JP2023053940A - Inspection apparatus of portion-packaged medicament, control program of inspection apparatus and inspection method - Google Patents

Abstract

To detect slip of a portion-packaging bag group with a simple configuration in an inspection apparatus of a portion-packaged medicament.SOLUTION: An inspection apparatus 1 of a portion-packaged medicament comprises: a conveyance device 2 which conveys a portion-packaging bag group P that contains a medicament; an imaging device 18 which images the conveyed portion-packaging bag group P; an inspection unit 11 which inspects whether or not the medicament contained in each portion-packaging bag group P is packaged according to prescription by using the captured image of the portion-packaging bag group P; a motion detection sensor 5 which detects the motion of a surface of the conveyed portion-packaging bag group P; a slip determination unit 12 which determines whether or not the portion-packaging bag group P slips with respect to the conveyance device 2 on the basis of the motion of the surface of the portion-packaging bag group P detected by the motion detection sensor 5 during the conveyance operation of the conveyance device 2; and an output unit 14 which outputs the determination result of the slip determination unit 12.SELECTED DRAWING: Figure 1

Description

The present invention relates to an inspection device for packaged medicine, a control program for the inspection device, and an inspection method.

International Publication No. WO2012/147907 discloses a drug inspection device. The drug inspection device inspects the quantity and type of drugs to be inspected, which are supplied in a state where each dose is packaged in packaging paper, package by package. The medicine inspection device is supplied with a continuous body of sachet bags in which a plurality of sachet bags each containing a single dose of medicine are continuously formed. The drug inspection device includes a conveying means that takes in and conveys the continuous body of sachets. A packet of medicine placed on the transport path of the transport means is photographed by the photographing means. The type and quantity of the drug are specified from the image obtained by the photographing means. The collating means collates the type and quantity of medicine with the prescription data, and confirms whether the type and quantity of medicine contained in the sachet conforms to the prescription information. The conveying means is controlled to sequentially transfer the continuous body of sachets to the downstream side in units of portions corresponding to one sachet.

International Publication No. WO2012/147907

In an inspection device for packaged medicine, a group of a plurality of continuous sachets is conveyed, and the sachets on the conveying route are sequentially photographed one by one. If a group of sachets slips with respect to the conveying device during transportation and a situation occurs in which one package cannot be conveyed, it is assumed that the same sachet will be photographed twice. In this case, the image of each sachet taken after the occurrence of the slip will deviate from the original object of inspection.

In order to avoid such a situation, the inventors considered adding a slip detection function to the inspection device. The packaging paper of the packaging bag is often transparent. It turned out that it is difficult to detect the amount of movement of the transparent packaging paper with a simple configuration.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide an inspection device for packaged medicine, a control program for the inspection device, and an inspection method that can detect slipping of a group of sachets with a simple configuration.

An inspection device for packaged medicine according to an embodiment of the present invention includes a conveying device that conveys a group of sachets, which are a plurality of sachets containing a medicine, and an image of the group of sachets conveyed by the conveying device. and an image of the group of sachets captured by the photographic device to inspect whether or not the medicine contained in each of the group of sachets is packaged according to the prescription. a motion detection sensor that detects movement of the surface of the group of sachets transported by the transport device; and the group of sachets detected by the motion detection sensor during the transport operation of the transport device. a slip judgment unit for judging whether or not the group of sachets is slipping with respect to the conveying device based on the movement of the surface of the bag; and an output unit for outputting the judgment result of the slip judgment unit.

Advantageous Effects of Invention According to the present disclosure, it is possible to detect slipping of a group of sachets in an inspection device for sachets with a simple configuration.

It is a figure which shows the structural example of the inspection apparatus in this embodiment. FIG. 4 is a diagram showing an example of a group of sachets; FIG. 2 is a perspective view showing a configuration example of the vicinity of a conveying device of the inspection device shown in FIG. 1; It is a figure which shows the structural example of a motion detection sensor. It is a figure which shows the modification of a motion detection sensor. It is a figure which shows the other modification of a motion detection sensor. FIG. 4 is a diagram showing an example of a signal output from a motion detection sensor; FIG. 2 is a flow chart showing an operation example of the inspection device shown in FIG. 1; FIG. 9 is a flow chart showing a detailed processing example of one-pack feeding conveyance in S4 in FIG. 8; FIG. FIG. 10 is a diagram showing an example of an error message; FIG. It is a figure which shows the structural example of a medicine packaging system. It is a figure which shows the structural example of the inspection apparatus in this embodiment. 13 is a diagram showing an example of a screen displaying an image captured by the inspection device shown in FIG. 12; FIG. FIG. 13 is a diagram showing an example of a screen for searching for images captured by the inspection device shown in FIG. 12; It is a figure which shows the other modification of the inspection apparatus in this embodiment.

The inventors have studied how to detect the amount of movement of a transported group of sachets with a simple configuration in an inspection device for sachets of medicine. In the study, the inventors focused on the fact that the unevenness of the surface of the group of sachets during transportation changed subtly. As a result of intensive studies, the inventors came up with a configuration for detecting slippage of the sachet group by detecting this movement of the surface.

(Configuration 1)
An inspection device for packaged medicine according to an embodiment of the present invention includes a conveying device that conveys a group of sachets, which are a plurality of sachets containing a medicine, and an image of the group of sachets conveyed by the conveying device. and an image of the group of sachets captured by the photographic device to inspect whether or not the medicine contained in each of the group of sachets is packaged according to the prescription. a motion detection sensor that detects movement of the surface of the group of sachets transported by the transport device; and the group of sachets detected by the motion detection sensor during the transport operation of the transport device. a slip judgment unit for judging whether or not the group of sachets is slipping with respect to the conveying device based on the movement of the surface of the bag; and an output unit for outputting the judgment result of the slip judgment unit.

In the inspection device of Configuration 1, an image obtained by photographing the group of sachets conveyed by the conveying device is used to inspect whether or not the medicine in each sachet conforms to the prescription. In this configuration, a motion detection sensor is provided for detecting motion of the surface of the group of sachets transported by the transport device. When the group of sachets moves in the conveying direction, the surface changes subtly. Therefore, the slip determination unit can determine whether or not the group of sachets is moving in accordance with the transport operation based on the movement of the surface of the group of sachets detected during the transport operation of the transport device. become. The determination result of the slip determination section is output by the output section. In this way, it is possible to detect the slippage of the group of sachets with a simple configuration of the motion detection sensor, the slip determination section, and the output section.

(Configuration 2)
In configuration 1 above, the movement detection sensor may be configured to detect movement of the surface of the sealing portion of the group of sachets. Fine unevenness is formed on the surface of the sealing portion. The movement detection sensor detects the movement of the seal portion, so that fine uneven movement can be detected. Therefore, the motion detection sensor can more accurately detect the movement of the group of sachets. As a result, it becomes possible to determine slip with higher accuracy.

The motion detection sensor may be arranged, for example, to detect the position through which the surface of the sealing portion of the group of sachets conveyed by the conveying device passes. A motion detection sensor may be arranged at a position for detecting a part of the surface in the width direction of the group of sachets. In this case, it is preferable that the motion sensor is arranged at a position for detecting the surface of the portion where the seal portion is arranged in the width direction of the sachet group.

The packaging bag is formed by folding the packaging paper and heat-sealing some of the overlapping portions to form a bag shape. The heat-sealed portion of the sachet becomes the seal portion. The surface of the sealing portion of the sachet has a large number of uneven seal marks. The unevenness on the surface of the seal portion may be, for example, a shape that is periodically repeated in the conveying direction in one sachet. The sealing portion may be formed in the group of sachets so as to extend in a direction (first direction) in which the group of sachets are connected.

(Composition 3)
In the above configuration 1 or 2, the transport device may be configured to transport the group of sachets aligned in the first direction in the first direction. The motion detection sensor may be configured to detect a motion of a sealing portion extending in the first direction in the group of sachets. As a result, the motion detection sensor detects the motion of the surface of the sealing portion extending over the plurality of sachets in the conveying direction. Therefore, more accurate slip detection is possible.
The conveying device may have an action section that is in contact with the group of sachets and applies a force to advance the group of sachets in the conveying direction, and a power source that operates the action section. The working part of the conveying device may be, for example, an endless track mechanism such as a belt or chain wound around a driving wheel and a driven wheel, or a rotating body such as a roller. The power source of the transport device may be, for example, a motor.

(Composition 4)
In any one of the above configurations 1 to 3, the motion detection sensor may be an optical sensor that irradiates the group of sachets with light and detects light transmitted or reflected by the group of sachets. Thereby, a motion detection sensor can be realized with a simple configuration.

The optical sensor used for the motion detection sensor may have, for example, a light projecting element that projects light onto the sachet group and a light receiving element that receives light transmitted through or reflected by the sachet group. The optical sensor can detect the movement of the surface of the group of sachets based on at least one of the amount of light received by the light receiving element, the angle, the time, or the image. For example, the optical sensor outputs whether or not the position of the surface of the sachet group has changed based on the difference between the light irradiated to the sachet group and the light detected from the sachet group. may be configured as follows.

