JP3673273B1 - Drug picking system - Google Patents

Abstract

[Objective] To provide a drug picking system capable of reliably and easily picking a complete sheet that has not yet been cut and a remaining remaining sheet that has been cut.
[Structure] Adsorption that adsorbs the flat bottom surface of the uppermost complete sheet among the complete sheets stacked in the complete sheet storage unit, and a medicine shelf that includes a large number of complete sheet storage units and remaining sheet storage units A head, a chuck unit that grips an end of one remaining sheet or complete sheet stored in the remaining sheet storage unit, and a cutting unit that separates a fractional sheet containing one or more tablets from the remaining sheet or complete sheet And a sheet receiving portion disposed below the suction head and the chuck unit, and a moving mechanism for moving the suction head and the chuck unit together in the X and / or Y directions.
[Selection] Figure 3

Description

  The present invention relates to an automatic drug picking system capable of picking a required number of required drugs based on patient prescription data in a dispensing pharmacy.

Conventionally, a drug picking device in a dispensing pharmacy has been proposed (see, for example, Patent Document 1). The dispensing device proposed in Patent Document 1 is a PTP tablet sheet (aluminum sheet on the bottom surface by pressing the tablet side) in which tablets (including capsules) are sealed (heat sealed) in a single sheet, for example, in units of 10 The main purpose is picking packaging sheets that break the portion and take out tablets. That is, the dispensing device proposed in Patent Document 1 uses a head 400 formed by stacking a large number of PTP tablet sheets in each tablet case 200 and forming the tablet sheets in each tablet case 200 with chucking claws. Then, for the fraction, the fraction is cut from the sheet by using the blade device 500.
Japanese Patent No. 3083165

However, the dispensing apparatus of Patent Document 1 has the following problems 1-3.
1. First, in Patent Document 1, as described above, a large number of tablet sheets stacked in each tablet case are gripped by a chucking nail body. It is actually extremely difficult to hold the handle with the position due to the problem of position accuracy.

  2. Further, in the dispensing device of Patent Document 1, the necessary fractional portion is used by cutting the fractional portion from the tablet sheet by the blade device 500, but the remaining remaining sheet is dropped onto the shooter 535. (See the second to fifth lines of paragraph 0065 of Patent Document 1). On the other hand, when the paragraphs 0038, 0039, and 0040 of Patent Document 1 are viewed, “the remaining sheet is stored in the remaining number storage portion 203, and the pusher 435 of the head 400 presses the take-out member 205 so that the take-out portion 206 is By retreating into the recess 233, the remaining sheet located at the lowermost stage of the remaining number storage unit 203 falls by its own weight. "

  However, in Patent Document 1, regardless of the above-mentioned description, “the remaining sheet is stored in the remaining number storage unit 203...” As far as the present applicant sees, “the remaining remaining part cut by the blade device” A mechanism for automatically storing sheets in the remaining number storage unit 203 is not shown. That is, in the first to third lines of paragraph 0019 of Patent Document 1, it is described that “the remaining part of the PTP tablet sheet whose fraction has been cut off is returned to the remaining number storage part provided at the bottom of the tablet case 200”. On the other hand, in line 4-7 of paragraph 0081 of Patent Document 1, “the remaining number storage portion 203 of the tablet case 200 stores the fraction of the tablet sheet. Further, the tablet sheet is taken out to the outside. The member 205 can take out the lowermost tablet sheet and the preparation is completed. "

  That is, in Patent Document 1, as described above, (a) “the remaining cut sheet is dropped onto the shooter 535 (see the second to fifth lines in paragraph 0065 of Patent Document 1)”. (B) “The remaining portion of the PTP tablet sheet with the fraction cut off is returned to the remaining number storage portion provided at the bottom of the tablet case 200” (line 1-3 of paragraph 0019 of Patent Document 1). Therefore, the “mechanism for linking the above (a) and (b)” is not disclosed as far as the present applicant sees. Considering from the above description, “the taking-out member 205 for taking out the tablet sheet to the outside allows the lowermost tablet sheet to be taken out and the preparation is completed” (line 4-7 of paragraph 0081 of Patent Document 1). And the apparatus of patent document 1 has high possibility that the staff of a dispensing pharmacy is planning to return a remaining sheet to a remaining number storage part manually. At least, in the invention of Patent Document 1, the remaining remaining sheet obtained by cutting only a necessary amount from the tablet sheet cannot be automatically returned to the remaining number storage unit 203. As described above, the dispensing device disclosed in Patent Document 1 does not disclose a “mechanism for automatically returning the remaining remaining sheet obtained by cutting only a necessary amount from the tablet sheet to a predetermined storage portion” (probably, Patent Document In the first apparatus, the remaining sheet is expected to be manually returned by the dispensing pharmacy staff to the remaining number storage unit).

  3. Furthermore, even if the above two points are put, in Patent Document 1, a large number of remaining sheets are stored in the remaining number storage section 203 (line 4-7 in paragraph 0081 of Patent Document 1). The “remaining number storage portion 203 of the tablet case 200 stores a fraction of the tablet sheet. The takeout member 205 for taking out the tablet sheet to the outside allows the lowermost tablet sheet to be taken out. In the method of storing a large number of remaining sheets in one storage section, only the end of one of the remaining sheets is a chucking device (claw body). Etc.) should be extremely difficult due to problems of position accuracy.

  The present invention has been made paying attention to such problems of the prior art, and it is possible to reliably and easily pick a complete sheet that has not been partially cut, and the remaining portion cut as much as necessary. It is an object of the present invention to provide a medicine picking system that can automatically return the remaining sheet to a predetermined storage section and that can reliably and easily pick the remaining sheet stored in the predetermined storage section. And Another object of the present invention is to provide a drug picking system that can simplify the configuration of the entire apparatus and reduce the cost.

  As described above, the drug picking system according to the present invention for solving the problem is a complete tablet sheet in which a predetermined number of the same kind of tablets (including capsules) are enclosed so as to be separable from each other. A plurality of sheets, a complete sheet storage part for storing a plurality of sheets in a state of being stacked on each other with the bottom surface formed in a flat shape on top, and a tablet of the same kind ( Among the tablet sheets in which a predetermined number of capsules (including capsules) are enclosed in a separable manner, the remaining sheet after the fractional sheet containing one or more tablets is cut off or only one of the complete sheets, The remaining sheet storage portion for storing, the complete sheet storage portion and the remaining sheet storage portion arranged close to each other in the X and Y directions (up and down, left and right directions) A medicine shelf that is arranged and arranged so as to face each of the complete sheet storage units, and adsorbs the flat bottom surface of the uppermost complete sheet among the complete sheets stacked on each other using a reduced pressure state. And a chuck unit for gripping an end portion of one remaining sheet or a complete sheet accommodated in the remaining sheet storage unit, the chuck unit being disposed so as to be opposed to the remaining sheet storage unit, and the chuck unit A cutting part for separating a fraction sheet including one or more tablets from the remaining sheet or the complete sheet whose end is gripped by the step, and a lower part of the suction head and the chuck unit, and (a) the suction (B) the remaining sheet gripped by the chuck unit, and / or (c) the chuck unit. Move the suction head and chuck unit together in the X and / or Y direction (up / down / left / right direction) to receive the fraction sheet separated by the cutting unit from the remaining sheet or the complete sheet gripped by the cutting unit And a moving mechanism for facing the complete sheet storage portion and the remaining sheet storage portion, respectively.

  In the medicine picking system according to the present invention, the moving mechanism moves the sheet receiving portion in the X and / or Y direction (up / down / left / right direction) together with the suction head and the chuck unit. It is desirable.

  In the medicine picking system according to the present invention, the remaining sheet storage portion stores only one remaining sheet when there is a remaining remaining sheet after a fractional sheet including one or more tablets is cut off. When the remaining sheet does not exist, it is desirable that only one complete sheet from the complete sheet storage unit is stored.

  In the medicine picking system according to the present invention, the cutting unit includes a blade, a receiving unit on which a remaining sheet or a complete sheet chucked by the chuck unit is mounted, and the remaining unit mounted on the receiving unit. It is desirable that a drive unit for lowering the blade from above the sheet or the complete sheet is provided, and the receiving unit is formed with a groove part into which the tip of the blade can be inserted.

