, an error image 1106 is created by superimposing the identification mark 1107 of the red frame surrounding the outline of the corresponding drug or foreign substance on the photographed image in step S206, and in step S207. The error image 1106 is displayed on the error screen 1103 of the display 1102. Then, in step S208, the error code, the message of the instruction content of "remove", and the remedy are displayed on the display. It is determined in step S209 whether or not the "restart" button 1105 is pressed, and if it is pressed, the process returns to step S201, and if it is not pressed, the process waits until the "restart" button 1105 is pressed.

After the abnormality determination 1 in step S104, or when the power is not turned on in step S101, the process proceeds to step S105 in FIG. 40, and the operation in the recognition unit is started.

In step S105, the returned drug 2 is transported (mounted) on the translucent plate 305 in the temporary placement section 301 of the recognition section 300 by the orthogonal robot 700.

Next, in step S106, the returned drug 2 placed on the translucent plate 305 is photographed by the camera 307 arranged above the returned medicine 2.

The image of the camera 307 taken in step S106 is image-processed by the control device 1000 in step S107 (edge detection process, binarization process).

In step S108, abnormality determination 2 of a plurality of chemicals, foreign matter / dirt, standing chemicals, out-of-range chemicals, etc. in the recognition unit 300 is performed.

FIG. 41 shows the flow of abnormality determination 2. In step S301, it is determined whether or not there are a plurality of agents in the captured image of the temporary placement unit 301 of the recognition unit 300. If there is no plurality of chemicals in step S302, it is determined in step S303 whether or not the photographed image of the temporary placement portion 301 has foreign matter or dirt. If there is no foreign matter or dirt in step S304, it is determined in step S305 whether or not there is a standing agent. If there is no standing drug in step S306, it is determined in step S307 whether or not there is an out-of-range drug. If there is no out-of-range drug in step S308, it returns. The determination of multiple drugs, foreign substances / dirt, standing drugs, and out-of-range drugs is as described above. If there are multiple drugs, foreign substances / dirt, standing drugs, and out-of-range drugs in steps S302, S304, S306, and S308, a buzzer is notified in step S309, and an "error" button is displayed on the home screen 1101 of the display 1002 in step S310. indicate. If the "error" button 1102 is pressed in step S311, an error image 1106 is created by superimposing the identification mark 1107 of the red frame surrounding the outline of the corresponding drug or foreign substance on the photographed image in step S312, and in step S313. The error image 1106 is displayed on the error screen 1103 of the display 1002. Subsequently, if the flag RS is 0 in step S314, the error code, the error content message, and the coping method are displayed on the error screen 1103 of the display 1002 in step S315. The flag RS is incremented by 1 each time the restart button 1105 is pressed. If the flag RS is 1 or more, the error code, the message of the instruction content of "remove", and the coping method are displayed on the error screen 1103 of the display 1002 in step S315. It is determined in step S317 whether or not the "restart" button 1105 is pressed, and if it is pressed, the flag RS is incremented by 1 in step S318 to return to step S301, and if it is not pressed, the "restart" button 1105 is pressed. Wait until

When the abnormality determination 2 is completed, the process returns to FIG. 40, and in step S109, the control device 1000 is placed on the translucent plate 305 of the temporary placement portion 301 based on the image of the camera 307 image-processed in step S107. Obtain information on the shape of the returned drug 2.

In step S110, the control device 1000 handles the shape of the returned medicine 2 placed on the translucent plate 305 of the temporary placement portion 301 based on the information on the shape of the returned medicine 2 acquired in step S109. It is determined whether or not the shape is. If the shape of the returned drug 2 is the shape of the drug to be handled, the process proceeds to step S111, and if not, the process proceeds to step S120.

In step S111, the control device 1000 acquires information on the size of the returned drug 2 placed on the translucent plate 305 of the temporary placement portion 301 based on the image of the camera 307 image-processed in step S107. ..

In step S112, the control device 1000 handles the size of the returned drug 2 placed on the translucent plate 305 of the temporary placement section 301 based on the information on the size of the returned drug 2 acquired in step S111. Determine if it is the size of the drug. If the size of the returned drug 2 is the size of the drug to be handled, the process proceeds to step S113, and if not, the process proceeds to step S120.