The motion detection sensor may be a non-contact sensor that detects, without contact, the motion of the surface of the group of sachets conveyed by the conveying device. In this case, the motion detection sensor does not affect the transportation of the group of sachets. The motion detection sensor may detect movement of the surface of the group of sachets conveyed by the conveying device on the photographing device side, or may detect movement of the surface of the group of sachets opposite to the photographing device. You may The surface of the group of sachets is the outermost surface of the group of sachets.

The motion detection sensor may be configured to detect a change in the normal direction of the surface of the group of sachets conveyed by the conveying device. For example, when the motion detection sensor detects a change in the normal direction of the surface of the group of sachets, the slip determination unit can determine that the group of sachets is conveyed without slipping. can.

(Composition 5)
In any one of the above configurations 1 to 4, the slip determination unit determines that each time the conveying device conveys the group of sachets by one of the sachets, the group of sachets is conveyed by the conveying device. You may judge whether it is slipping with respect to. This makes it possible to detect a slip for each one of the sachets of the group of sachets. In this case, if the slip detector determines that the slip has occurred during the transportation of a certain package, the output unit outputs information indicating the slip before the next package is transported. may be output. This may allow action to be taken by the inspector against slips before delivery of the next packet.

(Composition 6)
In any one of the above configurations 1 to 5, the slip determination unit determines the group of sachets based on the amount of movement of the surface of the group of sachets detected by a movement detection sensor with respect to the amount conveyed by the conveying device. is slipping relative to the transport device. As a result, it is possible to determine slippage based on the degree of movement of the group of sachets following the transport operation of the transport device.

For example, the slip determination unit determines slip based on the amount of movement of the surface of the group of sachets detected by the motion detection sensor during the period in which the conveying device conveys the group of sachets by a unit conveying amount. may In this case, the unit transport amount may be, for example, one package (one bag) of the sachets to be inspected. This makes it possible to determine whether or not a slip has occurred during the transportation of one sachet. The conveying operation may be, for example, driving a power source (for example, a motor) for conveying. The amount of movement on the surface of the group of sachets may be, for example, a moving time, a moving distance, or other physical quantity indicating the amount of movement.

The slip determination unit may determine the slip amount of the group of sachets. For example, the slip determination unit may determine the amount of slip based on the amount of movement of the surface of the group of sachets detected by a movement detection sensor during the conveying operation of the conveying device. For example, the amount of slip may be determined as the time during which no movement of the surface of the sachet group is detected during the transport operation period of the transport device, that is, the time during which the sachet group is slipping.

For example, the conveying device may be capable of setting a conveying amount for one package. The slip determination unit compares a value indicating movement of the surface of the group of sachets detected by the movement detection sensor while the conveying device conveys one of the group of sachets with a threshold value. The slip may be determined by The threshold value may be determined according to the transport amount for one package. Thus, an appropriate threshold value is determined according to the length of one sachet in the conveying direction. As a result, it is possible to detect the slip with higher accuracy for the transportation of one package of the group of sachets.

(Composition 7)
In any one of the above configurations 1 to 6, the detection position of the motion detection sensor may be provided on at least one of the upstream side and the downstream side of the photographing position of the photographing device in the conveying direction of the conveying device. That is, the detection position of the motion detection sensor may be provided at least one of a position upstream and a position downstream of the imaging range of the imaging device on the transport path of the transport device. As a result, it is possible to more accurately determine the slippage of the group of sachets photographed by the photographing device. For example, the detection position of the motion detection sensor may be provided at a position upstream or downstream of the imaging range where a member for transmitting power from the power source of the conveying device to the action portion is arranged.

(Composition 8)
In any one of the configurations 1 to 7 above, the inspection device for packaged medicine operates a slip time control unit that controls the conveying device, the photographing device, and the inspection unit based on the determination result of the slip determination unit. You may have more. Thereby, when a slip is detected, the inspection device can perform an operation corresponding to the slip.

The slip time control unit stops the transportation of the conveying device, the photographing of the photographing device, and the inspection of the inspecting unit when the slip judging unit judges that the group of sachets is slipping. may This prevents slippage from shifting the image being inspected and provides time to accommodate the slippage. When the slipping control unit performs the stop control described above, the slipping control unit can receive an operation for coping with the slip from the operator. For example, the slip time control unit may cause the output unit to output information prompting the operator to operate the inspection device to deal with the slip. In this case, the slip time control unit may resume the transportation, photographing, and inspection after the operator's operation.

The slip time control unit stops the transportation of the conveying device, the photographing of the photographing device, and the inspection of the inspecting unit when the slip judging unit judges that the group of sachets is slipping. , the above operation may be resumed after the group of sachets is conveyed by one package. As a result, when the group of sachets cannot be advanced due to slippage, the operation of the inspection device can be restarted after the group of sachets is advanced. The operation of conveying one package bag group of the conveying device may be executed according to the operation of the operator.

When the slip determination unit determines that the group of sachets is slipping, the output unit outputs information prompting the operator to perform an operation to convey the group of sachets by one unit to the conveying device. may be output.

When the slip determination unit determines that the group of sachets is slipping, the slip time control unit operates the transport device based on the transport amount corresponding to the slip amount determined by the slip determination unit. may be controlled. For example, the slip control unit may transport the group of sachets by a transport amount corresponding to the amount of slip. As an example, the transport operation by the transport device may be added for a period of time corresponding to the time at which the slip was detected.

The photographing device may sequentially photograph each sachet of the transported sachet group. For example, the imaging device may set an area including one sachet on the transport path of the transport device as the imaging range. The conveying device performs one cycle operation including an operation of conveying a group of sachets and arranging one sachet in an imaging range, and an operation of photographing the sachet arranged in the imaging range. The transport device and imaging device may be controlled to repeat multiple times. In this case, the one-cycle operation may further include an operation in which the inspecting unit inspects the single sachet using the photographed image of the sachet. In this one-cycle operation, when it is determined that the group of sachets is slipping, the slip time control section suspends (suspends) transport by the transport device, photographing by the photographing device, and inspection by the inspecting section in that cycle. ) to output the slip information to the output unit. This provides an opportunity to react to slip within one cycle. As a result, in each cycle operation, it is possible to reliably transport one sachet.

Alternatively, the photographing device may photograph a moving image of the group of sachets being transported. In this case, when it is determined that the sachet group is slipping, the slip time control section may stop the photographing by the photographing device and the inspection by the inspecting section. Alternatively, the slip time control unit may cause the output unit to output the slip information without stopping the photographing and inspection operations.

(Composition 9)
In any one of the above configurations 1 to 8, the inspection device pulls out the group of sachets discharged from the packaging machine from a holding device that takes in and holds the group of sachets in piles, and conveys the group of sachets by the conveying device. may be configured as follows. The group of sachets pulled out from the holding device is conveyed by the conveying device of the inspection device. As a result, the group of packaging bags discharged from the packaging machine can be efficiently inspected.

The packaging machine packages a medicine to form a group of packaging bags. The packaging machine, for example, encloses the medicine in each packaging bag of the packaging bag group based on the prescription data. The packaging machine forms a packaging bag by partially sealing the folded portion of the packaging paper. The packaging machine discharges a group of packaging bags, which are a plurality of continuous packaging bags containing medicine. The packing machine may be, for example, a tablet packing machine.

The holding device may be, for example, a winding device that holds the group of sachets in a wound state. Note that the holding device is not limited to the structure that winds up the group of sachets. For example, the holding device may be configured to hold the group of sachets in a folded state, or may be configured to be held by a dancer roller mechanism.

A pharmaceutical packaging system including a packaging machine, a holding device and an inspection device is also included in embodiments of the present invention. The inspection device may also include a retaining device. Alternatively, the divided bandage discharged from the packing machine may be configured to be conveyed to the inspection device as it is without passing through the holding device or the like. A drug packaging device including a packaging machine and an inspection device is also included in the embodiments of the present invention. For example, the packing machine and the inspection device may be configured in one housing. This housing accommodates a packaging unit for packaging a medicine to form a group of sachets, and the inspection device for receiving the group of sachets formed by the packaging unit and inspecting the packaged medicine. good too.

The inspection unit includes, for example, a drug determination unit that determines at least one of the number or types of drugs contained in each sachet using an image of the sachet group captured by an imaging device, and a drug determination unit. and a prescription judging unit for judging whether or not the medicine is packaged according to the prescription in each sachet by collating the number or type of the medicine determined by the step with the prescription data. .

A control program for an inspection device for packaged medicine according to an embodiment of the present invention includes processing for causing a conveying device to convey a group of a plurality of sachets containing medicine, Whether the drug contained in each of the group of sachets is packaged according to the prescription by using the process of photographing the group of sachets and the image of the group of sachets photographed by the photographing device. a process of obtaining a detection result from a motion detection sensor that detects the motion of the surface of the group of sachets transported by the transport device; and the motion detection during the transport operation of the transport device. a process of determining whether or not the group of sachets is slipping with respect to the conveying device based on the movement of the surface of the group of sachets detected by a sensor; and a process of outputting the result of the determination. , is executed by the computer.