  Further, in the medicine picking system according to the present invention, based on the prescription data input means for inputting the prescription data of the patient and the prescription data input by the prescription data input means, the moving mechanism, the suction head, the chuck A control unit for controlling the unit and the cutting unit, and when the control unit picks a kind of tablet based on the prescription data, the number of tablets to be picked is the complete sheet. (1) out of the number of tablets to be picked, the number of complete sheets satisfying an integral multiple of the number of tablets of the complete sheet excluding the fraction is included. And (2) the number of tablets to be picked while being sucked from the complete sheet storage portion by the suction head The fraction sheet corresponding to the fraction is separated from the remaining sheet taken out from the remaining sheet storage unit and gripped by the chuck unit by the cutting unit, and (3) the remaining sheet after the fraction sheet is separated It is desirable to control the moving mechanism, the suction head, the chuck unit, and the cutting unit so that the remaining sheet is returned to the remaining sheet storage unit.

  Further, in the medicine picking system according to the present invention, when the number of tablets included in the remaining sheet stored in the remaining sheet is less than the fraction that needs to be picked based on the prescription data The remaining sheet stored in the remaining sheet is moved as it is to the sheet receiving section without cutting, and one complete sheet from the complete sheet storing section is stored in the remaining sheet by the suction head and the moving mechanism. It is desirable that the complete sheet stored in the remaining sheet storage unit is chucked by the chuck unit and then cut by the fraction by the cutting unit.

  In the medicine picking system according to the present invention, the complete sheet storage section records the number of medicines stored in the complete sheet storage section and the remaining sheet storage section in a rewritable manner, and externally transfers data without contact. A non-contact tag that can be transmitted to and received from the control unit, and based on prescription data from the control unit, the suction head records the non-contact tag recorded content of the medicine to be picked for the prescription. It is desirable that a tag writer for rewriting to the number obtained by subtracting the number is provided.

  In the system of the present invention, a knowledge-distributed robot control system using an IC tag, that is, “robot and object processing method” (filed on Sep. 18, 2003, Japanese Patent Application No. 2003-325768, incorporated administrative agency industry) Use the inventions of the National Institute of Advanced Industrial Science and Technology and “Object Processing System, Object Processing Method and Robot” (filed on September 18, 2003, Japanese Patent Application No. 2003-326470, National Institute of Advanced Industrial Science and Technology) Is desirable. That is, in the present invention, it is desirable to apply the inventions of the Japanese Patent Application Nos. 2003-325768 and 2003-326470 to a system design and algorithm for automatic drug picking.

  That is, in the medicine picking system according to the present invention, the suction head, the chuck unit, and / or the movement mechanism are configured to perform the object recognition based on the object recognition information necessary for image recognition of the object stored in the information server. A robot that identifies an object, and that captures an image of the surroundings and reading information for reading the object recognition information from the information server in a non-contact manner from a non-contact tag attached to the object The tag reader to be read, the communication means for reading the object recognition information from the information server based on the reading information read by the tag reader, the object recognition information read by the communication means, and the imaging means This is constituted by a robot having object specifying means for specifying the object using captured image information. It is desirable

  Furthermore, in the drug picking system according to the present invention, the robot includes a tag writer that writes information to the tag, and an object information writing unit that writes information on an object specified by the object specifying unit to the tag by the tag writer, The tag reader preferably reads information on the object written on the tag by the object information writing means.

  According to the present invention, counting dispensing mistakes at a dispensing pharmacy can be prevented, and counting dispensing can be performed even by a person other than the pharmacist, and counting dispensing can be performed without mistake by a person other than the pharmacist. Therefore, by using the system of the present invention, the pharmacist only needs to make a final visual inspection for the counting dispensing, and at an insurance pharmacy or the like, he / she is more devoted to patient compliance instruction and medical history management. become able to.

  Further, in the present invention, for a complete sheet that has not been partially cut yet, a plurality of these sheets are stored in a complete sheet storage portion in a state where the flat bottom surface is on the upper side, When picking, the uppermost flat bottom surface is picked up by a suction head and taken out. Therefore, according to the present invention, even when a plurality of complete sheets are stacked in the complete sheet storage unit, the top flat bottom surface of the stacked complete sheets is sucked by the suction head. Therefore, the picking of one complete sheet is more than in the case of chucking one of a plurality of sheets existing in one case (storage part) as in the prior art (see Patent Document 1). It will be possible to reliably and easily.

  In the present invention, when cutting a complete sheet, the complete sheet is always moved once from the complete sheet storage unit to the remaining sheet storage unit, and then the complete sheet is chucked by the chuck unit. I try to cut it. Therefore, according to the present invention, the remaining remaining sheet cut by a necessary fraction from the complete sheet is moved to a position facing the remaining sheet storage portion by the moving mechanism while being chucked by the chuck unit. Since it can be stored in the remaining sheet storage portion, when the necessary amount is cut, the remaining remaining sheet can be automatically returned to the predetermined storage portion.

  Further, in the present invention, for the remaining remaining sheet cut from the complete sheet by a necessary fraction, only one of the remaining sheets is stored in the remaining sheet storage unit, and then the fraction is picked. The remaining sheet stored in the remaining sheet storage section is chucked and then cut out. Therefore, according to the present invention, the chuck unit only chucks the remaining sheet that exists only in the remaining sheet storage part, and therefore, in the case (storage part) as in the prior art (see Patent Document 1). As compared with the case where only one of the multiple sheets existing in the sheet is chucked, the remaining sheet can be picked more reliably and easily.

  In the present invention, the suction head and the chuck unit (further, the sheet receiving unit) that can face the complete sheet storage unit and the remaining sheet storage unit, respectively, are moved in the X and Y directions integrally by the moving mechanism. Therefore, the configuration of the entire picking system can be simplified and the cost can be reduced.

  In particular, in the present invention, the picking of the complete sheet is performed by sucking from the complete sheet storage unit by a suction head, and the picking of the remaining sheet is performed by chucking from the remaining sheet storage unit by a chuck unit. I am doing so. In the present invention, when all of the remaining sheets are picked as a part of the fraction sheet (when the remaining sheet is not enough as a fraction), one complete sheet is once removed from the complete sheet storage unit. The remaining sheet storage unit is moved to the remaining sheet storage unit by the suction head, and then the complete sheet moved by the remaining sheet storage unit is chucked by the chuck unit, and further necessary fractional sheets are cut out. That is, according to the present invention, (a) when picking a complete sheet, the suction head is always used from the complete sheet storage portion, and (b) when picking the remaining sheet, the chuck is always taken from the remaining sheet storage portion. (C) Completely moved and stored in the remaining sheet storage when the picked remaining sheet is not sufficient for the required fraction. When picking a sheet (complete sheet that needs to be cut), the chuck is always chucked by the chuck unit from the remaining sheet storage portion. Therefore, according to the present invention, (a) picking of a complete sheet (complete sheet that does not need to be cut) stored in the complete sheet storage unit, (b) picking of the remaining sheet, and (c) remaining sheet storage unit Since the picking of the complete sheet (complete sheet that needs to be cut) stored in the container is divided into either the suction head or the chuck unit, the entire system configuration is simplified and the cost is reduced. Will be able to.

  Further, in the present invention, the information on the specific object (for example, the position information of the object) is read out from the tag in which the information on the specified object is written (object recognition information). When using a robot that can identify an object (and using a robot that can easily recognize (identify) an object in a work environment from a captured image) The complete sheet and the remaining sheet can be reliably picked.

  In the best mode for carrying out the present invention, when picking up a complete sheet of a predetermined number of the same kind of tablets (including capsules) encapsulated in a separable manner and not partially separated yet In the complete sheet storage portion, the uppermost one in a state of being stacked on each other with the bottom surface on which the plurality of sheets are formed flat is picked up by the suction head. Further, when picking a fraction exceeding an integral multiple of the complete sheet, one sheet (remaining sheet or complete sheet) is picked up from the remaining sheet storage part storing only one sheet (remaining sheet or complete sheet) by the chuck unit. When it is necessary to grip and pick and further cut it, it is cut by the cutting unit while being chucked by the chuck unit. More specifically, the following Example 1 is described.

