JP2013215833A - Picking device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a picking device capable of preventing a picking failure of a long cylindrical chemical container such as an ampoule or a vial.SOLUTION: A picking device includes a main suction pad 20 for sucking a returned chemical A, a plurality of auxiliary suction pads 21 arranged on a straight line around the main suction pad 20, and a servo motor 23 for rotating the main suction pad 20 and the plurality of auxiliary suction pads 21 around the main suction pad 20, on the basis of a picking position and a picking direction detected by position direction detection means, the main suction pad 20 and the plurality of auxiliary suction pads 21 are rotated by the servo motor 23 to suck the returned chemical A. The picking position of the returned chemical A is sucked by the main suction pad 20, and the returned chemical A is sucked by the plurality of auxiliary suction pads 21. When the returned chemical A is sucked by at least one of the plurality of auxiliary suction pads 21, the detection of the position direction detection means is determined to be correct.

Description

  The present invention relates to a picking apparatus for picking a long cylindrical chemical container such as an ampoule or a vial.

  One of the therapeutic actions in hospitals is drug treatment with injection drugs. This is one of the techniques for enhancing the therapeutic effect by directly administering a drug solution into a patient's body. The doctor creates a prescription for each patient according to the patient's condition, and the medical solution is administered to the patient according to the contents of the instruction. Injection drugs are prescribed (injection order) to more than half of patients admitted to a general hospital because of their immediate effects, and the prescription is changed daily depending on the patient's condition.

  In recent medical institutions, ampoule pickers (automatic injection dispensing system) that automates the operations of arranging injections ordered by doctors have attracted attention. The ampoule picker automatically collects injections, medicine bags, prescriptions, identification labels, and the like on a tray based on an order table entered by a doctor and carries them out. With the introduction of ampule pickers, it is possible not only to manage medication information for individual patients, but also to reduce sorting operations and prevent drug sorting errors.

  On the other hand, injectable medicines that have not been used are returned to the medicine storage by human hands. The operation of confirming tens to hundreds of injections one by one and returning them to the original storage tray is a heavy burden on the operator and may lead to a mistake in returning the medicines. For this reason, there is a strong demand for automating the return of injections.

  Although it is considered that automation of the return of the injection medicine is realized by reversing the sorting operation performed by the ampule picker, it is not easy to pick one medicine from the tray in which the return medicine is put. That is, in the case of an ampule picker, the drug to be picked is known in advance, whereas in the case of returning an injection drug, a plurality of different kinds of drugs are randomly arranged in the tray. It is necessary to recognize and pick one medicine from the inside.

  As a picking system for an object to be picked such as a medical device or a medical device constituent member, for example, a system described in Patent Document 1 is known. In this picking system, the closed region is extracted from the input image, the singular point of the closed region is obtained, and the content of the pixels in the closed region existing at some equal distance from the singular point is calculated, respectively. An equidistant pixel intensity parameter around a singular point is derived, the derived equidistant pixel intensity parameter is compared with template data, a picking target object is identified, and picking is performed with a two-claw gripper.

JP 2011-248757 A

  However, in the apparatus for identifying a picking target object by image processing as described in Patent Document 1, when a large number of returned medicines are placed in a tray in an overlapping state, the picking target objects are identified one by one. It is difficult. If the orientation of the picking object is misrecognized, picking fails with the two-nail gripper.

  Accordingly, an object of the present invention is to provide a picking device that can prevent picking failure of a long cylindrical chemical container such as an ampoule or a vial.