A method for inspecting a packaged medicine according to an embodiment of the present invention includes a step in which a conveying device conveys a group of a plurality of sachets containing a medicine; and using the image of the group of sachets captured by the imaging device, whether or not the drug contained in each of the group of sachets is packaged according to the prescription. a step of inspecting by a computer; a step of using a motion detection sensor to detect motion of the surface of the group of sachets transported by the transport device; a step of determining whether or not the group of sachets is slipping with respect to the conveying device based on the detected movement of the surface of the group of sachets; and a step of outputting the result of the determination by a computer. and have

A packaged drug inspection device according to another embodiment of the present invention comprises:
a conveying device for conveying a group of sachets, which are a plurality of sachets containing a drug;
a photographing device for photographing the group of sachets conveyed by the conveying device;
an inspection unit that inspects whether or not the medicine contained in each of the group of sachets is packaged according to the prescription, using the image of the group of sachets captured by the imaging device;
and an additional photographing device provided separately from the photographing device for photographing at least one sachet in the group of sachets. The image of the sachet photographed by the additional photographing device may be recorded in association with the photographing date and time. Note that this inspection device may be combined with any one of the configurations 1 to 9 above.

The inspected sachets can be photographed again by the additional photographing device and recorded together with the date and time of the photographing. For example, if a sachet that was judged to be NG (not as per prescription) as a result of an inspection by the inspection department is repackaged with a drug that is as prescribed, the repackaged sachets (corrected sachets) are repackaged. , can be imaged by an additional imaging device. As a result, an evidence image showing that the medicine has been packaged according to the prescription can be recorded together with the date and time information.

The additionally captured image of the sachet may be recorded in association with the inspection result of the inspection unit. For example, an additionally photographed image of the sachet may be recorded as a re-photographed image of the sachet in which the inspection unit determines that the medicine contained therein does not conform to the prescription. In addition, along with the display of the image of the sachet photographed by the additional photographing device, the photographing date and time of the image may be displayed in association with the image.

The inspection device selects the image of the sachet group photographed by the photographing device and the image of the sachet photographed by the additional photographing device according to the instruction of the operator. The image of the sachet photographed by , may be retrieved and output. This allows the operator to quickly access the image of the sachet captured by the additional imaging device.

The additional photographing device may be provided in a housing different from the housing having the conveying device and the photographing device. As a result, re-imaging is possible at a remote location away from the conveying device and the imaging device. In addition, the additional photographing device may be able to access a storage device for recording inspection results of the inspection unit. Thereby, the inspection result of the sachet by the inspection unit and the image of the sachet re-photographed by the additional imaging device can be associated and recorded.

The image of the sachet photographed by the additional photographing device may be a moving image. By capturing a moving image of the sachet with an additional camera, it becomes easier to check the corrected parts of the sachet and the places that are difficult to see in still images. Therefore, it is possible to improve the effectiveness of the photographed image as evidence that the sachet has been corrected.

A packaged drug inspection device according to another embodiment of the present invention comprises:
a conveying device for conveying a group of sachets, which are a plurality of sachets containing a drug;
a photographing device for photographing the group of sachets conveyed by the conveying device;
an inspection unit that inspects whether or not the medicine contained in each of the group of sachets is packaged according to the prescription, using the image of the group of sachets captured by the imaging device; Prepare.
The inspection device receives from an operator designation of a modified sachet from among the group of sachets inspected by the inspection unit, causes the conveying device to convey the group of sachets that have been inspected, It may further include a re-imaging unit for re-imaging the designated sachet with the imaging device.
As a result, only the corrected sachet can be photographed again by the photographing device. Note that this inspection device may be combined with any one of the configurations 1 to 9 above.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Configuration example of inspection device)
FIG. 1 is a diagram showing a configuration example of an inspection device 1. As shown in FIG. The inspection device 1 is a device that inspects each package of medicine supplied in a state of being packaged in each package bag of a group of package bags for each dose. In the example shown in FIG. 1, the inspection device 1 includes a conveying device 2 that conveys the group of sachets P, a photographing device 18 that photographs the group of sachets P, an illumination device 20a that irradiates the group of sachets P with light, 20b, leveling mechanism 26 for leveling medicine in sachets P, supply detection unit 24a for detecting supply of sachets P, discharge detection unit 24b for detecting discharge of sachets P, sachets A motion detection sensor 5 for detecting the motion of the surface of the group P and a control device 10 are provided. The control device 10 has an inspection unit 11 , a slip determination unit 12 , a slip time control unit 13 , and an output unit 14 . The control device 10 is connected to a display 22a and an input device 22b. The input device 22b may be a touch panel built into the display 22a, or an external input device such as a keyboard or mouse, or an input device such as a button, switch, or lever provided in the inspection device 1. good too.

FIG. 2 is a diagram showing an example of the sachet group P. As shown in FIG. The sachet group P is a series of sachet bags formed so that a plurality of sachets p each containing one dose of medicine are continuous in the first direction. In the example of FIG. 2, the information medium I is attached to the head portion of the group of sachets P. As shown in FIG. In this way, the information medium I can be attached to the sachet p present at a predetermined position such as the leading end or the trailing end as an empty sachet pe that does not contain medicine. The information medium I may be a code such as a bar code, characters, symbols, or other print, or may be a data recording medium such as an IC chip. The information medium I has, for example, information on prescriptions of drugs to be packaged in the group P of sachets. For example, the information medium I may indicate information such as patient name, drug name, dosing method, prescription date, etc., or information for accessing such information.

The sachet group P is formed by forming a seal portion S by folding a band-shaped sachet paper at approximately the center in the width direction. The surface of the seal portion S has irregularities. The unevenness of the seal portion S is, for example, an uneven shape having a large number of point-like seal marks such as knurl marks of a crimping device (not shown). The sealing portion S extends in the direction in which the group of sachets P continues (that is, the first direction L), and is formed continuously over a plurality of sachets p and between two adjacent sachets. , extending in the width direction W of the group of sachets P.

Referring to FIG. 1, the conveying device 2 includes a motor 2a, a driving wheel 2c driven by the motor 2a, a driving wheel 2c, a driven wheel 2d, and a belt 2b stretched over the driving wheel 2c and the driven wheel 2d. include. The belt 2b is an example of an action portion that contacts the group of sachets P and exerts a force to advance the group of sachets P in the conveying direction. In the example of FIG. 1, the conveying device 2 is a belt conveyor with an endless track. The configuration of the transport device 2 is not limited to this, and may be, for example, a roller conveyor or other conveyors. The conveying device 2 has nip rollers 3a to 3h that press the group of sachets P against an action portion (belt 2b). The group of sachets P is conveyed between the belt 2b and the nip rollers 3a to 3h while receiving force from the belt 2b and the nip rollers 3a to 3h. A plurality of nip rollers 3a to 3h are arranged side by side in the conveying direction. The most upstream nip roller 3a has a larger diameter than the other nip rollers 3b-3h. The nip rollers 3a to 3h ensure that the group of sachets P grips the acting portion (the belt 2b) of the conveying device 2. As shown in FIG. Therefore, the sachet group P is less likely to slip with respect to the conveying device 2 .

FIG. 3 is a perspective view showing a configuration example of the vicinity of the conveying device 2 of the inspection device 1 shown in FIG. In the example shown in FIG. 3, the nip rollers 3a-3h are arranged in a state of being biased against the belt 2b. Each of the nip rollers 3 a to 3 h is attached to the inspection device 1 via an arm 31 . A nip roller is rotatably attached to one end of the arm 31 , and the other end of the arm 31 is rotatably attached to the inspection device 1 .

In the example shown in FIG. 3, the belt 2b and the nip rollers 3a to 3h are provided in a region corresponding to a part of the widthwise sealing portion S of the group of sachets P extending in the conveying direction. As a result, the sealed portion S of the transported sachet group P is positioned between the belt 2b and the nip rollers 3a to 3h. The medicine in the sachet group P is not pinched between the belt 2b and the nip rollers 3a to 3h. Next to the belt 2b, a guide 27 and a stage 25 are arranged side by side in the conveying direction. The sachet group P is placed on the surfaces of the guide 27 and the stage 25 and conveyed. In the example of FIG. 3, the belt 2b, the guide 27 and the stage 25 constitute the transport path for the group of sachets P. In the example shown in FIG.

The stage 25 is provided in the imaging range of the imaging device 18 . Below the stage 25, that is, on the side opposite to the surface on which the group of sachets P is placed, a backlight 20b, which is a back lighting device, is provided. The stage 25 is made of a material that transmits light from the backlight 20b. The conveying device 2 can convey the sachet group P and arrange the entire sachet of one package on the stage 25 .

As shown in FIG. 1, the illumination device 20a illuminates the group of sachets P within the photographing range of the photographing device 18. As shown in FIG. The illumination device 20a is on the same side as the photographing device 18 with respect to the transport path of the group of sachets P. As shown in FIG. That is, the illumination device 20a is arranged above the stage 25, like the imaging device 18. FIG. The lighting device 20a includes a plurality of light emitting units 20a1. The plurality of light emitting units 20a1 may be arranged, for example, in a ring. The light emitting unit 20a1 may use, for example, a light emitting diode as a light source.