  FIG. 1 is a schematic flowchart showing the flow of a dispensing process using the drug picking system according to the first embodiment of the present invention, and FIG. 2 is a flowchart showing the flow of the process of FIG. 1 in more detail. As shown in FIGS. 1 and 2, in the first embodiment, a two-dimensional bar code indicating prescription data is printed in advance on a prescription issued from a medical institution. The prescription data is automatically input by reading the two-dimensional barcode printed on the prescription at the dispensing pharmacy. In the first embodiment, a controller described later controls a picking mechanism described later based on the prescription data input in this way.

  As shown in FIGS. 1 and 2, in the first embodiment, after the drug picking is completed, the prescription data that is the basis of the picking operation is compared with the prescription data input to the receipt computer. Thus, the content of the prescription by the picking is checked. This blending check compares a picked tablet with a prescription, and further provides guidance to the patient based on past interaction data and patient information. At this time, if there is any change / deletion / addition of the tablet, it is determined by this system. In addition, the blending check is performed when there is handwritten data that is not included in the two-dimensional barcode of the prescription (this is because the handwritten data in this case is not included in the two-dimensional barcode. Although it is not included in the basic data but is included in the prescription data of the receipt computer), it also has an effect of preventing the blending not reflecting the handwritten data.

  The inventory quantity check system / inspection system shown in FIGS. 1 and 2 will be briefly described here. The number of tablets remaining in the medicine shelf is displayed on a PC (personal computer). When the value falls below the specified value, a message to that effect is displayed on the PC, and at the same time, an order form for tablets having the specified value or less is created. Further, when the medicine is delivered, an IC tag (described later) affixed to the ceiling of the tablet case is compared with the delivered tablet, and if there is a flaw, it is displayed on the PC.

  Next, the configuration of the medicine picking system according to the first embodiment will be described. FIG. 3 is a block diagram conceptually showing the overall configuration of the first embodiment.

  In FIG. 3, reference numeral 11 denotes a complete sheet storage unit for storing, for example, a PTP tablet sheet (complete sheet that has not been partially separated) in which 10 tablets are sealed and sealed (heat sealed). It is the remaining sheet storage part for storing the remaining remaining sheet | seat which cut | disconnected a part (fraction) from the PTP tablet sheet which isolate | separated and enclosed each tablet.

  In the first embodiment, each complete sheet storage portion 11 is configured by each box of a medicine shelf formed by arranging a large number of boxes in the vertical and horizontal directions (XY direction). Each complete sheet storage unit 11 is assigned to each type of medicine. Further, in each complete sheet storage unit 11, a plurality of complete sheets enclosing one kind of medicine are stacked and stored so that the respective flat bottom surfaces (back surfaces) are on the upper side. ing. Moreover, in the present Example 1, as for the said chemical | medical agent shelf, each box is comprised from the box of 5 stages 60 rows | rows total 300 pieces.

  Further, the remaining sheet storage portion 12 is configured by a lower region (region partitioned by a partition that can be distinguished from the region of the complete sheet storage portion 11) in the box for configuring the complete sheet storage portion 11. Has been. The remaining sheet storage unit 12 includes one remaining sheet in which the same type of medicine as the complete sheet stored in the complete sheet storage unit 11 is sealed (if there is no remaining sheet, there is one complete sheet). , Stored.

  In FIG. 3, reference numeral 13 denotes a bottom surface (back surface) of the uppermost complete sheet of the plurality of complete sheets stacked in the complete sheet storage portion 11 based on a command from the controller 10. This is a suction head for suction using a reduced pressure state by a vacuum pump or the like. Since the bottom surface of the complete sheet is formed flat, the suction head 13 can easily and reliably suck the bottom surface of the complete sheet.

  In FIG. 3, reference numeral 14 denotes a chuck unit including a total of four claw bodies including two upper claw bodies and two lower claw bodies based on a command from the controller 10. The chuck unit 14 chucks the end portion of the remaining sheet (or one complete sheet) stored in the remaining sheet storage section 12 by the four claws.

  In FIG. 3, 15 is a fraction required for each patient from one remaining sheet (or one complete sheet) chucked by the chuck unit 14 based on a command from the controller 10. It is a cutting part for cutting off. The cutting unit 15 includes one blade and a cradle for placing the remaining sheet (or one complete sheet) chucked by the chuck unit 14 and receiving the blade. ing.

  In FIG. 3, reference numeral 16 denotes a tray on which the medicine picked for each patient is placed. The tray 16 receives (a) a complete sheet that falls when the suction head 13 releases the suction of the complete sheet, and (b) falls when the chuck unit 14 releases the chuck of the remaining sheet. Receiving the remaining sheet, and / or (c) receiving the cutting unit 15 when the cutting unit 15 cuts off only a necessary fraction from the remaining sheet (or complete sheet) that the chuck unit 14 is chucked. By receiving a fractional sheet that slides down from the section through a shooter described later, the medicine necessary for the patient is received and held (see arrows a, b, and c in FIG. 3).

  In FIG. 3, reference numeral 17 designates the suction head 13, the chuck unit 14, and the tray 16 as a whole in the X and Y directions (a direction parallel to the surface facing the medicine shelf) based on a command from the controller 10. XY carriage for driving.

  In the medicine shelf of the first embodiment, as described above, the complete sheet storage units 11 and the remaining sheet storage units 12 that store the same type of drug sheets are arranged adjacent to each other in the vertical direction. . Further, the positional relationship between the suction head 13 and the chuck unit 14 is fixed so as to be opposed to the complete sheet storage unit 11 and the remaining sheet storage unit 12 adjacent to each other in the vertical direction.

  The XY carriage 7 is configured so that the suction head 13 and the chuck unit 14 are stored in the complete sheet storage portion 11 and the remaining sheet storage portion in which a kind of medicine necessary for each patient is stored based on a command from the controller 10. 12 is moved to a position facing 12 respectively. After that, the suction head 13 and the chuck unit 14 are moved in the Z direction (direction approaching the complete sheet storage unit 11 and the remaining sheet storage unit 12) by a driving unit (Z carriage, not shown) provided respectively. Move and perform suction and chucking operations (see arrows d and e in FIG. 3).

  Further, as will be described in detail later, at a position above the complete sheet storage unit 11, the number of complete sheets stored in the complete sheet storage unit 11 (the total number of tablets included in the plurality of complete sheets) and An IC tag having a built-in semiconductor memory for storing rewritable information (one of inventory information) of the number of tablets of the remaining sheet stored in the remaining sheet storage unit 12 is provided. . Further, the suction head 13 is provided with a reader / writer capable of reading and writing the recorded content of the IC tag in a non-contact manner. The reader / writer provided in the suction head 13 reads / writes information recorded on the IC tag every time it approaches the complete sheet storage unit 11.

  Next, FIG. 4 shows the mutual arrangement relationship of the medicine shelf, the suction head 13, the XY carriage 17 (moving mechanism composed of a lifting shaft, etc.), the tray 16, the cutting unit 15 and the like in the first embodiment. (A) is the figure seen from the front diagonal direction, (b) is the figure seen from the back diagonal direction, (c) has shown the figure seen from the upper surface. In FIG. 4, when the medicine bag issuing machine issues a medicine bag, the tray moves at the same time to receive the medicine bag. A medicine bag is issued for each patient, and patient information is printed.

  In FIG. 4, a plurality of predetermined complete sheets are stored in a predetermined box (complete sheet storage portion 11) of the medicine shelf. Information such as the type of complete sheets and the number of stored sheets regarding each box (complete sheet storage unit 11) is stored in the control terminal device together with prescription data. This information is used as a master and stored in a hard disk and an IC tag (installed on the ceiling of each box). On the bottom side (remaining sheet storage portion 12) inside each box, a remaining portion (remaining sheet) obtained by cutting a necessary fraction from the tablet sheet is stored. After the above preparation, when dispensing is started based on the prescription, the apparatus is initialized, and an XY carriage 17 (conveyor) comprising an X carriage provided on the medicine shelf and a Y carriage provided on the X carriage. Can be driven.

  Next, in order to take out a predetermined number of predetermined tablet sheets from the tablet case based on the prescription data, the suction head 13 is moved in front of the predetermined complete sheet storage unit 11 by the movement of the XY carriage 7 in accordance with an input from the control terminal device. Moved to. Thereafter, a compressor (vacuum pump) mounted on the suction head 13 acts to suck a predetermined number of tablets.