  The picking apparatus of the present invention includes a position / direction detection means for detecting a position and direction of picking of the long cylindrical chemical container by inputting and analyzing an image of the long cylindrical chemical container, and a long cylindrical chemical container. A plurality of auxiliary adsorption pads arranged in a straight line within the range of the longitudinal length of the long cylindrical chemical container with the main adsorption pad as the center and the distance from the main adsorption pad within the range of the length in the longitudinal direction; Based on the rotation mechanism that rotates the main suction pad and the plurality of auxiliary suction pads around the main suction pad, and the position and direction to be picked detected by the position / direction detection means, the main suction pad and the plurality of auxiliary suction pads are longer. The main suction pad and a plurality of auxiliary suction pads are rotated by a rotating mechanism so that the cylindrical chemical container can be adsorbed, and the main suction pad picks up the long cylindrical chemical container. And a control means for adsorbing the long cylindrical chemical container with the plurality of auxiliary adsorption pads, and at least one of the plurality of auxiliary adsorption pads when adsorbing the long cylindrical chemical container with the main adsorption pad And a determination unit that determines that the detection by the position direction detection unit is correct when the long cylindrical medicine container is adsorbed.

  According to the present invention, based on the position and direction to be picked detected by the position / direction detection means, the main suction pad is rotated by the rotating mechanism so that the long cylindrical drug container is sucked by the main suction pad and the plurality of auxiliary suction pads. When the position to be picked of the long cylindrical medicine container is sucked by the main suction pad by rotating the plurality of auxiliary suction pads and the detection by the position / direction detection means is correct, the main suction pad and at least one suction pad Adsorbed by the pad. On the other hand, when the detection by the position / direction detection means is not correct, the long cylindrical chemical container is not adsorbed by the auxiliary adsorption pad when the position to be picked of the long cylindrical chemical container is adsorbed by the main adsorption pad. Therefore, in this case, it is possible to prevent picking failure by determining that the detection by the position / direction detection means is not correct.

  Here, the control means cancels the suction of the long cylindrical chemical container by the main suction pad and the plurality of auxiliary suction pads when the determination means determines that the detection by the position / direction detection means is not correct, A rotation mechanism that detects a cylindrical chemical container by means of position and direction detection, and so that another long cylindrical chemical container is adsorbed by the main adsorption pad and a plurality of auxiliary adsorption pads based on the detected position and direction to be picked The main suction pad and the plurality of auxiliary suction pads are rotated by the main suction pad to pick up the position where the long cylindrical chemical container is to be picked, and at the same time, the multiple auxiliary suction pads are used to suck another long cylindrical chemical container. It is desirable that

  As a result, when it is determined that the detection by the position / direction detection means is not correct, the position and direction to be picked for another long cylindrical chemical container are detected, and another main suction pad and a plurality of auxiliary suction pads are used to detect another position and direction. It is possible to prevent picking defects by repeating the detection and adsorption of another long cylindrical chemical container until the long cylindrical chemical container is adsorbed, that is, until the detection by the position / direction detection means is correctly performed. Become.

  Alternatively, when the determination means determines that the detection by the position / direction detection means is not correct, the control means releases the suction of the long cylindrical chemical container by the main suction pad and the plurality of auxiliary suction pads, and the main mechanism by the rotation mechanism. A configuration in which the suction pad and the plurality of auxiliary suction pads are rotated by a predetermined angle, and the main suction pad again sucks the position where the long cylindrical chemical container should be picked, and the multiple auxiliary suction pads suck the long cylindrical chemical container. It can be.

  As a result, when it is determined that the detection by the position / direction detection means is not correct, the suction of the long cylindrical chemical container by the main suction pad and the plurality of auxiliary suction pads is once released, and the main suction pad and the plurality of The auxiliary suction pad is rotated by a predetermined angle, and the main suction pad and the plurality of auxiliary suction pads are sucked by the main suction pad and the plurality of auxiliary suction pads, that is, until the detection by the position / direction detection means is correctly performed. By repeating the rotation and suction of the auxiliary suction pad, picking failure can be prevented.

  According to the present invention, it is possible to prevent picking failure and to pick a long cylindrical chemical container such as an ampoule or a vial more accurately according to its direction.