In the example of FIG. 3, a leveling mechanism 26 for leveling the medicine contained in the sachet group is provided in the transport path upstream of the imaging range of the imaging device 18 . The leveling mechanism 26 includes a pin member movable in a direction that intersects the conveying surface of the guide 27 that receives the group of packets P, and an actuator (for example, a motor) that moves the pin member. The actuator may vibrate the pin member in a direction intersecting the conveying surface.

In the example of FIG. 3, a first restricting member 23a is provided on the surface of the group of sachets P in the transport path upstream of the stage 25 to restrict movement in the vertical direction. In the conveying path downstream from the stage 25, a second restricting member 23b is provided on the surface of the group of sachets P to restrict movement in the vertical direction. The first regulating member 23a and the second regulating member 23b include contact members that can swing about the axis extending in the width direction of the group of sachets P to be transported within a range of contact with the group of sachets P being transported. The first regulating member 23a and the second regulating member 23b are arranged at a position that presses the part of the sachet group P in which the medicine is enclosed, that is, the part other than the seal part S. As shown in FIG.

With reference to FIG. 1, the control device 10 controls the conveying device 2, lighting devices 20a and 20b, the photographing device 18, and the leveling mechanism 26. As shown in FIG. The control device 10 acquires detection results from the supply detection section 24a, the discharge detection section 24b, and the motion detection sensor 5. FIG. The control device 10 controls the conveying device 2, the lighting devices 20a and 20b, the photographing device 18, and the leveling mechanism 26 based on these detection results. The inspection unit 11 of the control device 10 cooperates with the operations of the transport device 2, the lighting devices 20a and 20b, and the photographing device 18 to inspect the medicine in each sachet of the sachet group P. FIG. The inspection unit 11 uses prescription data including prescription information of the medicine contained in the sachet group P in the inspection process. The inspection unit 11 is configured to be able to access a recording device in which prescription data is recorded. For example, the inspector 11 may access the prescription data using information on the information medium I attached to the sachet group P. FIG. Information on the information medium I may be acquired by the inspection unit 11 from an image of the information medium I captured by the imaging device 18, or may be obtained by a reader for reading the information on the information medium I provided in the inspection device 1. (a bar code reader, an IC tag reader, or the like) may acquire the information.

The motion detection sensor 5 detects the motion of the surface of the sachet group P transported by the transport device 2 . The slip judgment unit 12 judges whether the sachet group P is slipping based on the operation of the conveying device 2 and the detection result of the motion detection sensor 5 . When the slip determination unit 12 determines that the slip determination unit 12 is slipping, the slip control unit 13 performs predetermined slip control on the conveying device 2 and the photographing device 18 . The output unit 14 outputs information about the slip to the display 22a when the slip determination unit 12 determines that the vehicle is slipping.

In the example shown in FIG. 1, the conveying device 2 is provided with nip rollers 3a to 3h for pressing the group of sachets P against the belt 2b, which is an action portion, to prevent slippage. The inventors have found that by weakening the force that presses the group of sachets P against the belt 2b, the group of sachets P is less likely to stack. If the force for pressing the group of sachets P against the belt 2b is weakened, the group of sachets P tends to slip. When the group of sachets slips, the inspection device inspects the same sachet multiple times. As a result, a situation may occur in which the sachets to be inspected are shifted after the occurrence of the slip. In this case, it is necessary to re-inspect the group of sachets. Therefore, the inventors considered adding a function for detecting slippage of the group of sachets. However, it was assumed that the addition of the slip detection function would complicate the inspection device and increase the manufacturing cost. Therefore, the inventors have studied how to enable the inspection device to detect the slippage of the group of sachets with a simple configuration. The inventors paid attention to the point that the unevenness of the surface of the group of sachets transported without slipping is subtly changed. As a result of intensive studies, the present inventors have come up with a configuration that detects the movement of the surface of the group of sachets conveyed by the conveying device and determines slip based on the detection result. It has been found that this makes it possible to detect slipping of the group of sachets in the inspection device with a simple configuration.

The control device 10 is composed of one or more computers. For example, the control of the conveying device 2 and the photographing device 18, the processing of the inspection unit 11, the slip determination unit 12, the slip control unit 13, and the output unit 14 are performed by a processor provided in the computer executing a program in the memory. can be realized by Such programs and non-transitory recording media recording them are also included in embodiments of the present invention. Also, at least part of these processes may be executed by a dedicated circuit. The computer may be built in the housing in which the conveying device 2 is housed, or may be a computer capable of communicating with each part of the inspection device 1 outside the housing. For example, a general-purpose computer such as a PC can realize at least part of the functions of the control device 10 .

(Example of motion detection sensor)
In the example shown in FIGS. 1 and 3, the motion detection sensor 5 for detecting the movement of the surface of the group of sachets P is arranged so as to detect the group of sachets P downstream of the photographing range of the photographing device 18 . As a result, slip can be detected even in a state where the group of sachets P is stacked downstream of the conveying path, but is still moving along with the movement of the conveying device 2 upstream. In addition, by providing the motion detection sensor 5 downstream, it is possible to increase the degree of freedom in arranging members for applying vibration to the group of sachets P and regulating displacement in the plane direction upstream of the imaging range. can be done. Note that the motion detection sensor 5 may be arranged to detect the group of sachets P upstream from the photographing range. In this case, for example, the slip can be detected in a state where the group of sachets P is stacked upstream, but is moving along with the movement of the conveying device 2 downstream. Also, the motion detection sensors 5 may be arranged to detect the group of sachets P both upstream and downstream of the imaging range. In the example of FIG. 3, the motion detection sensor 5 is arranged on the side where the driving wheel 2c is arranged, of the upstream and downstream of the photographing range. The drive wheel 2c is an example of a member that transmits power from the motor 2a to the action portion.

In the example shown in FIG. 3, the motion detection sensor 5 is arranged at a position for detecting the motion of the sealing portion S of the group of sachets P. In the example shown in FIG. For example, the motion detection sensor 5 is arranged to detect the motion of the surface of the group of sachets P at the position of the line SL shown in FIG. In this case, the motion detection sensor 5 detects the motion of the surface of the seal portion S continuously extending in the transport direction of the group of sachets P, that is, the first direction L. As shown in FIG. As a result, the movement of the sachets P in the conveying direction can be detected with higher accuracy. Note that the arrangement of the motion detection sensor 5 is not limited to this example. For example, the motion detection sensor 5 may detect the motion of the surface of the sachet group P other than the seal portion S.

In the example shown in FIG. 3, the motion detection sensor 5 detects the group of sachets P at a position overlapping the belt 2b (action portion) when viewed from the direction perpendicular to the conveying surface of the conveying path that receives the group of sachets P. provided to detect. This makes it easier to detect the movement of the group of sachets P in the conveying direction. In the example of FIG. 3, the detection position of the motion detection sensor 5 is the packet group P2 between the most downstream nip roller 3h and the second downstream nip roller 3f. Thus, the detection position of the motion detection sensor 5 may be between the nip rollers 3h, or may be downstream or upstream of the plurality of nip rollers 3a to 3h.

FIG. 4 is a diagram showing a configuration example of the motion detection sensor 5. As shown in FIG. In the example of FIG. 4, the motion detection sensor 5 includes a sensor housing 50, a detection circuit 51 provided in the sensor housing 50, a light emitting element 52, a light receiving element 53, a fiber 54, and a head 55 at the tip of the fiber. include. A fiber 54 is connected to the light emitting element 52 and the light receiving element 53 . Fiber 54 is an optical fiber. Light from the light projecting element 52 passes through the fiber 54 and is emitted from the head 55 toward the detection target position. The head 55 is arranged so as to emit the light of the fiber toward a position through which the group of sachets P to be detected passes. Further, the head 55 receives reflected light from the group P of sachets. Light received by the head 55 is guided to the light receiving element 53 through the fiber 54 . The detection circuit 51 outputs a signal indicating the detection result according to the light received by the light receiving element 53 . For example, the detection circuit 51 may output a signal indicating whether or not the group of sachets P is moving. The detection circuit 51 is connected with the control device 10 . A signal from the detection circuit 51 is processed by the control device 10 . The example of FIG. 4 is an example of a reflective photoelectric sensor that irradiates a detection object with light and detects reflected light from the detection object. The fibers can be, for example, parallel, coaxial or split.

FIG. 5 is a diagram showing a modification of the motion detection sensor 5. As shown in FIG. FIG. 5 shows an example of a transmissive photoelectric sensor. In the example shown in FIG. 5, the light emitted from the head 55a at the tip of the fiber 54a connected to the light emitting element 52 is received by the head 55b at the tip of the fiber 54b connected to the light receiving element 53. FIG. These heads are arranged such that the sachet group P passes between the light projecting head 55a and the light receiving head 55b. That is, the transported sachet group P blocks the optical axis between the light projecting head 55a and the light receiving head 55b.