  Subsequently, when a fraction is necessary for the medicine to be prescribed, the chuck unit 14 is brought close to the remaining sheet storage portion 12 by the Z carriage, and the total number of the nail bodies has the end portion (ear portion) of the remaining sheet. Thereafter, the Z carriage moves backward (in a direction away from the remaining sheet storage portion 12), and the chuck unit 14 moves to the location of the cutting portion 15. Thereafter, the head portion at the tip of the chuck unit 14 is rotated 180 degrees so that the flat bottom surface (rear surface) of the remaining sheet comes down, and the cutting unit 15 cuts only the necessary fraction from the remaining sheet to the tray 16. Be dropped. Thereafter, the remaining remaining sheets separated by the required number are moved in front of the remaining sheet storage unit 12 by the movement of the XY carriage 17 and the Z carriage while being held by the chuck unit 14 according to a command from the controller. The remaining sheet storage unit 12 is automatically returned.

  Next, the structure of the medicine shelf in the first embodiment will be described. 5, 6, and 7 are diagrams illustrating a configuration of a medicine shelf in the first embodiment. As shown in FIGS. 5, 6, and 7, the entire tablet picking system of the first embodiment is approximately the same size as the drug shelf and is configured to be placed at the place of the drug shelf. Each box included in the medicine shelf (the complete sheet storage portion 11 and the remaining sheet storage portion 12 are formed in each box) is a total of 300, and can be added. Many complete sheets are stacked and stored in the vertical direction. Each box includes a complete sheet storage portion 11 and a remaining sheet storage portion 12, and an IC tag is attached to the ceiling portion of each box. Further, the bottom surface of each box is inclined so that the suction head 3 can be reliably suctioned.

  Next, the configuration of the suction head 13 in the first embodiment will be described. FIG. 8A is a diagram illustrating the complete sheet storage unit 11, the remaining sheet storage unit 12, the suction head 13, and the like according to the first embodiment. As shown in FIG. 8A, a plurality of complete sheets 11 a are stacked in the complete sheet storage portion 11, and the bottom surface of the uppermost complete sheet 11 a among them is adsorbed by the adsorption head 13. A sponge is affixed to a portion of the suction head 13 in contact with the complete sheet 11a so as not to damage the bottom surface of the complete sheet 11a. FIG. 8A shows an operation when the full sheet 11a in the complete sheet storage unit 11 is moved into the remaining sheet storage unit 12 by the suction head 13 when there is no remaining sheet in the remaining sheet storage unit 12. (In FIG. 8A, two suction heads 13 are drawn to convey the image at this time, but there is actually only one suction head 13). Although not shown, the IC tag is installed on the ceiling portion of the complete sheet storage portion 11, and the suction head 13 is provided with an IC tag reader / writer. FIG. 8B is a diagram illustrating an operation when the claw body at the tip of the chuck unit 14 in the first embodiment chucks the remaining sheet 12 a in the remaining sheet storage unit 12.

  Next, operations of the suction head 13 and the chuck unit 14 in the first embodiment will be described. A chuck unit 14 that is moved in the XY direction by an XY carriage 17 is provided in a space facing the medicine shelf. The suction head 13 sucks and picks up the complete sheet 11a with a suction machine (vacuum pump) so as not to damage the complete sheet 11a. After the suction head 13 and the chuck unit 14 come in front of the complete sheet storage portion 11 and the remaining sheet storage portion 12, they move in the Z-axis direction and take out the complete sheet 11a and the remaining sheet 12a, respectively. Since the tray 16 exists below the suction head 13, when the suction of the suction head 13 is released, the complete sheet 11 a falls and is received by the tray 16. Further, when the entire remaining sheet 2a chucked by the chuck unit 14 is necessary (when it is not necessary to cut), the tray 16 is present below the chuck unit 14, so the chuck unit 14 When the chuck is released, the remaining sheet 12 a falls and is received by the tray 16. The tablet sheet (complete sheet) is provided with 10 tablet parts, and a horizontal perforation part and an ear part are formed. When the chuck unit 14 chucks the remaining sheet 12a, the ears are gripped by a total of four claws.

  Next, the configuration of an XY carriage for carrying the suction head 13, the chuck unit 14 and the tray 16 in the X and Y directions in the first embodiment will be described. 9, FIG. 10 and FIG. 11 are diagrams showing the configuration of the XY carriage. The suction head 13, the chuck unit 14, and the tray 16 are integrally moved in the X and Y directions by an XY carriage 17 as shown in these drawings.

  Next, the structure of the cutting part 15 in the present Example 1 is demonstrated based on FIGS. 12-17. As shown in FIG. 12-17, the cutting portion 15 includes a blade 21 and a receiving portion 22. As shown in FIG. 12 and the like, the flat surface of the receiving portion 22 is formed in a rectangular shape whose longitudinal direction is a direction orthogonal to the longitudinal direction of the remaining sheet 12a chucked by the chuck unit 14. On the receiving portion 22, the remaining sheet 12 a chucked by the chuck unit 14 (having a total of four claw bodies, two at the top and bottom as shown) is placed. Further, the receiving portion 22 is formed with a groove portion 22a into which the blade 21 can be inserted. The groove 22a is formed in parallel with the longitudinal direction of the remaining sheet 12a chucked by the chuck unit 14, as shown in FIG.

  Next, the operation of the cutting unit 15 will be described with reference to FIGS. The cutting unit 15 is a mechanism for cutting out only the fractional tablets necessary for prescription from one remaining sheet 12a including a plurality of tablets. The remaining fraction tablets (remaining sheets) are once returned to the remaining sheet storage unit 12 and then taken out again when a fractional tablet of the medicine is required in picking by another patient's prescription.

  The remaining sheet in the remaining sheet storage unit 12 is carried to the upper portion of the cutting station by chucking the margin (ear portion) at the leading end of the remaining sheet by the claw at the leading end of the chuck unit 14. The control device uses a cutting algorithm that has been input in advance to determine which part of the remaining sheet is to be cut out from the number of fractional tablets necessary for picking and the remaining fractional tablets contained in the remaining sheet read from the IC tag. Determine based on. The cutting unit 15 in the cutting station cuts out the necessary fractional tablets from the remaining sheet along the determined cutting line.

  For example, in the case of picking 17 medicines each consisting of 10 complete sheets, the IC tag information read after picking up the complete sheet (10 tablets) by the suction head 13 When the remaining fraction of the remaining sheet is 8 tablets, only 7 tablets are cut out from the 8 tablets of the remaining sheet by the cutting unit 15, and the remaining sheet for the remaining 1 tablet is returned to the remaining sheet storage unit 12.

  Further, for example, in the case of picking 17 tablets each consisting of 10 complete sheets, the IC tag information read after picking up the complete sheet (10 tablets) by the suction head 13 When the remaining fraction contained in the remaining sheet is 4 tablets, first, the remaining sheet (for 4 tablets) chucked by the chuck unit 14 is transferred to the tray 16 as it is without cutting (in this case, Thereafter, there is no remaining sheet to be returned to the remaining sheet storage unit 12). Thereafter, the suction head 13 is used to suck one complete sheet from the complete sheet storage unit 11 and move it to the remaining sheet storage unit 12. Thereafter, the complete sheet (10 tablets) in the remaining sheet storage unit 12 is chucked by the chuck unit 14, and the chucked complete sheet is moved to a cutting station, and the cutting unit 15 then transfers 3 tablets. Cut out the fraction of. The cut out fraction sheet (3 tablets) is transferred to the tray 16 so as to slide down on a shooter formed obliquely below the cutting station. The remaining sheets (seven tablets) remaining after the fractional cutting are moved by the XY carriage to the front of the remaining sheet storage section 12 and returned to the remaining sheet storage section 12 while being chucked by the chuck unit 14.

  In addition, as a structure of the said cutting part 15, the shape of the part of the blade 21 inclines diagonally so that it may cut smoothly. The blade 21 moves up and down to cut the remaining sheet (or complete sheet). Further, the blade 21 has a mechanism that rotates by 90 °, whereby both the longitudinal direction (longitudinal direction) and the lateral direction of the remaining sheet (or complete sheet) chucked by the chuck unit 14 are Cutting is possible only by moving 21 up and down. The cutting procedure by the blade 21 is as follows.

