Patent Publication Number: US-7581633-B2

Title: Method and apparatus for orienting articles

Description:
This application is a non-provisional which claims priority based on 60/781,677 filed Mar. 13, 2006, which is incorporated by reference. 

   FIELD OF THE INVENTION 
   The present invention is directed to an apparatus for orienting articles, and more particularly, to an apparatus for orienting pills or capsules so as to permit them to be visually inspected. 
   BACKGROUND OF THE INVENTION 
   Small articles, such as pharmaceutical pills or capsules, must be inspected after the manufacturing process has been completed and before they are packaged for sale. Pharmaceutical pills and capsules are produced and packaged rapidly in large quantities and therefore must be inspected rapidly. Among other types of inspections, each pill or capsule must be inspected for structural integrity to ensure that it is shaped correctly and does not have any missing parts, cracks, or holes. 
   Each pill or capsule has a plurality of surfaces that must be inspected. A round pill, for example, has a continuous circumferential surface that must be inspected. A pill with a rectangular-type shape has at least four sides and two ends that must be inspected. If any of the sides are beveled, the beveled surfaces must also be inspected. 
   SUMMARY OF THE INVENTION 
   An apparatus and a method provide for orienting pills. According to an exemplary embodiment, the apparatus has a curved member having a point of tangency at which the pill is positioned on the curved member. A portion of the curved member has a portion for positioning the pill such that the pill is skewed from a tangent of the curved member at the point of tangency at the point of tangency. 
   According to another exemplary embodiment, an orienting apparatus has a first curved member and a second curved member positioned adjacent the first curved member. The first curved member has a first point of tangency at which the pill is positioned on the first curved member and a portion for positioning the pill skewed from a first tangent of the first curved member at the first point of tangency. The second curved member has a second point of tangency at which the pill is adapted to be positioned on the second curved member and a second portion for positioning the pill skewed from a second tangent of the second curved member at the second point of tangency. 
   A method is also contemplated for orienting a pill in a first curved member and in a second curved member. The first curved member has a first point of tangency at which the pill is positioned and a first portion for positioning the pill skewed from a first tangent of the first curved member at the first point of tangency. The second curved member has a second point of tangency at which the pill is positioned on the second curved member and a second portion for positioning the pill skewed from a second tangent of the second curved member at the second point of tangency. The exemplary embodiment of the method comprises positioning the pill at the first point of tangency skewed from the first tangent and transferring the pill to the second curved member skewed from the second tangent. 

   
     BRIEF DESCRIPTION OF THE DRAWINGS 
     The invention is best understood from the following detailed description when read in connect with the accompanying drawing. It is emphasized that, according to common practice, the various features of the drawing are not to scale. On the contrary, the dimensions of the various features are arbitrarily expanded or reduced for clarity. Included in the drawing are the following figures: 
       FIG. 1  is a perspective drawing of a system for orienting pills for inspecting pills in accordance with an exemplary embodiment of the present invention; 
       FIG. 2  is an enlarged perspective drawing of a portion of the system illustrated in  FIG. 1 ; 
       FIG. 3  is an enlarged perspective drawing of another portion of the system illustrated in  FIG. 1 ; 
       FIG. 4  is a plan drawing illustrating additional detail of the system illustrated in  FIG. 1 ; 
       FIGS. 4A ,  4 B and  4 C are plan drawings illustrating the orientation of pills in the system illustrated in  FIG. 1 . 
       FIG. 5  is a plan drawing illustrating an end view of a wheel of the system illustrated in  FIG. 1 . 
       FIG. 5A  is an enlarged drawing of a portion of the system illustrated in  FIG. 5 . 
       FIG. 6  is a further perspective view of a portion of the system illustrated in  FIG. 2 . 
       FIG. 7  is a plan drawing which further illustrates the orientation of a slot relative to a pill in the system illustrated in  FIG. 1 . 
       FIGS. 8 ,  8 A,  8 B,  8 C and  8 D illustrate the mechanics of how a pill is transferred within the system illustrated in  FIG. 1 . 