4 and 5 both show a fiber sensor configured by connecting a fiber to a light emitting element 52 and a light receiving element 53 and arranging the tip of the fiber at a position for detecting the group of sachets P being transported. For example. By using a fiber sensor as the motion detection sensor 5, slip can be detected with a simpler configuration. Moreover, the degree of freedom of the mounting position of the motion detection sensor 5 is increased.

FIG. 6 is a diagram showing another modification of the motion detection sensor 5. As shown in FIG. As shown in FIG. 6, even if the light emitting element 52 and the light receiving element 53 are configured to directly emit light to the sachet group P and receive light from the sachet group P without connecting fibers. good. In this case, the sensor housing 50 is arranged at a position where the group of sachets P can be detected by the light emitting element 52 and the light receiving element 53 .

In the examples shown in FIGS. 4 to 6, the light emitting element 52, the light receiving element 53, and the detection circuit 51 are housed in one housing, but at least one of them is housed in a different housing. may be Moreover, the light projecting element 52 may emit light such as visible light or infrared light, for example. The light projecting element 52 may be configured to emit laser light.

The detection circuit 51 can output a signal corresponding to the amount of light received by the light receiving element 53 . The detection circuit 51 may include, for example, a circuit that converts the light detected by the light receiving element 53 into an electrical signal. Further, the detection circuit 51 may have an amplifier function. When the sachet group P projected by the light projecting element 52 moves, the amount of reflected light or transmitted light of the sachet group P changes. That is, the light detected by the light receiving element 53 changes. In particular, when the surface of the group of sachets P is uneven, the period of change in the amount of reflected light or transmitted light tends to be shortened. The detection circuit 51 can output a signal reflecting changes in light detected by the light receiving element 53 . The detection circuit 51 may output a waveform signal indicating a change in the amount of received light or a signal obtained by processing this. As a result, the controller 10 can determine whether or not the surface of the sachet group P is moving based on the output signal of the detection circuit 51 .

As an example, the detection circuit 51 may output signals of different levels when there is a change in the amount of received light and when there is no change. For example, since the unevenness of the sealing portion S of the group of sachets P is fine, the period of change in the amount of received light is shortened, and the range of switching between increases and decreases of the signal indicating the change in the amount of received light may be narrowed. In such a case, delay filter processing can be applied to the signal indicating the change in the amount of received light. As a result, the detection circuit 51 can output a signal with a substantially constant level during a period in which the amount of received light varies.

Note that the mode of sensing based on the detection of the light receiving element 53 is not limited to that based on the amount of light received. The motion detection sensor 5 may, for example, detect the angle of the received light. When the distance between the surface of the sachet group P and the light receiving element 53 changes, the angle of the laser light received by the light receiving element 53 also changes. A change in the distance between the surface of the sachet group P and the light receiving element 53 can be detected by changing the angle of light reception, and as a result, movement of the surface can be detected. In this case, for example, the light projecting element 52 may be configured to project a laser, and the light receiving element 53 may be configured to detect the angle of the laser received by the CMOS sensor.

Alternatively, the movement detection sensor 5 detects the surface of the group of sachets P by the change in the time it takes for the laser light projected by the light projecting element 52 to reflect off the surface of the group of sachets P and reach the light receiving element 53. A change in distance to may be detected. As another example, the motion detection sensor 5 may be configured to detect the motion of the surface of the sachet group P based on changes in the light image detected by the light receiving element 53 .

Note that the motion detection sensor 5 is not limited to an optical sensor including a photoelectric sensor as described above. For example, it may be a non-contact sensor such as an ultrasonic sensor, or a contact sensor.

7A and 7B are diagrams showing examples of signals output from the motion detection sensor 5. FIG. In FIG. 7, the vertical axis indicates the signal level and the horizontal axis indicates time t. A line S indicates the output waveform of the motion detection sensor 5 . In the example of FIG. 7, the motion detection sensor 5 outputs a Soff level signal when no motion on the surface of the package group P is detected, and a Son level signal when motion is detected. to output A line M indicates the waveform of the signal indicating the operation of the motor 2a of the conveying device 2. FIG. When the motor 2a is driven, that is, when the transport operation is performed, the motor operating waveform signal is at Mon level, and when the motor 2a is not being driven, the motor operating waveform signal is at Moff level. .

(Example of slip judgment unit)
Controller 10 receives signals indicative of motor operation and signals from motion detection sensor 5 . The slip determination unit 12 can determine whether or not the sachet group P is slipping with respect to the transport device 2 based on these signals. The slip judgment unit 12 judges the presence or absence of a slip, for example, based on the amount of movement of the sachet group P detected by the movement detection sensor 5 while the motor 2a is being driven. As an example, in the case of the signal waveform shown in FIG. 7, when the time T2 at which the movement of the group of sachets P is detected in the period T1 when the signal from the motor 2a is Mon is equal to or greater than the threshold value, the slip determination unit 12 determines that there is no slip. If it is below the threshold, it can be determined that there is a slip.

The driving period T1 of the motor 2a shown in FIG. 7 can be, for example, the time to advance the sachet group P by one package (that is, the transport amount for one package). The drive period T1 may be set according to the length of one package in the group of sachets P in the transport direction. This setting may be performed by the control device 10, for example, based on an operator's input to the input device 22b. As a result, the transport amount for one package is appropriately set according to the length of one package to be inspected.

The slip determination unit 12 samples the signal of the motion detection sensor 5 at a predetermined cycle during the driving period T1 of the motor 2a. It is preferable that the sampling period is sufficiently shorter than the driving period T1. For example, sampling can be performed at the timing indicated by the arrow smp in FIG. The slip determination unit 12 may determine the presence or absence of slip by, for example, comparing the number of values with the level Son among the plurality of values sampled during the drive period T1 with a threshold value. Alternatively, the slip determination unit 12 may determine the presence or absence of a slip based on whether or not the ratio of values having a level of Son or higher among a plurality of sampled values is equal to or higher than a threshold. Here, the threshold value may be variable according to the transport amount for one package. The slip judgment unit 12 can execute the slip judgment using a threshold value according to the set transport amount for one package.

Note that the processing of the slip determination unit 12 is not limited to the above example. For example, the slip determination unit 12 may measure the length of the period T2 during which the signal from the motion detection sensor 5 is Von with a timer during the drive period T1 of the motor 2a. In this case, the slip may be determined depending on whether the ratio T2/T1 of both periods satisfies a predetermined condition. As an example, the slip determination unit 12 may determine that there is no slip when T2/T1>slip determination reference value K1.

Also, the slip determination unit 12 may determine the slip amount based on the detection result of the motion detection sensor 5 . For example, as the slip amount with respect to the transport amount of the transport device 2, the ratio (T1-T2)/T1 of the time during which the surface is not moving in the transport operation time may be calculated.

(Example of inspection device operation)
FIG. 8 is a flow chart showing an operation example of the inspection device 1 shown in FIG. In the example of FIG. 8, when the supply detection unit 24a detects that the group of sachets P has been supplied upstream of the transport path (YES in S1), the supply detection unit 24a upstream of the transport path A reader provided in the vicinity of the detection target area reads information from the information medium I (for example, bar code or two-dimensional code) attached to the tip portion of the sachet group P (S2). Based on the read information, the control device 10 acquires the prescription data of the medicines packaged in the sachet group P (S3). The information on the information medium I may be, for example, information for accessing prescription data recorded in an external recording device.

The control device 10 controls the conveying device 2 to move the sachet group P by one package downstream, and arranges one sachet p in the photographing range (S4). Here, the control device 10 may control the conveying device 2 based on the image captured by the photographing device 18 and position the entire packaging bag p within the photographing range. In addition, the control device 10 executes the positioning process only for the first time, and after that, each time the photographing and inspection operations are completed, the control device 10 sequentially transports by the amount equivalent to one package p to the downstream side. Device 2 may be controlled.

When one sachet p reaches the imaging range, for example, the stage 25, the control device 10 causes the imaging device 18 to photograph the sachet p (S5). Thereby, the photographing device 18 photographs the sachets p and the drugs contained therein, and stores the images in the inspection device 1 .

The control device 10 can control the illumination devices 20a and 20b to irradiate the sachet p with light when photographing by the photographing device 18 . For example, the control device 10 can acquire an image (front illumination image) of the medicine in the sachet p by turning on the illumination device 20a and causing the imaging device 18 to take an image. In addition, the control device 10 turns off the lighting device 20a and turns on the backlight 20b to cause the photographing device 18 to photograph an image (background image) showing the silhouette of the drug in the sachet p on the stage 25. light image) can be acquired.

The inspection unit 11 executes at least one of identifying the type of medicine and counting based on the image captured by the imaging device 18 (S6). An image captured by the imaging device 18 at the time when the sachet p is conveyed to the stage 25 is used by the inspector 11 to identify and count the types of medicines.