  (1) When the remaining number of tablets of the remaining sheet chucked by the chuck unit 14 is an even number of tablets, and even numbered tablets need to be picked, they are arranged in a direction perpendicular to the longitudinal direction of the remaining sheet. The blade 11 is lowered to cut even-numbered tablets (Step A1). In addition, when the remaining number of tablets of the remaining sheet chucked by the chuck unit 14 is an even number of tablets and it is necessary to pick an odd number of tablets, the blade 21 is first rotated after Step A1. Make a cut for one tablet in a direction parallel to the longitudinal direction of the remaining sheet, and then rotate the blade 21 and simultaneously move the chuck unit 14 to the back by one tablet (in the longitudinal direction of the remaining sheet). Of the two rows, only one row, that is, one tablet is cut (Step A2).

  (2) If the remaining few tablets of the remaining sheet chucked by the chuck unit 14 are odd-numbered tablets, and odd-numbered tablets need to be picked, they are arranged in a direction perpendicular to the longitudinal direction of the remaining sheet. The blade 21 is lowered to cut odd-numbered tablets (Step B1). In addition, when the remaining number of tablets of the remaining sheet chucked by the chuck unit 14 is an odd number and it is necessary to pick an even number, the same operation as Step A2 is performed after Step B1. Perform (Step B2).

  As described above, in the second step, only one tablet is cut. Since the sheet size is known in advance, it is possible to make a break for one tablet. The cut fraction sheet is received by the tray 16 by sliding down the shooter between the chuck unit 14 and the tray 16.

  Next, a second embodiment according to the present invention will be described. In the second embodiment, the suction head 13, the chuck unit 14, the cutting unit 15, and the XY carriage in the first embodiment are configured by a robot described later. The configuration of this robot will be described in detail below.

  FIG. 18 shows a state of 1 of a robot that moves in the work environment W, in which six objects (three-dimensional objects) 501, 502, 503, 504, 505, and 506 exist in the work environment (work space) W. Indicates.

  The robot 1 is configured to be able to perform operations or work on the objects 501 to 506 existing in the work environment W by providing the arm 3 on the upper part of the movable carriage 2. The robot 1 is connected to an information server 101 via an information communication network NET such as the Internet.

  The information server 101 manages information (hereinafter referred to as object recognition information) OBS for the robot 1 to recognize the objects 501 to 506. Examples of the object recognition information OBS include information on the geometric shapes and colors of the objects 501 to 506. Then, initial writing or uploading of the object recognition information OBS to the information server 101 (initial value writing or uploading) is performed by the manufacturer of the objects 501 to 506, a company entrusted by the manufacturer, or the like. .

  The installation location of the information server 101 is a location that can be accessed on the information communication network NET using, for example, the Internet protocol, and is an arbitrary location on the information communication network NET. For example, the information server 101 is managed by a ubiquitous knowledge management company that is an information management company such as a provider. In this case, the object recognition information OBS is managed by a ubiquitous knowledge management company, and written or uploaded to the information server 101 by the ubiquitous knowledge management company.

  For example, when there are many objects (products), if the creation of the object recognition information OBS is left to a company that manufactures the objects (products), the standards for the object operation information OB cannot be unified. The usefulness of the object manipulation information OBS is low. If the standard of the object operation information OB is not unified, for example, the creation of software that handles the object operation information OBS needs to be performed under a completely different method for each object operation information OBS. For this reason, the ubiquitous knowledge management company manages the object recognition information OBS existing for each object (product) as the one of a certain standard and manages it by the information server 101.

  The objects 501 to 506 are objects handled by the robot 1 in the work environment W. As shown in FIG. 2, the objects 501 to 506 are equipped with tags 501a to 506a. Each of the objects 501 to 506 has a unique shape, weight, and the like. That is, each of the objects 501 to 506 has the characteristics indicated by the object recognition information OBS.

  Examples of the tags 501a to 506a include wireless IC tags such as RFID (Radio Frequency Identification). RFID has a size of about several centimeters excellent in environmental resistance, and has a structure capable of electronically storing data and communicating with a reader by radio waves or electromagnetic waves.

  Information (hereinafter referred to as object ID information) OB for identifying the objects 501 to 506 to which the tags 501a to 506a are attached is written in the tags 501a to 506a. The object ID information OB includes address information of the information server 101 that manages the object recognition information OBS. The address information includes information for specifying the information server 101 on the information communication network NET (hereinafter referred to as server address information) and a specific information in which the object recognition information OBS is stored in the specified information server. It includes information on storage areas (for example, IP (Internet Protocol)) information (hereinafter referred to as data address information). The object ID information OB includes information that is an appearance characteristic of the object and can be represented with a small amount of data, for example, color information indicating the color of the object, information on a two-dimensional shape (planar shape), and the like. include. This object ID information constitutes reading information for reading the object recognition information OBS from the information server 101 into the robot 1.

  As shown in FIGS. 18 and 20, the robot 1 includes a tag reader / writer 4, a control unit 5, a driving unit 6, an address processing unit 7, a network processing unit 8, and an imaging unit 9. The tag reader / writer reads and writes information from and to the tags 501a to 506a of the objects 501 to 506. As shown in FIG. 1, the tag reader / writer 4 is attached to the arm 3 together with the imaging unit 9. The tag reader / writer 4 is configured to read / write information from / to the tags 501a to 506a wirelessly. There are various methods for reading and writing information with respect to the tags 501a to 506a. For example, the tag reader / writer 4 uses a standard function provided in a general IC tag technology to provide a certain amount of information. The information is read from and written to the tags 501a to 506a existing in the area. Therefore, when there are a plurality of tags (objects) in a certain area from the tag reader / writer 4, the tag reader / writer 4 automatically reads information from all the tags. The address processing unit 7 reads address information from the object ID information read from the tags 501 a to 506 a by the tag reader / writer 4.

  The network processing unit 8 accesses the information server 101 via the information communication network NET based on the server address information of the address information read by the address processing unit 7. Then, based on the data address information of the address information, the network processing unit 8 reads the object recognition information OBS stored in the predetermined storage area of the accessed information server via the information communication network NET. Then, the network processing unit 8 outputs the object recognition information OBS to the control unit 5. The address processing unit 7 and the network processing unit 8 constitute a communication unit that reads the object processing information OB from the information server 101 based on the object ID information OB read by the tag reader / writer 4.

  On the other hand, the imaging unit 9 is for imaging a work environment and is configured to be stereoscopically viewable. For example, the imaging unit 9 is equipped with two CCD (Charge Coupled Device) sensors as a stereotype. The imaging unit 9 outputs the captured image to the control unit 5.

  The control unit 5 is configured to control various processes and the robot 1. Specifically, the control of the processing unit and the robot 1 by the control unit 5 is as follows. The control unit 5 uses the captured image from the imaging unit 9 and the geometric shape information of the object recognition information OBS to perform object recognition processing, for example, template matching (in this case, the geometric shape of the object recognition information OBS). The information forms a template.) The object in the captured image is specified. Here, since various objects exist in the work environment, in specifying the object, which of the various objects is the object of the captured image is specified. Usually, an object in a captured image is a target of operation or work, and thus the identified object is a target of operation or work. This specification is realized by the function of the control unit 5 as the object specifying means.

  As described above, the object recognition information OBS is acquired based on the object ID information OB in the tag, and the object ID information OB acquired from the tag is the robot 1

When a tag (object) within a certain range from the (specifically tag reader / writer 4) is positioned, the object ID information OB obtained from the tag of the object (specifically tag) within the certain range It is.

  For this reason, when there is an object being imaged by the imaging unit 9 and only the object (specifically a tag) exists within a certain range from the robot 1 (specifically the tag reader 4). Is configured to acquire only the object recognition information OBS from the information server 101 based on the object ID information OB in the tag of the object. In this case, the control unit 5 can identify an object in the captured image by recognition processing using the captured image from the imaging unit 9 and the geometric shape information of the sole object recognition information OBS.