It is a schematic block diagram of the returned-goods medicine sorting apparatus in embodiment of this invention. It is the figure which looked at the returned-goods medicine identification part from diagonally upward. It is sectional drawing of the returned-goods identification part of FIG. It is a figure which shows an adsorption | suction rod, Comprising: (a) is a side view, (b) is a bottom view. It is a block diagram of a control apparatus. It is a block diagram of a position direction detection means. It is explanatory drawing which shows the example of control of a main suction pad, an auxiliary suction pad, and a servomotor. It is explanatory drawing of attitude | position detection. It is a figure which shows the example of the rectangle circumscribing the picking target object area | region. It is a flowchart which shows a picking procedure. It is explanatory drawing which shows the example of a picking procedure.

  FIG. 1 is a schematic configuration diagram of a returned medicine sorting apparatus according to an embodiment of the present invention. In FIG. 1, the returned medicine sorting apparatus 1 according to the embodiment of the present invention includes a returned medicine storage section 2 in which a plurality of returned medicines A are stored in an unaligned state, and one returned medicine A from the returned medicine storage section 2. Picking the temporary storage unit 3 for picking up the product, the return medicine identification unit 4 for identifying the returned medicine A, the returned medicine storage section 5 for sorting and storing the returned medicine A, and the returned medicine A for each part. And a picking device 6 for transporting to each part.

  The returned drug A accommodated in the returned drug storage part 2 is mainly an ampoule or vial long cylindrical medicine container filled with various injections. The returned medicine A is attached with a medicine label in which medicine information such as type (product name) and expiration date is written in characters, symbols, barcodes and the like. The returned medicine container 2 is a detachable cassette type, and can be loaded in a state where the returned medicine A returned from the ward is housed in a disassembled state.

  The temporary placement unit 3 is a table on which the returned medicines A are picked one by one by the picking device 6 from the plurality of returned medicines A stored in the returned medicine storage unit 2 in a non-aligned state. As will be described later, the returned medicine A temporarily placed in the temporary placement section 3 by the picking device 6 is picked again by the picking apparatus 6, the direction thereof is adjusted, and the returned medicine A is placed on the returned medicine identification section 4.

  The returned drug identification unit 4 identifies the aforementioned drug information one by one by reading the drug label displayed on the returned drug A. The returned medicine storage unit 5 has a plurality of storage cassettes classified according to the type of the returned medicine A. The returned drug A identified by the returned drug identification unit 4 is sorted into the corresponding storage cassette of the returned drug storage unit 5 by the picking device 6 based on the identification result. That is, the returned drug storage unit 5 and the picking device 6 function as a sorting unit that sorts the returned drug A based on the identification result by the returned drug identification unit 4.

  The picking device 6 is movable in the X direction and Y direction in FIG. 1 and in the direction perpendicular to the XY plane (Z direction). At the tip of the picking device 6 is provided an adsorption rod 7 that can adsorb and hold the returned drug A. In addition, the picking device 6 is provided with a camera device 8 that captures an image directly below the picking device 6.

  Further, the returned medicine sorting device 1 cannot be identified by the returned medicine identifying section 4, the returned medicine storage section 5, the picking device 6, the suction rod 7, the camera device 8, and the like, and the returned medicine identifying section 4. And a collection box unit 10 for collecting the returned drug A.

  Next, details of the returned drug identifying unit 4 will be described. FIG. 2 is a view of the returned drug identifying unit 4 as viewed obliquely from above, and FIG. 3 is a cross-sectional view of the returned drug identifying unit 4 of FIG.

  As shown in FIGS. 2 and 3, the returned medicine identifying unit 4 includes a tray part 11 on which the returned medicine A is placed by the picking device 6. The saucer part 11 is comprised by the belt conveyor 12 and the mounting board 13 which are arrange | positioned at V shape. The belt conveyor 12 includes a plurality of annular belts 14 having a predetermined width arranged in parallel in the horizontal direction. The width of each annular belt 14 is shorter than that of the shortest length in the longitudinal direction of the returned medicine A for which sorting is assumed. In the present embodiment, the width of the annular belt 14 is about 1/3 of the length of the returned drug A in the longitudinal direction.