The inspection unit 11 can identify the type of drug from the image obtained by the imaging device 18 by various methods. For example, by specifying the outer edge shape of the medicine contained in the image obtained by the imaging device 18, the size and shape of the medicine can be determined. Also, the color of the drug can be specified based on the color information of the area corresponding to the drug in the captured image. The inspection unit 11 can specify the type of medicine to be inspected based on a database prepared in advance that records the characteristics of the medicine such as the type, shape, size, and color of the medicine. Alternatively, it is also possible to identify the type of drug from the image using trained model data obtained by machine learning such as deep learning. The inspection unit 11 can also identify the type of medicine based on information stamped or printed on the surface of the medicine.

The inspecting unit 11 can specify the quantity of the medicine from the image obtained by the photographing device 18 by various methods. For example, the quantity of the medicine can be grasped by specifying the outer edge of the medicine contained in the image obtained by the photographing device 8 and counting the number of areas surrounded by the outer edge. It is also possible to count the quantity for each type of medicine by checking how many medicines of similar size and shape are included in the captured image. Alternatively, it is also possible to specify the quantity of the drug from the image using learned model data obtained by machine learning such as deep learning.

The inspection unit 11 collates the information on the type or quantity of the drug identified in S6 with the prescription data acquired in S3, and determines that the type or quantity of the drug contained in the sachet p is as prescribed. It is determined whether or not there is (S7). Thereby, it is inspected whether or not the medicine in the sachet p is packaged according to the prescription.

The output unit 14 outputs information indicating the inspection result of the inspection unit 11 to an output device such as the display 22a (S8). For example, the image of the sachet p to be inspected and the inspection result may be displayed at the same time. Furthermore, as information based on the prescription data, information such as the patient's name, patient identification information such as an ID number, the number of packets, the number of days of taking the prescribed drug, and the number of times of taking the drug may be displayed. Further, the control device 10 may display the inspection result and receive an input for correction of the inspection result via the input device 22b.

The operations of S4 to S8 described above are repeatedly executed until the ejection detection unit 24b provided at the downstream end of the transport path detects that the end of the group of sachets P has been ejected (YES in S9). be. As a result, each sachet p in the sachet group P is fed by one package, photographed, and inspected. In the case of YES in S9, the control device 10 terminates the processing of the conveying device 2, the photographing device 18, the lighting devices 20a and 20b, and the inspection section 11. FIG.

(Example of one package feeding operation including slip judgment)
FIG. 9 is a flow chart showing a detailed processing example of the one-pack transportation of S4 in FIG. In the example shown in FIG. 9, the control device 10 causes the conveying device 2 to move the sachet group P by one package downstream (S21). In S21, the transport device 2 continuously drives the motor 2a for a time corresponding to the transport amount for one package.

The slip determination unit 12 determines whether or not movement of the sachet group P corresponding to the transport amount has been detected in the transport operation in S21 (S22). Specifically, the slip determination unit 12 acquires the signal of the motion detection sensor 5 during the driving period of the motor 2a. The slip determination unit 12 identifies the degree of movement of the surface of the sachet group P during the transport operation period of the transport device 2 for one package based on the acquired signal. Based on the extent of this movement, it is determined whether or not movement of the group of sachets P corresponding to the transport amount has been detected.

If S22 is YES, the slip determination unit 12 determines that the sachet group P does not slip. The one-pack feeding operation ends. In the case of NO in S22, the slip determination unit 12 determines that the sachet group P has slipped. In this case, the output unit 14 outputs an error message indicating that the group of sachets P has slipped to the display 22a (S23). The error message may include information prompting the operator to input an operation corresponding to the slip.

FIG. 10 is a diagram showing an example of an error message. In the example of FIG. 10, an error message is displayed superimposed on the screen displaying the inspection results. In this example, a message is displayed that instructs the operator to feed out one sachet by operating the feed key. The feed key may be, for example, an input device 22b (see FIG. 1) such as a lever or button for controlling the transportation operation of the sachets P by the transportation device 2. FIG. The operator can operate the input device 22b while viewing the group of sachets P on the conveying path to cause the conveying device 2 to feed out the group of sachets P by one.

In S24 of FIG. 9, as a response to the error message, the operator inputs an operation for sending one packet of the group of sachets P. FIG. When this operation is performed, the one-package feeding process of S4 in FIG. 8 ends.

It should be noted that in S24, the control unit 13 during slip does not proceed with the process and waits until a predetermined operation is input. During standby, the operation of the inspection device 1 is in a suspended (suspended) state. Therefore, in the operation example shown in FIG. 9, when a slip of the sachet group P is detected, transportation by the transportation device 2, photographing by the photographing device 189, and inspection by the inspection unit 11 (S5 to S7 in FIG. 8) are not performed. As a result, the inspection device 1 can temporarily stop transportation, photographing, and inspection when a slip occurs, and resume these operations after the operation to cope with the slip is executed. Therefore, time is secured for the operation to cope with the slip.

Further, by executing the processing shown in FIG. 9, for example, in the example of FIG. And inspection (S6, S7) processing can be executed. Further, by executing the process of FIG. 9 in S4, in the example of FIG. determine whether or not

Note that the processing of the slip time control unit 13 at the time of slip detection is not limited to S23 (error output) and S24 (temporary stop of photographing and inspection processing until there is an operation input) in FIG. For example, the control unit 13 at the time of slipping may cause the conveying device 2 to feed and convey the group of sachets P by one package without receiving an operation input from the operator. The transport device 2 may be caused to feed and transport the group of sachets P by one package. Alternatively, when a slip is detected by the slip determination unit 12, the output unit 14 may be caused to output information notifying of the slip while continuing the process of photographing and inspection.

(System configuration example)
FIG. 11 is a diagram showing a configuration example of a drug packaging system including a packaging machine, a holding device, and an inspection device. The packaging machine 100 packages the medicine and discharges the group P of packaging bags. The holding device 150 takes in the group of packaging bags P discharged from the packaging machine 100 and stacks and holds them. The inspection device 1 takes in the sachet group P pulled out from the holding device 150 and inspects the medicine in the sachet group P. The packing machine 100, the holding device 150, and the inspection device 1 may be arranged side by side. The retaining device 150 may have wheels. In this case, the holding device 150 can be pushed and moved by a person. Therefore, the packing machine 100 and the inspection device 1 may be arranged at a separate location.

The packaging machine 100 extracts a single dose from a plurality of types of drugs (in this example, solid drugs, i.e., tablets) stored in advance based on prescription data, and packages them in individual packaging bags. The packaging machine 100 includes a plurality of feeders 46 that store and supply medicines, hoppers 40 , 42 , 62 , a medicine preparation section 60 that stores medicines one by one, and a packaging part 80 . The packaging machine 100 further includes a manually distributed tray 38 for receiving manually distributed medicines, and a hopper 44 for guiding the medicines on the manually distributed tray 38 to the medicine preparing section 60 .

The feeder 46 has a cassette containing drugs and a chute for ejecting a controlled number of drugs from the cassette. A plurality of types of drugs are stored in a plurality of feeders 46, respectively. A packet of medicine is supplied from the feeder 46 to the hopper 40 based on the prescription data. The hopper 40 stores one packet of medicine. Via the hopper 42 , the medicine is supplied to the medicine preparing section 60 one packet at a time. The hand-dispensing tray 38 is provided with a plurality of square-shaped concave portions for scattering the medicine one package at a time. The medicines are supplied one by one from the manual distribution tray 38 to the medicine preparing section 60 via the hopper 44 . The medicines held in the medicine preparation unit 60 are supplied one by one to the packaging unit 80 via the hopper 62 .

The packaging unit 80 forms each sachet by folding the band-shaped sachet paper and sealing a part of the overlapped portion, and also packs the medicine supplied from the medicine preparation unit 60 into the sachet for each dose. to be packed.

The packaging unit 80 includes a roll setting unit 81 for setting rolled packaging paper, a sealing unit 82 for sealing the folded packaging paper, and a printing unit 83 for printing on the packaging paper. The packaging unit 80 arranges one packet of medicine supplied from the hopper 62 in the valley-shaped portion of the packaging paper that is pulled out from the roll setting unit 81 and folded in two. A portion of the packaging paper on which the medicine is placed is sealed by the sealing portion 82 to form a packaging bag containing the medicine. The sealing portion 82 heats and welds a portion of the folded packaging paper. The seal part 82 may be of a heat roller type in which the packaging paper is passed between a pair of heat rollers and welded, or a pack type in which a heat mold is pressed against the packaging paper and welded. A strip-shaped sachet group P in which a large number of sachets each containing a medicine are continuously delivered out of the packaging machine 100 .

The holding device 150 winds up and holds the group of packaging bags P discharged from the packaging machine 100 . Further, the holding device 150 can feed out the group of sachets P that it holds. The holding device 150 is a winding and feeding device. The holding device 150 has a support 152 and a holder 154 rotatably attached to the support 152 . The holder 154 has a cylindrical portion 154b attached to the rotating shaft 152a supported by the support portion 152, and a pair of plate-like flanges 154c radially extending from both axial ends of the cylindrical portion 154b. The sachet group P is held between the pair of flanges 154c while being wound around the cylindrical portion 154b. The holder 164 may be detachable from the rotating shaft 154a.