  On the other hand, one object is imaged by the imaging unit 9, but there are a plurality of objects other than the object (specifically a tag) being imaged within a certain range from the robot 1 (specifically, the tag reader / writer 4). When an object (specifically, a tag) exists, a plurality of pieces of object recognition information OBS are information based on the object ID information OB in the tags of the plurality of objects including the imaged object. Obtained from the server 101. In this case, the control unit 5 identifies an object in the captured image by recognition processing using the captured image from the imaging unit 9 and the plurality of object recognition information OBS. That is, the control unit 5 matches a plurality of pieces of object recognition information OBS in order with the captured image, and finally specifies an object in the captured image.

  As described above, the control unit 5 identifies the object in the captured image by the recognition process using the captured image from the imaging unit 9 and the object recognition information OBS. Further, as described above, the object ID information has the appearance characteristics of the object and can be indicated with a small amount of data, for example, color information indicating the color of the object, two-dimensional shape (planar shape). Information is included. For this reason, the control unit 5 performs a recognition process using the color information obtained from the object ID information OB and the captured image from the imaging unit 9 prior to the above-described recognition process. When the object can be specified by the recognition process using the color information obtained from the object ID information OB, the control unit 5 does not perform the recognition process using the captured image and the object recognition information OBS. As described later, since the object recognition information OBS is information necessary for creating the work environment model WM, the object recognition information OBS is read from the information server based on the object ID information OB. To do. Then, in order to perform operations and work on the objects 501 to 506 specified by the object recognition information OBS or the color information, the control unit 5 includes a control program PG for controlling the robot 1 and a work environment as shown in FIG. A model WM is stored.

  The work environment model WM is constructed as information necessary for operating an object. The object recognition information OBS includes the geometric shape of the object as described above, and a work environment model WM for operating the object is constructed based on the geometric shape in the object recognition information OBS. ing. That is, the object recognition information OBS constitutes information for recognizing an object, and also constitutes information for operating the recognized object (object operation information). For this reason, on the premise that the object recognition information OBS is used as information for manipulating the object in this way, the object recognition information OBS has a weight in addition to information such as a geometric shape. Other information unique to the object such as, or information indicating the operation content for the object may be included. Here, the operation content is an operation of gripping an object and the like, and the work content is an operation of transporting an object to a predetermined place. For example, the operation information for gripping an object includes information on how to hold the object and where it is held. Here, the work environment model WM held by the control unit 5 is made up of data constructed to some extent in advance, and may be completed or updated based on the object recognition information OBS.

  The control program PG is constructed by a work plan algorithm. The work plan algorithm includes an algorithm for creating a work plan indicating a work procedure by the robot 1 based on the work environment model WM. The program PG to be controlled is information or a program for operating the robot 1, is determined or designed by the designer of the robot 1, and is stored in the control unit 5 in advance.

  The control unit 5 creates a work plan for the robot 1 based on the work environment model WM using the control program PG. Here, creation of a work plan for the robot 1 based on the work environment by the control program PG based on the model WM is performed by utilizing, for example, a conventional work plan creation technique. That is, the control unit 5 refers to the size of the robot 1 and the work environment model WM, performs mathematical arithmetic processing such as checking the interference between the robot 1 and the objects 501 to 506, and creates a work plan. The created work plan includes information (behavior control) indicating how to control the drive unit 6 in order to realize the work. For example, the control unit 5 determines an operation position (position, etc.) in the objects 501 to 506 based on the geometric shape and weight. Here, the drive part 6 is comprised by the mobile trolley 2, the arm 3, etc. FIG.

  The control unit 5 controls the drive unit 6 by outputting a control signal to the drive unit 6 based on the work plan.

Thereby, the robot 1 moves by an autonomous action or performs an operation or work on the objects 501 to 506. Specifically, the robot 1 holds the objects 501 to 506 and conveys them to a predetermined place.

  In some cases, the robot 1 performs a process of updating the object recognition information OBS. Although the robot 1 performs autonomous behavior based on the work plan, the robot 1 may perform an operation in which an error occurs between the actual objects 501 to 506. For example, the unique information of the object may change. For example, the shape and weight of the object change with time. Even when the unique information of the object changes in this way, if the work plan is created based on the object recognition information OBS obtained from the information server 101, the robot 1 performs appropriate movement or the objects 501 to 501. An appropriate work cannot be performed on the object 506, that is, an operation with an error occurs between the actual objects 501 to 506.

  For this reason, when the robot 1 detects an operation that causes an error with the real objects 501 to 506, that is, when it detects a change in the unique information of the objects 501 to 506 such as the shapes of the objects 501 to 506. The object recognition information OBS is updated. In this case, the network processing unit 8 accesses the information server 101 and updates the object recognition information OBS stored in the information server 101. In this case, it is preferable that the information is updated under a certain restriction, such as limiting the persons who can update the information, making only a predetermined information portion in the object operation information OB. At the same time, the control unit 5 updates the object recognition information OBS and the work environment model WM held by itself.

  Further, the robot 1 may write information on the object specified by the recognition processing, for example, position information of the object, on the tag of the object. As a result, when the robot 1 performs an operation or an operation on an object, the position information written in the tag can be used. Here, for example, it may be possible to store the position information of the object in the tag from the beginning. However, when the object moves, the position of the actual object (latest position) is different from the position information in the tag. For this reason, by writing the position information of the object identified by the recognition process in the tag, the robot 1 identifies the object based on the latest position information, and performs operations and work on the object. It can be carried out. In this case, it is a premise that the robot 1 includes a means capable of recognizing the absolute position, and the robot can specify the position of the object from the position information by the means.

  In addition, for the writing of the position information to the tag, the position information of the object, which is the information of the object specified by the control unit 5 as the object specifying means, It can be said that the tag is used to write. For example, as the method of writing the position information on the tag, it is added to the object ID information OB stored in the tag. As a result, the robot 1 goes to read the object ID information OB in the tag by the tag reader / writer 4 as a normal operation. At this time, the robot 1 detects that position information is added to the object ID information OB. Handles this position information preferentially. That is, the robot 1 specifies an object based on the position information without performing recognition processing using the object recognition information OBS.

  Further, as described above, the distance range in which the tag reader / writer 4 can read information from the tags 501a to 506a is constant, and the imaging range by the imaging unit 9 is constant, so that the robot 1 can detect the objects 501 to 506. When operating or working on the robot 1, the robot 1 needs to approach the objects 501 to 506 to some extent. For this reason, the robot 1 preliminarily stores information on a rough travel route in the work environment W as basic operation information, and the robot 1 stores the information in the work environment W based on the travel route information. To move. For example, the travel route information is stored in advance in the work environment model WM. Note that the basic motion information held in advance by the robot 1 is not limited to the travel route information, and may be information indicating other basic motions.

  Next, a series of processing procedures will be described with reference to FIG. First, necessary data is created (step S1). Specifically, an object manufacturer or the like creates object recognition information OBS, stores the created object recognition information OBS in the information server 101, and stores the created object recognition information OBS in the object recognition information OBS stored in the information server 101. Object ID information OB (address information) for access via the information communication network NET is written (stored) in the tags 501a to 506a of the objects 501 to 506. The designer of the robot 1 creates a work plan algorithm (control program PG), and writes (stores) the created work plan algorithm (control program PG) in the control unit 5.

  Subsequently, the robot 1 reads the address information of the object ID information OB written in the tags 501a to 506a of the objects 501 to 506 by the tag reader / writer 4 (step S2). At this time, a tag to be read of the object ID information OB is a tag of an object existing in a certain area from the robot 1.

  Subsequently, the robot 1 reads the object recognition information OBS from the information server 101 via the information communication network NET by the address processing unit 7 and the network processing unit 8 based on the address information (step S3).

  Subsequently, the robot 1 specifies a target object (step S4). FIG. 22 shows the processing contents. First, the control unit 5 roughly positions the main body of the robot 1 based on the captured image obtained by the imaging unit 9 (step S11). For example, the control unit 5 controls the moving carriage 2 to move the robot 1 so that the imaging unit 9 is focused on the target object. Subsequently, the control unit 5 drives the arm 3 of the driving unit 6 so that the tag reader / writer 4 is positioned near the target object. (Step S12). Subsequently, the control unit 5 identifies a target object based on the object recognition information OBS read from the information server 101 (step S13). Specifically, the control unit 5 identifies an object by recognition processing using the captured image from the imaging unit 9 and the geometric shape information of the object recognition information OBS. As described above, the robot 1 approaches the target object, and finally identifies what the object is by the recognition process using the captured image obtained from the imaging unit 9 and the object recognition information OBS.