  The returned medicine A placed on the tray 11 by the picking device 6 is between the two surfaces arranged in a V shape on the upper surface 14a of each annular belt 14 of the belt conveyor 12 and the upper surface 13a of the placing plate 13. Each annular belt 14 rotates as the belt 14 moves, and during the rotation, the medicine label is photographed by the camera device 8 provided in the picking device 6, and the control device 9 performs image processing and medicine label reading processing. .

  In the present embodiment, the tray 11 is constituted by the belt conveyor 12 and the placement plate 13 arranged in a V shape, but the belt conveyor 12 can be used instead of the placement plate 13. It is. In addition, the belt conveyor 12 is provided with a plurality of annular belts 14 having a predetermined width in parallel. However, the belt conveyor 12 may be configured by one wide annular belt.

  In the present embodiment, the camera device 8 and the control device 9 provided in the picking device 6 as described above constitute a reading device that reads the medicine label displayed on the returned medicine A. It is also possible to provide a camera device and a control device separately from the camera device 8 and the control device 9 to provide an independent reading device.

  Next, details of the picking device 6 will be described. 4A and 4B are diagrams showing the suction rod 7, where FIG. 4A is a side view, FIG. 4B is a bottom view, and FIG. 5 is a block diagram of the control device 9.

  As shown in FIG. 4, the suction rod 7 is used to integrally rotate the main suction pad 20 and the two auxiliary suction pads 21 that adsorb the returned drug A, and the main suction pad 20 and the auxiliary suction pad 21. A bracket 22 and a servo motor 23 constituting a rotation mechanism for rotating the main suction pad 20 and the two auxiliary suction pads 21 are provided. The two auxiliary suction pads 21 are arranged on a straight line with a predetermined distance from the main suction pad 20 as a center. The distance from the main suction pad 20 to each auxiliary suction pad 21 is within the range of the length of the returned medicine A in the longitudinal direction. The servo motor 23 rotates the main suction pad 20 and the two auxiliary suction pads 21 around the main suction pad 20.

  As shown in FIG. 5, the control device 9 receives the image of the returned medicine A from the camera device 8 and analyzes it to detect the position and direction of the returned medicine A to be picked, and the position Control means 25 for controlling the main suction pad 20, the auxiliary suction pad 21 and the servo motor 23 based on the position and direction to be picked detected by the direction detection means 24, and determination for determining whether the detection by the position / direction detection means 24 is correct or incorrect. It functions as the means 26. Details of the position / direction detection means 24 will be described later.

  Based on the position and direction to be picked detected by the position / direction detection means 24, the control means 25 causes the returned medicine A to be adsorbed by the main suction pad 20 and at least one of the two auxiliary suction pads 21. The servo motor 23 rotates the main suction pad 20 and the auxiliary suction pad 21 so that the main suction pad 20 sucks the position where the returned medicine A should be picked and the auxiliary suction pad 21 sucks the returned medicine A. To do.

  If the returned medicine A is adsorbed by at least one of the two auxiliary adsorption pads 21 when the returned medicine A is adsorbed by the main adsorption pad 20, the determination means 26 is detected by the position / direction detection means 24. If it is determined to be correct and the returned medicine A is not adsorbed by both of the two auxiliary suction pads 21, it is determined that the detection by the position / direction detection means 24 is not correct (error).

  FIG. 7 is an explanatory view showing a control example of the main suction pad 20, the auxiliary suction pad 21 and the servo motor 23 by the control means 25. As shown in FIG. 7A, when the returned medicine A is adsorbed by the main adsorption pad 20, if the returned medicine A is not adsorbed by both of the two auxiliary adsorption pads 21, the detection by the position / direction detection means 24 is correct. Absent. On the other hand, as shown in FIG. 7B, when the returned medicine A is adsorbed by any one of the two auxiliary adsorption pads 21 when the returned medicine A is adsorbed by the main adsorption pad 20, the position direction detection is performed. Detection by means 24 is correct.