Holding device 150 may include an actuator (not shown) that rotates holder 154 . The actuator rotates the holder 154 to control winding and feeding of the group of sachets P. FIG. The holding device 150 comprises a first sensor 160 and a second sensor 158 arranged radially of the holder 154 . The sachet group P passes between the first sensor 160 and the second sensor 158 . The first sensor 160 measures the distance to the sachet group P wound around the holder 154 . As the number of sachets P wound around the holder 154 increases, the amount of the sachets P stacked in the radial direction increases, and the distance between the first sensor 160 and the sachets P decreases. The second sensor 158 measures the distance from the sagging bag group P below the path of the sachet group P introduced from the packaging machine 100 to the holder 154 . For example, if the packaging speed of the packaging machine 100 is too fast compared to the winding speed of the holder 154, the packaging bag group P introduced from the packaging machine 100 to the holder 154 bends downward. Depending on the distance measured by the second sensor 158, it is possible to determine whether or not the sachet group P is bent (hanging down). The rotation of the holder 154 by the actuator is controlled based on the distances measured by these sensors. For example, when the distance measured by the first sensor 160 becomes equal to or less than a predetermined value, it is determined that the winding amount of the group of sachets P has reached the maximum capacity of the holder 154, and the winding operation of the holder 154 is performed. can be terminated. Alternatively, when it is determined that the group of packets P is bent based on the distance measured by the second sensor 158, the winding speed of the holder 154 can be increased or an error can be output. . As a result, the sachet group P can be wound up and unwound while an appropriate tension is applied to the sachet group P.

The inspection device 1 can be configured in the same manner as the inspection device 1 shown in FIG. The conveying device 2 of the inspection device 1 conveys the sachet group P pulled out from the holding device 150 . The holding device 150 can operate in cooperation with the inspection device 1 .

The control device 10 can control the transport of the transport device 2 to coordinate the rotation of the holder 154 of the holding device 150 . For example, the holder 154 of the holding device 150 may be controlled to rotate in the direction in which the group of sachets P is delivered while the conveying device 2 is carrying out the operation of conveying the group of sachets P. Controller 10 may be configured to control an actuator that rotates holder 154 .

Further, the slip control section 13 of the inspection device 1 may control the holding device 150 according to the determination result of the slip determination section 12 . As a result, in the holding device 150, it is possible to feed out the group of sachets P appropriately against slippage. For example, when the slip determining unit 12 determines that the group of sachets P is slipping, the control unit 13 when slipping may cause the holding device 150 to stop the operation of feeding out the group of sachets P. The slip time control unit 13 may cause the holding device 150 to resume the feeding operation when the inspection device 1 performs an operation corresponding to the slip after the feeding operation is stopped. Alternatively, the slip control section 13 may control the delivery speed of the holding device 150 based on the determination result of the slip determination section 12 .

The holding device 150 may operate in cooperation with the packaging machine 100 . For example, when the packaging unit 80 of the packaging machine 100 discharges the group of packaging bags P, the holding device 150 can perform a winding operation under the control of the packaging machine 100 .

In the example of FIG. 11, the inspection device 1, the holding device 150, and the packaging machine 100 are configured as independent housings. At least two of these may be combined into one device. For example, the holding device 150 may be attached to the inspection device 1 or the packaging machine 100 .

(Modified example of inspection device)
FIG. 12 is a diagram showing a modification of the inspection device. The inspection device 1 shown in FIGS. 12( a ) and 12 ( b ) includes a conveying device 2 , an imaging device 18 , an additional imaging device 19 and a control device 10 . The conveying device 2, the photographing device 18, and the control device 10 may be configured in the same manner as the conveying device 2, the photographing device 18, and the control device 10 of the inspection device 1 shown in FIG. The control device 10 has an inspection section. The inspection section may be configured in the same manner as the inspection section 11 of FIG. The additional photographing device 19 photographs at least one sachet in the group of sachets arranged on the additional photographing platform 191 . The additional photographing platform 191 is configured to support the sachet group P at a position away from the conveying path of the conveying device 2 and within the range of the additional photographing device 19 . At least one sachet can be placed on the additional imaging stand 191 . As a result, the operator can quickly place an arbitrary sachet in the group of sachets P on the additional photographing table 191 without passing the group of sachets P through the conveying path of the conveying device 2, and 19 can be enabled. In the example of FIG. 12, the additional imaging table 191 and the additional imaging device 19 are provided outside the housing housing the transport device 2 and the imaging device 18 . Thus, the additional photographing device 19 may be an external camera.

FIG. 12(a) shows an example in which the group of sachets P is transported on the transport path of the transport device 2, and FIG. show. The operator arranges the sachets to be photographed again (for example, the sachets marked with NG inspection results or corrected sachets) in the sachets group P so that they are within the photographing range of the additional photographing device 19. In addition, the group of sachets P can be placed on the additional imaging platform 191 .

The additional photographing device 19 is provided, for example, to photograph at least one of the inspected sachet groups P inspected by the inspection device 1 . The inspected sachet group P may include a sachet determined by the inspection department to be NG (the enclosed medicine does not conform to the prescription). The inspection device 1 outputs information indicating NG sachets. Based on this information, the pharmacist refills the unsatisfactory sachet with the prescribed drug. In other words, the pharmacist corrects the sachet by at least one of filling the sachet with the correct drug as prescribed and extracting the erroneous drug from the sachet. This modifies the medicine in the sachet. The pharmacist (operator) arranges the inspected sachet group P on the additional imaging table 191 so that the corrected sachet falls within the imaging range of the additional imaging device 19 . The additional photographing device 19 photographs the corrected sachet according to the instruction input by the operator. As a result, the corrected image of the sachet can be recorded as evidence of the correction result.

For example, while the inspection device 1 displays the judgment result of NG and the prescription information of the sachet judged to be NG, the operator places the corrected sachet on the additional imaging table 191 and re-photographs it. is inputted to the inspection device 1, the corrected sachet is photographed by the additional photographing device 19. - 特許庁The corrected image of the sachet is recorded, for example, in association with the NG inspection result data. As a result, an image of the corrected sachet can be recorded as evidence that the sachet determined as NG has been corrected. That is, the image of the sachet captured by the additional imaging device 19 may be recorded in association with the prescription information of the medicine in the sachet and the inspection result.

The image of the sachet photographed by the additional photographing device 19 may be recorded in association with the photographing date and time. The image of the sachet may include the date and time of photography, or the image and date and time of photography may be associated with the image and recorded. The image of the sachet can be recorded, for example, in a computer-accessible storage device of the inspection device 1 .

FIG. 13 is a diagram showing an example of a screen on which an image of a sachet photographed by the additional photographing device 19 is displayed. In the example of FIG. 13, the information H1 and H2 regarding the prescription of the sachet inspected by the inspection unit of the inspection device 1, the inspection result H3, and the photographed image J1 of the sachet are displayed. In addition, on the screen G1, a button B1 for controlling the displayed sachets, a submenu button B2, and a button B3 for inputting visual observation results are displayed in a selectable manner. The screen G1 in FIG. 13 displays, as an example, information on the sachet judged as NG by the inspection unit. As the photographed image J1 of the sachet, the image photographed by the photographing device 18, that is, the image used as the basis for the inspection by the inspection section is initially displayed. After that, the sachet determined as NG is corrected so that the medicine as prescribed is contained in the sachet, and the corrected sachet is photographed again by the additional photographing device 19 . In this case, the image of the sachet after correction, which is re-photographed by the additional photographing device 19, is displayed as the photographed image J1. The date and time of the re-photographing are displayed together with the re-photographed image of the sachet. The shooting date and time are displayed at a position that does not interfere with the display of the image of the sachet. In the example of FIG. 13, when the photographed image J1 is enlarged and displayed, the date and time of photographing are displayed together with the enlarged photographed image J1 on the enlarged screen G2. In this way, by displaying the image re-photographed by the additional photographing device 19 together with the prescription information, the inspection result, and the photographing date and time, it is indicated that the sachet judged as NG by the inspection department has been corrected. .

As in the example of FIG. 13, by displaying the shooting date and time when the sachet is enlarged, it is possible to display the shooting date and time in a manner that does not interfere with the display of the image of the sachet. The image of the sachet is enlarged and displayed, for example, when an instruction is input by the operator.

FIG. 14 is a diagram showing an example of a screen for retrieving a sachet that satisfies a specified condition among the sachet groups inspected by the inspection unit. In the screen G3 of FIG. 14, designation of the verification result H7, that is, the inspection result is accepted as search conditions in addition to the prescription information such as the period H4, the patient H5, the medicine H6, and the like. Items for which conditions can be specified as inspection results include re-photographed packages. This shows the sachet re-photographed by the additional photographing device 19 . As a result, the re-photographed sachet can be retrieved from the sachet group P inspected by the inspection unit. On the screen G3, a search button B4 for instructing execution of search processing, buttons B5 and B6 for controlling the display of search results, and another button B7 are selectably displayed. The search results are displayed as a list in the display column of screen G3, for example.