In step S113, the returned drug 2 of the temporary placement unit 301 is conveyed to the label reading unit 302 by the orthogonal robot 700. As a result, the returned drug 2 is set in the label reading unit 302.

In step S114, the control device 1000 of the roller 309 of the label reading unit 302 that abuts on the returned drug 2 and rotates the returned drug 2 based on the size (outer diameter) of the returned drug 2 acquired in step S206. Adjust the rotation speed.

In step S115, the control device 1000 determines whether or not the label 3 of the returned drug 2 can be accurately read by the camera 311 or the barcode reader 312. If the barcode indicating the expiration date and the type of the returned drug 2 written on the label 3 can be accurately read, the process proceeds to step S116. For example, if the expiration date or the barcode has partially disappeared and these cannot be read accurately, the process proceeds to step S120.

In step S116, the label 3 of the returned drug 2 is accurately read by the camera 311 or the barcode reader 312 in the label reading unit 302.

In step S117, the control device 1000 acquires information on the type and expiration date of the returned drug 2 based on the label 3 of the returned drug 2 read in step S211.

In step S118, the control device 1000 determines that the type and expiration date of the returned drug 2 set in the label reading unit 302 are the drugs to be handled, based on the information on the type and expiration date of the returned drug 2 acquired in step S117. Determine the type and expiration date. That is, it is determined whether or not the type of the returned drug 2 is the type stored in the drug master, and whether or not the expiration date has expired or the expiration date is sufficient. If both the type of the returned drug 2 and the expiration date are those of the drug to be handled, the process proceeds to step S119. If not, the process proceeds to step S120.

In step S119, the returned drug 2 of the label reading unit 302 is conveyed to the storage unit 500 by the scalar type robot 800 as the drug to be handled. That is, the returned drug 2 whose shape, size, type, and expiration date is the shape, size, type, and expiration date of the drug to be handled is stored in the storage unit 500.

In step S120, the returned drug 2 whose shape is determined to be the shape of the drug not to be handled in step S110, the returned drug 2 whose size is determined to be the size of the drug not to be handled in step S112, and the label 3 in step S115. The returned drug 2 determined to be unreadable, or the returned drug 2 determined in step S118 to be a drug whose type and expiration date are not subject to handling, is designated as a non-stored drug 2'. It is conveyed (stored) to the arrangement unit 400.

(Flow of shape analysis processing)
FIG. 42 shows another example of the image processing of step S107 of FIG. 40 and the shape analysis processing including the abnormality determination 2 of step S108. In step S401, a photographed image is acquired, and in step S402, a chemical region extraction process is performed.

In the chemical region extraction process, as shown in FIG. 43, a region (Reg_th) which is a union of the binarized region and the edge region is obtained in step S501, and a new region (Reg_th_new) is obtained by expanding / reducing the image in step S502. Ask for. In step S503, the selection area (Reg_sel) is obtained by ignoring the portion having an area of 3900 pixels or less by the filtering process of the new area (Reg_th_new), and in step S504, the intersection area between the selection area (Reg_sel) and the edge area is connected / filled. The cross-closed area (Reg_int) obtained by By obtaining this cross-closed region, a clear edge of the region to be extracted appears. If the cross-closed region (Reg_int) is not zero in step S505, that is, if the cross-closed region (Reg_int) exists, it is determined in step S506 whether or not the cross-closed region (Reg_int) is 1. If the cross-closed area (Reg_int) is 1, it is determined in step S503 whether or not the area of the selected area (Reg_sel) exceeds 15,000 pixels. The threshold value of 15,000 pixels is the number of pixels of the image of the minimum medicine handled by the returned medicine dispenser. If the area of the selected area (Reg_sel) exceeds 15,000 pixels, whether or not the brightness value (average value of the brightness values of the target area) of the contour edge of the selected area (Reg_sel) exceeds the predetermined threshold value Th in step S508. To judge. If the threshold Th is exceeded, the image is determined to be "normal" in step S509.