  FIG. 23 shows a state of the robot 1 when such processing is performed. As shown in FIG. 23, the robot 1 reads the object recognition information OBS from the information server 101 based on the address information in the tags 501a to 506a of the objects 501 to 506, and based on the read object recognition information OBS. To identify the object.

  After specifying the object in this way, the robot 1 creates or updates the work environment model WM based on the object recognition information OBS by the control unit 5 (step S5). Subsequently, the robot 1 refers to the work environment model WM based on the control program (work plan algorithm) PG by the control unit 5 and creates a work plan (step S6). Then, the robot 1 acts autonomously based on the work plan (step S7). Here, the robot 1 moves by autonomous behavior or performs an operation or work on an object.

  Further, the robot 1 determines whether or not the object recognition information OBS needs to be updated by the control unit 5 (step S8). That is, the control unit 5 determines whether the robot 1 has performed an operation in which an error has occurred with an actual object. Here, the control unit 5 updates the object recognition information OBS in the information server 101 on the assumption that the object recognition information OBS needs to be updated when the robot 1 performs an operation in which an error occurs with a real object. And the model of the working environment is updated (step S8). For updating the object recognition information OBS in the information server 101, the network processing unit 8 accesses the information server 101 and updates the object recognition information OBS stored in a predetermined storage area.

  On the other hand, when the robot 1 does not perform an operation in which an error has occurred with the actual objects 501 to 506, the control unit 5 ends the process regarding autonomous behavior, assuming that it is not necessary to update the object recognition information OBS.

  Here, as an example, consider a case where there are a plurality of objects within a certain range from the robot 1. In this case, the tag reader / writer 4 reads the object ID information OB from each of the tags of the plurality of objects (step S2). In this case, among the plurality of objects, there are objects that are imaged by the imaging unit 9, and there are also objects that are not imaged by the imaging unit 9 but only the object ID information of the tag is read. is there.

  Then, the robot 1 reads a plurality of object recognition information OBS for each object ID information OB from the information server 101 via the information communication network NET (step S3). Then, the robot 1 identifies an object by recognition processing using each object recognition information OBS (step S4). After identifying the object, the robot 1 creates or updates the work environment model WM based on the object recognition information OBS (step S5), and then creates a work plan by referring to the work environment model WM (step S5). S6), act autonomously based on the work plan (step S7).

  Next, a third embodiment according to the present invention will be described. In the third embodiment, the suction head 13, the chuck unit 14, the cutting unit 15, and the XY carriage in the first embodiment are operated by referring to “the robot also refers to the object identification result of a plurality of object identification devices” described later. It is configured using a “system for identifying an object present in the environment”. The configuration of this system will be described in detail below.

  FIG. 24 shows a configuration of a system in which a robot identifies an object existing in a work environment with reference to object identification results of a plurality of object identification devices. In this system, a plurality (6 in this example) of object specifying devices 201, 202, 203, 204, 205, 206 are connected on the information communication network NET, and the robot 1 is connected to these object specifying devices 201. , 202, 203, 204, 205, 206 are also obtained, and the objects 501 to 506 existing in the work environment are finally specified.

  The object identifying devices 201 to 206 are monitoring devices that monitor the environment of the robot 1 and obtain monitoring information. As shown in FIGS. 24 and 25, the tag reader / writer 211, the imaging unit 212, the address processing unit 213, the network A processing unit 214 and a processing unit 215 are provided. The object specifying devices 201 to 206 are fixedly set at predetermined positions in the work environment.

  The tag reader / writer 211, the imaging unit 212, the address processing unit 213, and the network processing unit 214 have the same functions as those provided in the robot 1. That is, the tag reader / writer 211 reads and writes information on the tag of the object wirelessly. At this time, the tag reader / writer 211 reads / writes information from / to the tags 501a to 506a (objects 501 to 506) existing in a certain area.

  The address processing unit 213 reads address information for accessing the information servers 101 to 106 from the object ID information OB read from the tags 501a to 506a by the tag reader / writer 211.

  The network processing unit 213 accesses the information server 101 via the information communication network NET based on the server address information of the address information read by the address processing unit 211. Then, based on the address information, the network processing unit 213 reads the object manipulation information OBS stored in the predetermined storage area of the accessed information server 101 via the information communication network NET. The network processing unit 213 outputs the object recognition information OBS read from the information server 101 to the processing unit 215.

  The imaging unit 212 is for imaging the work environment of the robot 2 and is configured to be stereoscopically viewable. The imaging unit 212 outputs the captured image to the processing unit 215.

  The processing unit 215 performs object recognition processing using the captured image from the imaging unit 212 and the geometric shape information of the object recognition information OBS, for example, template matching (in this case, the geometric shape information of the object recognition information OBS). Is a template.) Identifies the objects 501 to 506. Here, since the object ID information OB includes color information and two-dimensional shape information, the processing unit 215 performs processing similar to that of the control unit 5 of the robot 1 using this. That is, the processing unit 215 performs recognition processing using color information obtained from the object ID information OB and the captured image from the imaging unit 212 prior to the above-described recognition processing. When the object can be identified by the recognition process using the color information obtained from the object ID information OB, the processing unit 215 does not perform the recognition process using the captured image and the object recognition information OBS. To do.

  Then, the processing unit 215 transmits an object identification result, which is a monitoring result obtained based on the object recognition information OBS or the color information of the object ID information, to the robot 1 via the information communication network NET. Specifically, the processing unit 215 outputs the object specifying result to the network processing unit 214, and the network processing unit 214 transmits the object specifying result to the robot 1 via the information communication network NET. Here, the information communication network NET that connects the object specifying devices 201 to 206 to the robot 1 so as to be communicable is constituted by, for example, a LAN (Local Area Network). Further, the object specifying result is, for example, position information of the object, and the processing unit 215 attaches the object ID information to the position information of the object and transmits it to the robot 1 as the object specifying result.

  The robot 1 receives the object specifying result from the object specifying devices 201 to 206 by the network processing unit 214. In the robot 1, the control unit 5 performs an object recognition process using the geometric shape information of the object recognition information OBS obtained from the information server 101 and the captured image from the imaging unit 9, and the object 501 to be a work target. ˜506 is specified. On the other hand, the control unit 5 specifies the objects 501 to 506 based on the object specifying results of the object specifying devices 201 to 206. That is, the control unit 5 uniquely specifies the objects 501 to 506 and also specifies the objects 501 to 506 based on the object specifying results of the object specifying devices 201 to 206.

  Next, a series of processing procedures will be shown. The processing of the robot 1 and the processing between the robot 1 and the information server 101 are the same as the processing contents shown in FIG. On the other hand, the object identifying devices 201 to 206 perform processing as shown in FIG. First, the object identifying devices 201 to 206 read the address information of the object ID information OB written in the tags 501a to 506a of the objects 501 to 506 by the tag reader / writer 211 (step S21). At this time, a tag to be read of the object ID information OB is a tag of an object existing in a certain area from the robot 1.

  Subsequently, the object identifying devices 201 to 206 read the object recognition information OB from the information server 101 via the information communication network NET by the address processing unit 213 and the network processing unit 214 based on the address information (step S22). Subsequently, the object specifying devices 201 to 206 specify an object based on the read object recognition information OBS by the processing unit 215 (step S23), and transmit the object specifying result to the robot 1 (step S23). S24).

  Corresponding to the processing of the object identification devices 201 to 206, the robot 1 performs autonomous behavior according to the processing procedure shown in FIG. In the processing procedure when the robot behaves autonomously, as can be seen by comparing FIG. 22 and FIG. 27, the processing of step S31 is performed instead of the processing of step S13. That is, as step S31, the control unit 5 of the robot 1 specifies an object based on the object recognition information OBS directly read from the information server 101 and the object specifying results of the object specifying devices 201 to 206. That is, the robot 1 uniquely identifies the objects 501 to 506 and also identifies the objects 501 to 506 based on the object identification results of the object identifying apparatuses 201 to 206.

  FIG. 28 shows the state of the robot 1 when performing such processing. As shown in FIG. 28, the robot 1 reads object recognition information OBS from the information server 101 based on the address information of the tags 501a to 506a of the objects 501 to 506, and the read object recognition information OBS and object identification. The object is specified based on the object specifying result of the devices 201 to 206.