For example, a sachet that has been corrected and re-photographed (evidence photography) due to an NG inspection result is then sent to the final inspector. If it is determined as NG even at the final inspection stage, it may be necessary to search for re-photographed images of the sachet. By making it possible to specify the item of the re-photographed package as a search condition, the operator can quickly access the re-photographed image of the sachet.

In the example of FIG. 12 , the additional photographing device 19 is provided in a housing that accommodates the transport device 2 and the photographing device 18 . As a modification, an additional imaging device 19 may be set at a location away from this housing. For example, an inspection image captured by the imaging device 19 may be displayed at a location away from the housing housing the transport device 2 and the imaging device 18, and an inspection such as a final inspection (remote inspection) may be performed.
When conducting such a remote inspection, an additional photographing device 19 and an additional photographing stand 191 can be set at the place where the remote inspection is conducted. This enables evidence photography in remote inspection. For example, the remote inspection terminal may be provided with the additional imaging device 19 and the additional imaging stand 191 . The remote inspection terminal may be capable of displaying inspection results based on the image of the group of sachets P captured by the imaging device 18, for example.

FIG. 15 is a diagram showing an operation example of the inspection device in which the photographing device 19 re-photographs a part of the inspected sachets P of the sachet group. The inspection device 1 shown in FIGS. 15(a) to 15(d) includes a conveying device 2, an imaging device 18, and a control device 10. FIG. The conveying device 2, the photographing device 18, and the control device 10 may be configured in the same manner as the inspection device 1 shown in FIG. The control device 10 further has a re-imaging unit 15 . The re-photographing unit 15 receives from the operator a specification of a sachet to be re-photographed, out of the sachet group P inspected by the inspection unit. The re-imaging unit 15 controls the conveying device 2 and the photographing device 19 to convey the group of sachets P, and photographs the specified sachet of the group of sachets P. FIG.

In FIG. 15( a ), the inspection device 1 conveys the group of sachets P by the conveying device 2 and photographs each sachet by the photographing device 18 . The inspection unit executes inspection processing based on the image of each sachet photographed by the photographing device 18 . Assume that, as a result of the inspection process, for example, one sachet p1 is determined to be NG (does not conform to prescription). In this case, the pharmacist corrects the sachet p1. Here, it becomes necessary to take an image that serves as evidence that the sachet p1 has been corrected. Therefore, the pharmacist, as an operator, designates and inputs the corrected sachet p1 to the inspection device 1, and inserts the sachet group P again into the inspection device 1 as shown in FIG. 15(b). , is transported by the transport device 2 .

The re-imaging unit of the inspection device 1 controls the conveying device 2 to convey the group of sachets P so that the specified sachet p1 is arranged within the photographing range of the photographing device 18 . The photographing device 18 photographs the sachet p1 (FIG. 15(c)). As a result, the sachet p1 is photographed again, and an evidence image showing that the sachet p1 has been corrected is obtained. When the sachet p1 is photographed, the sachet group P is discharged by the conveying device 2 (FIG. 15(d)).

In the re-photographing operation by the inspection device 1, the conveying device 2 conveys the group of sachets P one by one. The photographing device 18 skips without photographing when a packaging bag other than the specified packaging bag p1 is within the photographing range, and photographs when the designated packaging bag p1 comes within the photographing range. The inspection unit executes inspection processing based on the captured image. When transporting one package at a time, the inspection device 1 detects, for example, the boundaries (for example, perforations) between the sachets in the sachet group P, and sachets are packaged one by one so that they are arranged in the photographing range. The bag group P may be conveyed. 15, the inspection device 1 may include the motion detection sensor 5, the slip determination section 12, and the slip time control section 13, as in FIG. As a result, it is possible to detect a slip even when transporting the group of sachets P for re-imaging.

The re-imaging unit can re-image only the modified sachet group. Therefore, for example, it is not necessary to re-photograph all of the sachet group P including the corrected sachet p1 with the imaging device 18 in order to obtain an evidence image. In addition, it is not necessary to additionally provide an imaging device for re-imaging. Further, by using the re-photographed image of the sachet p1, it is possible to leave the re-inspection result by the inspection department together with the evidence image.

In the above embodiment, the configuration of the inspection device 1 is not limited to the examples shown in FIGS. For example, in the inspection device 1, at least one of the nip roller, the lighting device, the supply detection section, the discharge detection section, the leveling mechanism, and the first and second regulating members may be omitted. As an example, the conveying device is configured to transport the group of sachets P on the conveying path, such as a belt conveyor or a roller conveyor, and a photographing device for photographing the group of sachets P from above as a moving image is arranged. good too. The control device can position and transport the group of packets P by controlling the conveying device based on the position and movement of the group of packets P detected from the moving image captured by the imaging device. When a slip is detected, information about the slip may be output, or the speed of conveyance may be controlled.

The above-described embodiment is an example of the present invention, and the present invention is not limited to this example. Also, the configurations and processing functions described in the above embodiments can be selected and combined arbitrarily.

1: Inspection device, 2: Conveying device, 10: Control device, 11: Inspection unit, 12: Slip determination unit, 13: Slip time control unit, 14: Output unit, 18: Photographing device, P: Package bag group

Claims (11)

a conveying device for conveying a group of sachets, which are a plurality of sachets containing a drug;
a photographing device for photographing the group of sachets conveyed by the conveying device;
an inspection unit that inspects whether or not the medicine contained in each of the group of sachets is packaged according to the prescription, using the image of the group of sachets captured by the imaging device;
a motion detection sensor that detects motion of the surface of the group of sachets transported by the transport device;
A slip for determining whether or not the group of sachets slips with respect to the conveying device based on the movement of the surface of the group of sachets detected by the movement detection sensor during the conveying operation of the conveying device. a judgment unit;
An inspection device for packaged medicine, comprising: an output section for outputting a determination result of the slip determination section. The inspection device for the packaged medicine according to claim 1,
The movement detection sensor detects movement of the surface of the sealing portion of the group of sachets in the inspection device for sachets. 3. The inspecting device for the packaged medicine according to claim 1 or 2,
The conveying device is configured to convey the group of sachets arranged in a row in the first direction in the first direction,
The inspection device for packaged medicine, wherein the movement detection sensor detects a movement of a sealing portion extending in the first direction in the group of packets. 3. The inspecting device for the packaged medicine according to claim 1 or 2,
The inspection device for a packaged drug, wherein the movement detection sensor is an optical sensor that irradiates the group of sachets with light and detects light transmitted through or reflected by the group of sachets. 3. The inspecting device for the packaged medicine according to claim 1 or 2,
The slip determination unit determines whether or not the group of sachets is slipping with respect to the conveying device each time the conveying device conveys the group of sachets by one of the sachets. An inspection device for packaged drugs that judges. 3. The inspecting device for the packaged medicine according to claim 1 or 2,
The slip determination unit determines whether the group of sachets slips with respect to the conveying device based on the amount of movement of the surface of the group of sachets detected by the movement detection sensor with respect to the amount conveyed by the conveying device. Inspection device for packaged medicine that determines whether or not 3. The inspecting device for the packaged medicine according to claim 1 or 2,
A packaged medicine inspection device, wherein the detection position of the motion detection sensor is provided at least one of the upstream side and the downstream side of the photographing position of the photographing device in the conveying direction of the conveying device. 3. The inspecting device for the packaged medicine according to claim 1 or 2,
A packaged medicine inspection device, further comprising a slip time control section that controls the conveying device, the photographing device, and the inspection section based on the determination result of the slip determination section. 3. The inspecting device for the packaged medicine according to claim 1 or 2,
An inspection device for a packaged drug, wherein the group of sachets discharged from a sachet-packaging machine is taken in and held in a stack, and the group of sachets is pulled out and conveyed by the conveying device. A process of causing a conveying device to convey a group of a plurality of sachets containing a drug;
a process of causing a photographing device to photograph the group of sachets conveyed by the conveying device;
a process of inspecting whether or not the drug contained in each of the group of sachets is packaged according to the prescription, using the image of the group of sachets captured by the imaging device;
a process of acquiring a detection result from a motion detection sensor that detects the movement of the surface of the group of sachets transported by the transport device;
A process of determining whether or not the group of sachets is slipping with respect to the conveying device based on the movement of the surface of the group of sachets detected by the movement detection sensor during the conveying operation of the conveying device. and,
A control program for an inspection device for packaged drugs, which causes a computer to execute a process of outputting the determination result. a step of transporting a plurality of sachet groups each containing a medicine by a transporting device;
a step in which a photographing device photographs the group of sachets conveyed by the conveying device;
a step of inspecting by a computer whether or not the drug contained in each of the group of sachets is packaged according to the prescription, using the image of the group of sachets captured by the photographing device; ,
a step in which a motion detection sensor detects motion of the surface of the group of sachets transported by the transport device;
A computer determines whether or not the group of sachets is slipping with respect to the conveying device based on the movement of the surface of the group of sachets detected by the movement detection sensor during the conveying operation of the conveying device. the process of judging;
A method for inspecting a packaged medicine, comprising a step of outputting a result of the determination by a computer.

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