If the cross-closed region (Reg_int) is not 1 in the determination of step S506, it is determined that the image is "plural chemicals" in step S518 because there are a plurality of cross-closed regions having clear edges.
Further, in the judgment of step S507, if the area of the selected area (Reg_sel) is 15,000 pixels or less, it is not the minimum chemical, and therefore, in step S517, it is determined that the image is "dirt / dust".
Further, in the judgment of step S508, if the luminance value of the contour edge of the selected region (Reg_sel) is equal to or less than the predetermined threshold value Th, it is determined in step S517 that the image is “dirt / dust”.

If the cross-closed region (Reg_int) is zero at the judgment of step S505, that is, if the cross-closed region (Reg_int) does not exist, the process proceeds to step S510. If the cross-closed area (Reg_int) does not exist, it can be said that the image is not a chemical, but it is unknown whether the image is dusty or dirty or if there is no chemical. In step S510, the selection area (Reg_sel2) is obtained by ignoring the portion having an area of 500 pixels or less by the filtering process of the new area (Reg_th_new), and in step S511, the cross-closed area (Reg_int2) between the selection area (Reg_sel2) and the edge area is obtained. ). In step S512, if the cross-closed region (Reg_int2) is zero, that is, if the cross-closed region (Reg_int2) does not exist, the area ratio between the selected region (Reg_sel2) and the cross-closed region (Reg_int2) is 0.75 in step S513. Judge whether or not it exceeds. It can be said that if the area of the entire area is smaller than that of the edge area, there is no size. If the area ratio between the selected area (Reg_sel2) and the cross-closed area (Reg_int2) is 0.75 or less in step S513, the contour length is 500 pixels or less by the filtering process of the area (Reg_th) in step S514. The selected area (Reg_sel3) is obtained by ignoring the part. In step S515, it is determined whether or not the luminance value (average value of the luminance values of the target region) of the contour edge of the selected region (Reg_sel3) exceeds a predetermined second threshold value Th2. If it is equal to or less than the second threshold value Th2, it is determined in step S516 that the image is “no chemicals”.

At the judgment of step S512, if the cross-closed region (Reg_int2) is not zero, that is, if the cross-closed region (Reg_int2) exists, there is something that is not a chemical, so in step S517, the image is "dirt / dust". Judge that there is.
If the area ratio exceeds 0.75 in the judgment of step S513, the image has a certain size, and the image is judged to be "dirt / dust" in step S517.
If the brightness value of the contour edge of the selected area (Reg_sel3) exceeds the second threshold value Th2 in the judgment of step 515, it is determined in step S517 that the image is “dirt / dust”.

The threshold value Th in step S508 and the second threshold value Th2 in step S515 have a relationship of 255> Th> Th2> 0. When the target area obtained by the edge treatment is a chemical, the average value of the brightness values of the contour edges tends to be high. This is because the contour of the chemical image has a large amount of change between pixels and the shading is visually clear (it becomes visually white on the processed image). Therefore, in step S508, the threshold value Th of the contour edge brightness for discriminating a normal chemical is increased. On the other hand, when the target area is other than chemicals, the average value of the brightness values of the contour edges tends to be low. This is because the contours of dirt, dust, etc. are visually unclear in shades (they are visually blackened on the processed image). Therefore, the threshold value Th2 of the contour edge brightness for discriminating dirt / dust in step S515 is lower than Th.

By the above chemical region extraction process, it can be determined that the image is "normal", "multiple chemicals", "dirt / dust", and "no chemicals".

Returning to the flow of FIG. 42, in step S403, it is determined whether or not the “chemical region extraction process” of step S402 was successful. If the "chemical region extraction process" in step S402 is not successful and the image is any of "multiple chemicals", "dirt / dust", and "no chemicals", the shape analysis is terminated. If the "chemical region extraction process" in step S402 is successful and the image is determined to be "normal", the process proceeds to step S404, and it is determined again in detail whether or not the image is "normal".