  The embodiments of the present invention have been described above. However, the present invention and the constituent elements constituting the present invention are limited to those described as the respective embodiments and the respective elements constituting the respective embodiments, respectively. Of course, various modifications are possible.

The flowchart which shows the flow of the dispensing process in the dispensing pharmacy using Example 1 of this invention. The flowchart which shows the flow of the medicine picking process in the dispensing pharmacy using the present Example 1. FIG. The block diagram which shows notionally the whole structure of the chemical | medical agent picking system by the present Example 1. FIG. 1 is a diagram illustrating an overall appearance configuration of a first embodiment. FIG. 3 is a diagram for explaining the configuration of the first embodiment. FIG. 3 is a diagram for explaining the configuration of the first embodiment. FIG. 3 is a diagram for explaining the configuration of the first embodiment. FIG. 3 is a diagram for explaining the configuration of the first embodiment. FIG. 3 is a diagram for explaining the configuration of the first embodiment. FIG. 3 is a diagram for explaining the configuration of the first embodiment. FIG. 3 is a diagram for explaining the configuration of the first embodiment. FIG. 3 is a diagram for explaining the configuration of the first embodiment. The figure for demonstrating the structure and operation | movement of a cutting part of the present Example 1. FIG. The figure for demonstrating the structure and operation | movement of a cutting part of the present Example 1. FIG. The figure for demonstrating the structure and operation | movement of a cutting part of the present Example 1. FIG. The figure for demonstrating the structure and operation | movement of a cutting part of the present Example 1. FIG. The figure for demonstrating the structure and operation | movement of a cutting part of the present Example 1. FIG. The figure for demonstrating the structure and operation | movement of a cutting part of the present Example 1. FIG. The figure for demonstrating the structure of the robot used for Example 2 of this invention. The figure for demonstrating the structure of the robot used for the present Example 2. FIG. The figure for demonstrating the structure of the robot used for the present Example 2. FIG. The figure for demonstrating operation | movement of the robot used for the present Example 2. FIG. The figure for demonstrating operation | movement of the robot used for the present Example 2. FIG. The figure for demonstrating the structure of the robot used for the present Example 2. FIG. The figure for demonstrating the structure of the system used for Example 3 of this invention. The figure for demonstrating the structure of the system used for the present Example 3. FIG. FIG. 10 is a diagram for explaining the operation of the system used in the third embodiment. FIG. 10 is a diagram for explaining the operation of the system used in the third embodiment. The figure for demonstrating the structure of the system used for the present Example 3. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Robot 2 Moving cart 3 Arm 4 Tag reader / writer 5 Control unit 6 Drive unit 7 Address processing unit 8 Network processing unit 9 Imaging unit 10 Controller 11 Complete sheet storage unit 11a Complete sheet 12 Remaining sheet storage unit 12a Remaining sheet 13 Adsorption head 14 Chuck Unit 15 Cutting unit 16 Tray 17 Carriage 21 Blade 22 Receiving unit 22a Groove unit 101 Information server

Claims (8)

Among the tablet sheets containing a predetermined number of the same kind of tablets that can be separated from each other, a plurality of complete sheets that have not yet been separated are stacked on top of each other with the flat bottom surface facing upward. A complete sheet storage section for storing in a state,
A remaining sheet storage unit disposed in proximity to the complete sheet storage unit, wherein a fraction sheet including one or more tablets is separated from a tablet sheet in which a predetermined number of tablets of the same type are enclosed in a separable manner. A remaining sheet storage section for storing any one remaining sheet after the remaining sheet or the complete sheet;
Each of the complete sheet storage portion and the remaining sheet storage portion arranged in proximity to each other, a medicine shelf formed by arranging a number in the vertical and horizontal directions,
A suction head disposed so as to be able to face each of the complete sheet storage units, wherein the flat bottom surface of the uppermost complete sheet in the complete sheet storage unit is in a decompressed state. An adsorption head for adsorption using,
A chuck unit disposed so as to be able to face each of the remaining sheet storage units, and a chuck unit for gripping an end of one remaining sheet or a complete sheet stored in each of the remaining sheet storage units;
A cutting unit for separating a fraction sheet including one or more tablets from a remaining sheet or a complete sheet whose end is gripped by the chuck unit;
Disposed under the suction head and the chuck unit, (a) a complete sheet sucked by the suction head, (b) a remaining sheet gripped by the chuck unit, and / or (c) by the chuck unit. A sheet receiving unit for receiving a remaining sheet or a fraction sheet separated by the cutting unit from the gripped remaining sheet, or a complete sheet;
A moving mechanism for moving the suction head and the chuck unit together in the vertical and horizontal directions to face the complete sheet storage unit and the remaining sheet storage unit, respectively.
The remaining sheet storage portion stores only one remaining sheet when there is a remaining remaining sheet after a fractional sheet including one or more tablets is cut, and when there is no remaining sheet, A medicine picking system characterized in that only one complete sheet from the complete sheet storage section is stored. 2. The medicine picking system according to claim 1, wherein the moving mechanism moves the sheet receiving portion in the vertical and horizontal directions together with the suction head and the chuck unit. In claim 1 or 2,
The cutting part includes a blade, a receiving part on which the remaining sheet or the complete sheet chucked by the chuck unit is placed, and the receiving part from above the remaining sheet or the complete sheet placed on the receiving part. A medicine picking system, comprising: a drive portion that lowers the blade toward the receiving portion; and a groove portion into which a tip portion of the blade can be inserted is formed in the receiving portion. In any one of Claim 1 to 3,
Prescription data input means for inputting patient prescription data;
Control means for controlling the moving mechanism, the suction head, the chuck unit, and the cutting unit based on the prescription data input by the prescription data input means;
With
The control means, when picking a certain type of tablet based on the prescription data, when the number of tablets to be picked includes a fraction exceeding the integral multiple of the number of tablets included in the complete sheet, (1) Among the number of tablets to be picked, the number of complete sheets satisfying an integral multiple of the number of tablets of the complete sheet excluding the fraction is adsorbed from the complete sheet storage unit by the adsorption head, (2) Of the number of tablets to be picked, a fraction sheet corresponding to the fraction is separated from the remaining sheet taken out from the remaining sheet storage unit and gripped by the chuck unit by the cutting unit, and (3) the fraction sheet is In order to return the remaining remaining sheet after being separated to the remaining sheet storage unit, the moving mechanism, the suction head, the char And controls click unit, and the cutting portion, the drug picking system, wherein the. In claim 4,
When the number of tablets contained in the remaining sheet stored in the remaining sheet is less than the fraction that needs to be picked based on the prescription data, the control means is configured to store the remaining part stored in the remaining sheet. After the sheet is chucked by the chuck unit, the sheet is moved to the sheet receiving unit without being cut, and one complete sheet from the complete sheet storage unit is sucked by the suction head and stored in the remaining sheet storage unit. Thereafter, the complete sheet stored in the remaining sheet storage unit is chucked by the chuck unit and cut by the fraction by the cutting unit. In claim 4 or 5,
The complete sheet storage unit is provided with a non-contact tag capable of rewritably recording the number of medicines stored in the complete sheet storage unit and the remaining sheet storage unit and capable of transmitting and receiving data to and from the outside without contact. And
The suction head includes a tag writer for rewriting the recorded content of the non-contact tag based on prescription data from the control means to a number obtained by subtracting the number of medicines to be picked based on the prescription data. A drug picking system characterized by that. In any one of Claim 4 to 6,
The suction head, the chuck unit, and the moving mechanism are robots that identify the object based on object recognition information necessary for image recognition of the object stored in the information server, and photograph the surroundings. An image pickup means, a tag reader for reading the information for reading the object recognition information from the information server in a non-contact manner from a non-contact type tag attached to the object, and the reading information read by the tag reader The object is identified using communication means for reading the object recognition information from the information server, the object recognition information read by the communication means, and the captured image information obtained by the imaging means. A medicine picking system comprising a robot provided with an object specifying means. 8. The robot according to claim 7, further comprising: a tag writer that writes information to the tag; and an object information writing unit that writes information on the object specified by the object specifying unit to the tag by the tag writer. A drug picking system, wherein information writing means reads information on the object written on the tag.

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