  When the determination unit 26 determines that the detection by the position / direction detection unit 24 is not correct, the control unit 25 cancels the adsorption of the returned medicine A by the main suction pad 20 and the two auxiliary suction pads 21 and performs another return. The servo motor 23 detects the medicine A by the position / direction detecting means 24 and causes the main suction pad 20 and the two auxiliary suction pads 21 to adsorb another returned medicine A based on the detected position and direction to be picked. The main suction pad 20 and the plurality of auxiliary suction pads 21 are rotated to suck the position where the returned medicine A should be picked by the main suction pad 20 and another returned medicine A is sucked by the two auxiliary suction pads 21.

  When the determination means 26 determines that the detection by the position / direction detection means 24 is not correct, the control means 25 cancels the adsorption of the returned medicine A by the main suction pad 20 and the two auxiliary suction pads 21, and servos The main suction pad 20 and the plurality of auxiliary suction pads 21 are rotated by a predetermined angle by the motor 23, and the position where the returned medicine A is to be picked is again sucked by the main suction pad 20 and the returned medicine A by the two auxiliary suction pads 21. It is also possible to adopt a configuration for adsorbing.

  Next, details of the position / direction detection means 24 will be described. FIG. 6 is a block diagram of the position / direction detection means 24.

  As shown in FIG. 6, the position / direction detection unit 24 includes a binarization processing unit 30 that binarizes the input image, a target object region extraction unit 31 that extracts each picking target object region from the input image, and each picking. Identification for identifying the center of gravity deriving means 32 for deriving the center of gravity of the target object area, the attitude deriving means 33 for deriving the attitude angle of each picking target object area, and each object M (see FIG. 11) such as the returned medicine A. Means 34 and template storage means 35 for storing template images for a plurality of objects M.

  The binarization processing unit 30 binarizes the image input by the camera device 8. The binarization processing unit 30 binarizes the pixel by replacing a pixel having a pixel value greater than or equal to a predetermined threshold by 1 and a pixel having a pixel value less than the threshold by 0. The predetermined threshold is experimentally set to an appropriate value that can completely separate the area of the object M into 1 (black pixels) and the background 0 (white pixels) by binarization processing. In addition, when there is variation in the density of the input image, a dynamic threshold setting method (for example, Noriyuki Otsu, automatic threshold selection method based on discrimination and least squares criterion, IEICE Transactions, J63) -D-4, pp.349-356, 1980) can also be applied.

  The target object region extraction unit 31 extracts each picking target object region by labeling each picking target object region from the binarized image. Labeling is performed by assigning the same number (label) to all pixels connected from the binarized image and assigning different numbers to different connected components. At this time, when a plurality of objects M are overlapped or connected in series or in parallel, the whole of the plurality of objects M is labeled as one. Hereinafter, the labeled w picking object regions will be described as i (i = 1, 2,..., W).

The center-of-gravity deriving unit 32 derives the center of gravity of each picking target object region i. Picking target object region i of the binary image _{B i (x, y) (} i = 1,2, ..., w), the binary each m _i the width and vertical width of the pixel values of the image picking target object area i , N _i , the barycentric coordinates (xg _i , yg _i ) are
Can be derived.

The posture deriving means 33 derives the posture angle of each picking target object region i, for example, the angle in the longitudinal direction. The angle in the longitudinal direction of each picking target object region i can be derived by using the centroid point derived by the centroid deriving means 32 and the edge image. For example, the posture deriving unit 33 extracts the barycenters of a plurality of pixels sequentially extracted from the pixels on the edge of each picking target object region i that is the farthest from the barycentric coordinates (xg _i , yg _i ) of each picking target object region i. The angle in the longitudinal direction is obtained by calculating the average point of the respective angles with respect to the coordinates (xg _i , yg _i ). Specifically, the posture deriving unit 33 extracts pixels on the edge of each picking target object region i existing between the center of gravity point and the maximum value of the distance D on the edge to a distance of p (<100)%. Then, an average value of angles with respect to the respective centroid points is calculated.