In step S404, it is determined whether or not the image is standing, and if it is standing, the image is regarded as "chemical standing" and the shape analysis is terminated. If not standing, the dimensions of the image are measured in step S405 to determine the width, length, head orientation, and the like of the image. Next, in step S406, it is determined whether or not the image is out of the analysis range AR, and if it is not, it is determined in step S407 whether or not there are a plurality of images. Here, it is determined whether or not a plurality of images are in contact with each other and connected based on the dimensions measured in step S405. If there are a plurality of images, the image is regarded as "multiple chemicals" and the shape analysis is terminated. If there are not a plurality of images, it is determined in step S408 whether or not the chemical is cracked. If the chemical is cracked, the image is regarded as "chemical crack" and the shape analysis is terminated. If the chemical is not cracked, step S409 determines whether the chemical has an irregular shape, for example, a bag. If the chemical has no irregular shape, the process of determining "adsorption coordinates and offset" is performed in step S412. Whether or not the chemical is cracked and whether or not the chemical has an irregular shape is determined based on the dimensions measured in step S405.

As shown in FIG. 44, the process of determining the “adsorption coordinates and offset” is performed by affine the image so that the position of the image of the binarized / edge-processed drug is in the center of the imaging region and is horizontal in step S601. Convert. In step S602, the image is reduced in the vertical direction, in step S603, the difference area between the image before reduction and the image after reduction is obtained, and in step S604, the image is opened horizontally, and a small part or a thin part of the image is removed. It is removed and separated into a region consisting of two images of the neck portion and a region consisting of two images of the body portion. In step S605, the longer region is selected, inverse affine transformation is performed in step S606, and the center coordinates of the union of the two images of the longer region remaining in step S607 are set as the adsorption coordinates. In step S608, the distance between the suction coordinates and the center point of the head contour is used as an offset.

Returning to the flow of FIG. 42, in step S411, it is reconfirmed whether or not the chemical has an irregular shape, and if it is not irregular, the angle of the image is converted from radians to degrees in step S412. In step S413, if the protrusion flag f is true (truth), that is, it is determined in step S406 that the image is out of the analysis range AR, and the protrusion flag f is set, the drug is "protruded (out-of-range drug). ) ”, And the shape analysis is completed. If the protrusion flag is not set in step S413, it is determined in step S414 whether or not the drug is deviated from the center of the analysis range AR, and if it is deviated from the center, the shape analysis is performed assuming that the drug is “centered”. finish. If it is not deviated from the center, it is determined in step S415 whether or not the irregular shape flag f is set, and if the flag is set, the chemical is regarded as having an "odd shape" and the shape analysis is terminated. If the irregular shape flag is not set, the shape analysis is terminated.

If the image is out of the analysis range AR in step S406, the adsorption coordinates and the offset are set at the center point of the drug in step S416. Similarly, in step S409, if the chemical has an irregular shape, for example, a chemical in a bag, the adsorption coordinates and the offset are set at the center point of the chemical in step S416. This is because if the image is out of the analysis range AR or the drug has a deformed shape, the returned drug is transferred to the non-stored drug placement unit 400, so there is no need to accurately determine the adsorption coordinates or offset, and the center of the drug. This is because it should be set as a point. After step S416, the shape analysis is completed through the above-mentioned steps S412 to S415.

Although the present invention has been described above with reference to the above-described embodiments, the present invention is not limited thereto. The present invention is not limited to the drug recognition device for the returned drug. That is, the drug supplied to the receiving unit is not limited to the returned drug.