       FIG. 9  is a top cross section view of a wheel from the system shown in  FIG. 1 . 
   

   DETAILED DESCRIPTION OF THE INVENTION 
   Referring now to the drawing, in which like reference numbers refer to like elements throughout the various figures that comprise the drawing, 
     FIG. 1  illustrates a perspective drawing of an exemplary embodiment of a system  100  for orienting pills so they can be visually inspected. As shown in the exemplary embodiment illustrated in  FIG. 1 , system  100  may include a curved member  200 , a curved member  300 , a curved member  400 , a first camera assembly  500 , and a second camera assembly  600 . In an exemplary embodiment of the invention, curved members  200 ,  300  and  400  may include hollow cylindrical wheels  202 ,  302 , and  402 . In an alternative embodiment, one or more of the curved members  200 ,  300 , and  400  may not comprise a complete cylindrical wheel; but may, instead, form an arc that is less than 360°. 
   In an exemplary embodiment, cylindrical wheels  202 ,  302 , and  402  may each be continuously rotatable about a 360° arc. In an alternative embodiment, one or more of the wheels  202 ,  302 , and  402  may be rotatable about an arc that is less than 360°. In an alternative embodiment where curved members  200 ,  300 , and  400  form an arc that is less than 360°, those curved members may rotate through an arc that is either 360° or in an arc that is less than 360°. 
   Wheels  202 ,  302 , and  402  each may be coupled to one or more attachment structures (not shown) for attaching each of them to one or more sources of motion. In an exemplary embodiment, wheel  202  may be coupled to a first attachment structure (not shown), wheel  302  may be coupled to a second attachment structure, and wheel  402  may be coupled to a third attachment structure. In an alternative embodiment, wheels  202 ,  302 , and  402  may all be attached to a single attachment structure. In another alternative embodiment, only two of the wheels  202 ,  302 ,  402  may be attached to a single attachment structure and the remaining wheel may be attached to a second attachment structure. 
   In an exemplary embodiment, the first, second, and third attachment structures may be coupled, respectively, to first, second, and third sources of motion (not shown). More specifically, the first attachment structure may be coupled to the first source of motion; the second attachment structure may be coupled to the second source of motion; and the third attachment structure may be coupled to the third source of motion. In an alternative embodiment, the first, second, and third attachment structures may all be coupled to one source of motion. In another alternative embodiment, only two of the attachment structures may be coupled to a single source of motion and the remaining attachment structure may be coupled to a second source of motion. 
   In an exemplary embodiment, any one, or all, of the one or more sources of motion may comprise one or more motors (not shown) coupled by one or more sets of gearing (not shown), to the one or more attachment structures. The sources of motion may be able to cause rotation of the wheels at a single speed or at varying speeds. 
   Wheels  202 ,  302 , and  402  may rotate either in a clockwise direction or a counterclockwise direction. In an exemplary embodiment, wheel  202  may rotate in a counterclockwise direction, wheel  302  may rotate in a clockwise direction, and wheel  402  may rotate in a counterclockwise direction. In an alternative embodiment, wheel  202  may rotate in a clockwise direction, wheel  302  may rotate in a counterclockwise direction, and wheel  402  may rotate in a clockwise direction. In yet another alternative embodiment, all of the wheels may rotate in a clockwise direction or may all rotate in a counterclockwise direction. In yet another alternative embodiment, the direction of rotation of each wheel may be selected based upon space requirements and equipment availability or other factors that cannot be anticipated at the present time. 
   In an exemplary embodiment, wheels  202 ,  302 , and  402  may all rotate at the same rate; i.e., 24 revolutions per minute. In an alternative embodiment, the wheels may rotate a different number of revolutions per minute depending upon pill size, pill shape, equipment availability and other factors. In yet another alternative embodiment, the wheels may rotate at the rate of 144 degrees per second. 