FIG. 8 is an explanatory diagram of posture detection by the posture deriving means 33. Here, the value of the upper p% of D is q, and the point group of pixels on the edge of each picking target object region i farthest from the barycentric point is (x _mk , y _mk ) (k = 1, 2 _,. , Q), the angle θ _k (k = 1, 2,..., Q) of each pixel point on the edge of each picking target object region i farthest from the center of gravity is
It is represented by Thus, the longitudinal angle θ is
It becomes.

The identifying unit 34 identifies each picking target object to be actually picked from each picking target object region extracted by the target object region extracting unit 31. As described above, in the target object region extraction means 31, when a plurality of objects M are overlapped or connected in series or in parallel, the whole of the plurality of objects M is labeled as one. Yes. Therefore, the discriminating means 34 discriminates with the following evaluation function J _i in order to eliminate them.

Here, S _i is the area of each picking target object area i, R _i is a rectangular area circumscribing each picking target object area i, and T _k is k picking target objects registered in the template storage means 35 in advance. Is the area of the template image. α is a weighting coefficient for balancing the first and second terms of Ji. Note that the identification unit 34 is parallel to a straight line extending in the direction of the posture angle θ of each picking target object region i derived by the posture deriving unit 33, as shown in FIG. These two sides and two sides orthogonal to the two sides. The rectangular area R _i circumscribing each picking target object region i can be obtained by, for example, the Rotating Calipers method.

The first term of the evaluation function J _i is the difference (R _i −S _i ) between the rectangular area R _i circumscribing each picking target object area i and the area S _{i of} each picking target object area i (in FIG. 9). (Hatched area) is normalized. That is, as shown in FIG. 9A, when the object M can accurately acquire the center of gravity and the posture angle, the value of the first term becomes small. On the other hand, as shown in FIG. 9 (b), overlap or, when the posture angle of the object M as shown in FIG. 1 (c) is or not correct, since R _i -S _i is increased, the The value of 1 term also increases. Therefore, by the first term, it is possible to eliminate the picking target object region i in which the objects M overlap or there is a posture angle derivation error.

The second term of the evaluation function J _i is _obtained by normalizing the difference (T _k −S _i ) between the area T _k of the template image of each object M and the area S _{i of} each picking target object region i. Only the first term described above becomes a problem when the object M is connected in series or in parallel as shown in FIG. 9D, but the difference from the area T _{k of the} template image as shown in the second term. By including it in the evaluation function J _i , it is possible to exclude those having an area that is too large or too small.

The identification means 34 uses such an evaluation function J _i ,
A picking target object region i that satisfies the above is identified as a target M to be picked. The identification means 34
Is greater than or equal to a predetermined threshold value, there is a high possibility that the object M has not been correctly identified. Therefore, the identification is performed again without being picked. At this time, the image input by the camera device 8 is changed by stirring the object M or the like.

The template storage unit 35 stores in advance a template image for each type of picking target object i for a plurality of objects M, and the identification unit 34 calculates an area T _k of each template image. The template storage means 35 may be configured to store the area of each template image calculated from each template image in advance.

As the coordinates of the position where the object M is picked by the picking device 6, for example, the coordinates of the center of gravity (x _g , y _g ) of the object M converted into the work area of the picking device 6 are used. This is because when the object M is picked by the picking device 6, it is natural that the center of gravity of the object M is adsorbed by the main suction pad 20 and becomes stable.

  Next, a picking procedure by the picking device 6 having the above-described configuration will be described. FIG. 10 is a flowchart showing a picking procedure by the picking device 6, and FIG. 11 is an explanatory diagram showing an example of the picking procedure by the picking device 6.

  As shown in FIG. 10, in the picking device 6, an image including a plurality of objects M placed randomly is input by the camera device 8 (S101), and binarization is performed by the binarization processing means 30 ( In step S102, the target object region extraction unit 31 performs labeling (S103). FIG. 11A shows an example of an image input by the camera device 8, and FIG. 11B shows an example of an image labeled 1 to 5 after binarization.