1 Returned medicine supply device 2 Returned medicine 2a Tip 2b Base 2c Body 2d Head 2A Ampoule 2B Vial 2C Resin ampoule 3 Label 4 Return tray 4a Tray body 4b Flange 5 Storage tray 5a Tray body 5b Flange 6 Article 7 Arrangement groove 8 Dispensing tray 8a Electronic paper 9 steps 10 Injection drug dispensing line 11 Supply lifter 12 Label printer 13 Bottle dispensing machine 14 Aligned dispensing machine 15 Cold storage machine or special drug dispensing machine 16 Tray discharging unit 17 Loading Lifter 18a Electronic paper erasing antenna 18b Electronic paper writing antenna 100 Receiving part 101 Rack member 101a Rail groove 200 Elevating part 201 Linear guide 202 Carriage 203 Table 203a Bottom 203b Side 203c End 204 Rail groove 205 Linear guide 206 Carriage 207 Hook 300 Recognition unit 301 Temporary storage unit (drug loading unit)
302 Label reading unit (drug loading unit)
303 Lighting 304 Camera 305 Translucent plate 305A Base plate 305B Positioning plate
305a Mounting surface 305b Protruding part 305c Frame body 305d Air blowing hole 305e Guard part 306 Lighting 307 Camera (shooting part)
308 Endless belt 309 Roller 310 Lighting 311 Camera (shooting section)
312 Barcode reader 313 Envelope 314 Constricted part 315 Rectangular area 316a, 316b Area 317 Stopper 317a Overhang surface 317b Flat surface 317c Edge part 400 Non-stored drug placement part (drug placement part)
401, 402 Non-stored drug placement box 500 Storage part 501 Linear movement guide 502 Holding frame 503 Linear movement guide 504 Carriage 505 Lift mechanism 600 Discharge part 601 Transport mechanism 602 Inlet 603 Exit 700 Orthogonal robot 701 Suction nozzle 702 Suction pad 703 Y-axis Beam 704 Carriage 705 X-axis beam 706 Carriage 707 Head 708 Lifting rod 709 Bracket 710 Spring 800 Scalar robot 801 Suction nozzle 802 Suction pad 803 Linear guide 804 Carriage 805 X-axis beam 806 Base 807 1st arm 808 2nd arm 808 810 Bracket 811 Spring 812 Bar code reader 820 Presence / absence detection sensor 900 Support tray 901 Rod 1000 Control device 1001 Control panel 1002 Display 1003 Imaging unit 1003a 1st imaging unit 1003b 2nd imaging unit (photographing unit)
1003c 3rd shooting section (shooting section)
1004a 1st arithmetic control unit 1004b 2nd arithmetic control unit 1005a 1st transfer unit 1005b 2nd transfer unit 1006 Display unit 1007 2 Quantification processing unit 1008 Recognition processing unit 1009 Orthogonal robot drive control unit 1010 Image processing unit 1011 Abnormality determination unit (Discrimination section)
1012 Analysis unit (recognition unit)
1013 Scalar type robot drive control unit 1101 Home screen 1102 Error button 1103 Error screen 1104 Error code number 1105 Error details 1106 Error image 1107 Identification mark 1108 Remedy 1109 Restart button 1110 Close button 1111 Door unlock button 1112 Buzzer stop button 1113 Door Unlocking screen 1114 Instructions

Claims (5)

A drug placement section on which the drug taken out of the tray is placed,
An imaging unit that photographs the drug placed on the drug placement unit,
In a drug recognition device provided with a recognition unit that recognizes a drug imaged by the imaging unit,
It has a discriminating unit that determines whether or not there is a foreign substance or a drug based on the image taken by the photographing unit.
The discriminating unit is a drug recognition device, characterized in that, when the power of the drug recognition device is turned on, if it is determined that there is a foreign substance or a drug in the image, the discriminating unit prompts the removal of the foreign substance or the drug. A drug placement section on which the drug taken out of the tray is placed,
An imaging unit that photographs the drug placed on the drug placement unit,
In a drug recognition device provided with a recognition unit that recognizes a drug imaged by the imaging unit,
It has a discriminating unit that determines whether or not there is a foreign substance or a drug based on the image taken by the photographing unit.
A drug recognition device, characterized in that a discrimination process by the discrimination unit is executed when the power supply of the drug recognition device is turned on. The drug recognition device according to claim 1 or 2, wherein the discrimination unit determines whether or not there is a foreign substance or a drug based on the presence or absence of an extracted image obtained by extracting a part of the image. The drug recognition device according to any one of claims 1 to 3, further comprising a display unit for displaying an instruction content for removing a foreign substance or a drug in the drug placement unit. The drug recognition device according to claim 4, wherein the display unit displays an error image created from the identification mark for identifying a portion having a foreign substance or a drug in the image and the image.

Images