   Wheel  202  has a first end  204  and a second end  216 ; wheel  302  has a first end  304  and a second end  316 ; and wheel  402  has a first end  404  and a second end  416 . Wheel  202  has an inside wall  206  and an outside wall  208 . Inside wall  206  traverses the entire length of wheel  202 . Outside wall  208  may comprise a plurality of sections. A first section  210  of outside wall  208  may comprise a section that is not interrupted by apertures or slots. A second section  212  of outside wall  208  may comprise a plurality of apertures or slots to be described in detail below. A third section  214  of outside wall  208  may comprise another section that is not interrupted by slots. 
   Referring to  FIGS. 1 and 6 , an exemplary embodiment of section  212  of outside wall  208  may have a plurality of apertures or slots formed within the surface of the outside wall. Each of the slots may be operable to receive respective pills. In an exemplary embodiment, a single slot may receive only a single pill. In an alternative embodiment, a single slot may receive more than one pill. The plurality of slots may be arranged in a plurality of circumferential rows distributed around outside wall  208 . For example, one of the plurality of circumferential rows is identified by reference number  228 A. Other exemplary circumferential rows are identified by reference numbers  228 B and  228 C. It can be seen, however, that an exemplary embodiment of outside wall  208  may include many more circumferential rows of slots. In an exemplary embodiment, each slot in a particular circumferential row may have the same shape and each slot in all of the circumferential rows may also have the same shape. In an alternative embodiment, slots in different circumferential rows may have shapes that are different from slots in other circumferential rows. For example, the shape of slots in row  228 A may be the same or different that the shape of slots in rows  228 B and  228 C. If the shape of the slots are different, slots in different rows may be able to process pills that have different shapes or sizes. 
     FIG. 4  is a drawing illustrating an exemplary embodiment of a spaced relationship among wheels  202 ,  302 , and  402  while looking at the ends  216 ,  316 , and  416 , respectively, of the wheels.  FIG. 4  illustrates exemplary positions of one or more pills in an exemplary circumferential row in each wheel and illustrates an exemplary embodiment of how a pill or pills may be transferred from an exemplary row in wheel  202  to an exemplary row in wheel  302 , and from the exemplary row in wheel  302  to an exemplary row in wheel  402 .  FIG. 4A  is a drawing illustrating a closer view of the exemplary relationship between wheels  202  and  302 . 
     FIG. 5  is a drawing illustrating an exemplary embodiment of wheel  302  looking toward end  316 . Referring to  FIGS. 4A and 5 , end  316  includes inside wall  306  and an attachment structure  318  for coupling a source of motion to wheel  302 . In an exemplary embodiment, attachment structure  318  may include a rotatable hub  320  comprising an axle  322  coupled to an inside wheel  324  with bolts  326 . Inside wheel  324  is, in turn, coupled to a shaft (not shown) and then to end  316  of wheel  302 . In an alternative embodiment, a different attachment structure may be used and it may be coupled to wheel  302  in a different manner than is illustrated in  FIG. 5 . It will be understood by those skilled in the art, that an exemplary embodiment of wheels  202  and  402  may have the same attachment structure as the attachment structure illustrated in  FIG. 5  or may have a different attachment structure. 
   Referring to  FIGS. 1 ,  4 , and  4 A, when viewing wheel  202  while facing end  204 , wheel  202  may be perceived as rotating in a counterclockwise direction, indicated by arrow  250 . It will be understood that if wheel  202  were viewed while facing end  216 , wheel  202  would appear to be rotating in a clockwise direction. When viewing wheel  302  while facing end  306 , wheel  302  may be perceived as rotating in a clockwise direction as indicated by arrow  350 . When viewing wheel  402  while facing end  404 , wheel  402  may be perceived as rotating in a counterclockwise direction as indicated by arrow  450 . If wheels  302  and  402  were viewed from ends  316  or  416 , they would be perceived as rotating in an opposite direction. 
   Section  212  of wheel  202  may have an external surface  213 . A thickness of section  212  is the distance between outside surface  213  and the inside surface of inside wall  206 . In an exemplary embodiment, wheel  202  may be made from a strong material such as steel, hard plastic, or other hard material that may withstand the stress of constant movement and other stress inducing factors. Accordingly, these materials may constitute the material between external surface  213  and inside wall  206 . A slot  700  (illustrated better in  FIG. 4C ) may be formed inside the material forming section  212 . 