Next, the picking device 6 derives the barycentric coordinates (xg _i , yg _i ) of each picking target object region i (i = 1, 2, 3, 4, 5) by the barycentric derivation means 32 (S104). The deriving means 33 derives the posture angle θ _i of each picking target object region i (S105) (see FIG. 11C). Then, the picking device 6 identifies one target object M to be actually picked from each picking target object area i by the identifying means 34 (S106) (see FIG. 11D), and performs picking.

As described above, according to the picking device 6 of the present embodiment, the first term and the second term of the evaluation function J _i are overlapped or connected in series or in parallel from among a plurality of objects M that are randomly arranged. It is possible to identify each object M and accurately pick the object M.

About the evaluation function J _i
Is not a picking target when the threshold value is equal to or greater than a predetermined threshold value. If there is a high possibility that the object M cannot be accurately identified, this is excluded and more accurate identification is performed. It is possible to pick M more accurately.

  Further, in the picking device 6, the posture angle of each picking target object region i is derived, and a rectangle circumscribing each picking target object region i is calculated by the posture angle of each picking target object region i derived by the posture deriving means 33. Since it is composed of two sides and two sides orthogonal to this, it is possible to identify each target object M by eliminating the posture angle derivation error of each picking target object region i and pick more accurately. Is possible.

  As described above, in the returned drug sorting apparatus 1 according to the present embodiment, various types of returned drug A stored in the returned drug storage unit 2 in a non-aligned state are picked one by one by the picking apparatus 6 and temporarily. Temporary placement is performed on the placement unit 3, and the temporary placement unit 3 performs image analysis one by one to detect the position and direction to be picked. The temporary placement unit 3 is based on the detected position and direction to be picked. The returned medicine is picked by the picking device 6, adjusted to a direction suitable for identification of the returned medicine A, placed on the returned medicine identification unit 4, and identified. Thereafter, the returned medicines A automatically identified one by one are picked by the picking device 6 and sorted into the corresponding storage cassette of the returned medicine storage section 5 based on the identification result.

  As described above, in the returned-goods medicine sorting apparatus 1 according to the present embodiment, the returned-goods medicine A is automatically one by one only by storing the returned various kinds of returned-goods A in the non-aligned state in the returned-goods storage part 2. Identified and sorted. Therefore, even if very similar items are mixed depending on the shape of the chemical container, the design of the label, etc., the sorting error can be eliminated. Note that the returned medicine A that could not be identified by the returned medicine identification unit 4 due to dirt or the like displayed on the returned medicine A or the label is returned to the collection box unit 10 in order to avoid mixing with other drugs. Sorted.

  Further, in the returned medicine sorting apparatus 1 according to the present embodiment, the returned medicine A is adsorbed by the main suction pad 20 and the plurality of auxiliary suction pads 21 based on the position and direction to be picked detected by the position / direction detection means 24. As described above, when the main suction pad 20 and the plurality of auxiliary suction pads 21 are rotated by the servo motor 23 and the position where the returned medicine A should be picked is sucked by the main suction pad 20, the detection by the position / direction detection means 24 is correct. Is absorbed by the main suction pad 20 and at least one auxiliary suction pad 21, thus preventing picking failure and picking a long cylindrical chemical container such as an ampoule or a vial more accurately according to its orientation. It is possible.

  When it is determined that the detection by the position / direction detection means 24 is not correct, the position and direction to be picked for another returned medicine A are detected, and another main suction pad 20 and a plurality of auxiliary suction pads 21 are used to detect another position and direction. The detection and adsorption of another returned medicine A are repeated until the returned medicine A is adsorbed, or the main adsorption pad 20 and the plurality of auxiliary adsorption pads 21 are rotated by a predetermined angle by the servo motor 23, and the main adsorption pad 20 and the plurality of auxiliary medicines are rotated. By repeating until the returned drug A is adsorbed by the adsorption pad 21, picking failure is prevented.

  Moreover, in the returned-goods medicine sorting apparatus 1 in this embodiment, it is the saucer part 11 which mounts and returns the returned-goods A between two surfaces arrange | positioned in V shape, Comprising: At least 1 surface is belt conveyor 12 of 2 surfaces. Since the medicine label automatic reading device is configured by the tray portion 11 on the upper surface of the belt and the reading device that reads the medicine label displayed on the returned medicine A, even if the position and direction of the returned medicine A are slightly shifted. The returned drug A is always directed toward the V-shaped tip. Accordingly, it is possible to rotate the returned medicine A without dropping it and automatically read the medicine label displayed on the returned medicine A.

  Moreover, in the returned goods medicine sorting apparatus 1 in this embodiment, since the belt conveyor 12 of the tray part 11 is provided with a plurality of annular belts having a predetermined width in parallel, the returned goods A is prevented from moving in the longitudinal direction. Has been. Thereby, the position in the longitudinal direction of the returned medicine A is stabilized, and the medicine label displayed on the returned medicine A can be read more easily and accurately.

  The returned drug sorting device and the returned drug sorting method of the present invention are useful as an apparatus and a method for sorting various types of returned drugs stored in the returned drug storage unit in a non-aligned state.

A Returned Drug 1 Returned Drug Sorting Device 2 Returned Drug Storage Unit 3 Temporary Placement 4 Returned Drug Identification Unit 5 Returned Drug Storage Unit 6 Picking Device 7 Adsorption Rod 8 Camera Device 9 Control Device 10 Collection Box Unit 11 Sauce Plate 12 Belt Conveyor 13 Mounting plate 14 Annular belt 20 Main suction pad 21 Auxiliary suction pad 22 Bracket 23 Servo motor 24 Position direction detection means 25 Control means 26 Judgment means 30 Binarization processing means 31 Target object area extraction means 32 Center of gravity derivation means 33 Attitude derivation means 33 34 Identification means 35 Template storage means

Claims (3)

Position and direction detection means for detecting the position and direction of picking of the long cylindrical chemical container by inputting and analyzing the image of the long cylindrical chemical container;
A main suction pad for adsorbing the long cylindrical chemical container;
A plurality of auxiliary suction pads arranged in a straight line, with the distance from the main suction pad as a center within the range of the length in the longitudinal direction of the long cylindrical chemical container,
A rotation mechanism that rotates the main suction pad and the plurality of auxiliary suction pads around the main suction pad;
Based on the position and direction to be picked detected by the position / direction detection means, the main suction pad and the main suction pad are sucked by the rotating mechanism so that the main drug pad is sucked by the plurality of auxiliary suction pads. And a control means for rotating the plurality of auxiliary suction pads so as to suck the position to be picked of the long cylindrical chemical container by the main suction pad and to suck the long cylindrical chemical container by the plurality of auxiliary suction pads When,
When the long cylindrical chemical container is adsorbed by the main adsorption pad and the long cylindrical chemical container is adsorbed by at least one of the plurality of auxiliary adsorption pads, detection by the position / direction detection means is performed. A picking apparatus including a determination unit that determines that the correction is correct.   The control means cancels the adsorption of the long cylindrical chemical container by the main suction pad and the plurality of auxiliary suction pads when the determination means determines that the detection by the position direction detection means is not correct, The other long cylindrical chemical container is detected by the position / direction detecting means, and based on the detected position and direction to be picked, the other long cylindrical chemical container is detected by the main suction pad and the plurality of auxiliary suction pads. The main suction pad and the plurality of auxiliary suction pads are rotated by the rotating mechanism so as to be sucked, and the position to be picked of the long cylindrical chemical container is sucked by the main suction pad and the plurality of auxiliary suctions 2. The picking apparatus according to claim 1, wherein the other long cylindrical chemical container is adsorbed by a pad.   The control means cancels the adsorption of the long cylindrical chemical container by the main suction pad and the plurality of auxiliary suction pads when the determination means determines that the detection by the position direction detection means is not correct, The main suction pad and the plurality of auxiliary suction pads are rotated by a predetermined angle by the rotating mechanism, and again the main suction pad sucks the position where the long cylindrical medicine container is to be picked and the plurality of auxiliary suction pads. The picking apparatus according to claim 1, wherein the long cylindrical chemical container is adsorbed by the method.