   It is well known to one of ordinary skill in the art that a pill may exhibit any one of a plurality of shapes. For example, a pill may have a rectangular shape, an oval shape, or a round shape. In FIGS.  4 A- 4 CB, a pill  800  is illustrated as having a generally rectangular shape with a first longitudinal side  802 , a second longitudinal side  804 , a first rounded end  806 , and a second rounded end  808 . Pill  800  may have a longitudinal axis  810 . Referring to  FIG. 4B , slot  700  may be formed by side walls  816 ,  817  and a top wall  818  coupling the two side walls. The depth of the two side walls  816 ,  817  and the length of the top wall  818  may be sufficient to enable slot  700  to receive a substantial portion of pill  800 . In an alternative embodiment, the walls of slot  700  may be sufficiently to enable slot  700  to receive all of pill  800 . In an exemplary embodiment, one or more of the walls of slot  700  may be formed of a mesh material. In an alternative embodiment, one or more of the walls may have one or more holes in them. In yet another embodiment, only one of the walls of slot  700  may have one or more holes in them. 
   An exemplary embodiment of the orientation of slot  700  relative to pill  800 , and the outer surface  213  of wheel  202  will now be described with reference to  FIG. 4C , which is an illustration of pill  800  in slot  700 .  FIG. 4C  illustrates that pill  800  has a longitudinal axis  810 . It also illustrates an axis  812  that is perpendicular to longitudinal axis  810  and is about midway between ends  806  and  808  of pill  800 . Axis  812  intersects the plane formed by outer surface  213  at point  825 . A line  823  may be drawn tangent to outer surface  213  at point  825 . In an exemplary embodiment, slot  700  and pill  800  may be oriented in wheel  202  such that the longitudinal axis  810  of pill  800  is substantially parallel to tangent  823 , thereby orienting pill  800  substantially parallel to tangent  823 . 
   Referring back to  FIG. 4B , arrow  250  indicates that wheel  202  is rotating in a counterclockwise direction. As wheel  202  rotates in a counterclockwise direction, pill  800  in slot  700  may also move sequentially, along with wheel  202 , from Exemplary Position  1  to Exemplary Position  2 . As wheel  202  and pill  800  rotate, pill  800  may maintain the same orientation with respect to tangent  823 . 
   Referring back to  FIG. 1 , wheel  302  has an inside wall  306  and an outside wall  308 . Inside wall  306  traverses the entire length of wheel  302 . Outside wall  308  may comprise a series of sections. In one embodiment, a first section  310  may comprise a section that is not interrupted by slots. A second section  312  may comprise a plurality of slots to be described in detail below. A third section  314  may comprise another section that is not interrupted by slots. 
   In  FIG. 1 , an exemplary embodiment of section  312  of outside wall  308  is illustrated as having a plurality of apertures or slots formed within the outside wall. The plurality of slots are illustrated in  FIG. 1  as arranged in a single circumferential row  328 A along outside wall  308 . In an alternative embodiment, section  312  may be similar to section  212  of wheel  202 , having a plurality of circumferential rows of slots. 
   In such an alternative embodiment, the widths of sections  310  and  314  may be constructed in a manner that is smaller than the widths illustrated in  FIG. 1 . That is, the widths of sections  310  and  314  may be the same as the widths of sections  210  and  214  of wheel  202 . Similarly, the width of an alternative embodiment of section  312  may be the same as the width of section  212  of wheel  202 . In such an alternative embodiment, the number of circumferential rows of slots in section  312  may be the same as the number of circumferential rows of slots in section  212 . 
   In an exemplary embodiment of wheel  302 , each slot in circumferential row  328 A may have the same shape. In the alternative embodiment of wheel  302  wherein there are a plurality of circumferential rows of slots, each slot in all of the circumferential rows may also have the same shape. In another alternative embodiment, slots in different circumferential rows may have shapes that are different from slots in other circumferential rows. If the shape of the slots are different, slots in different rows may be able to process pills that have different shapes or sizes. In an exemplary embodiment, a single slot may receive only a single pill. 
     FIG. 5A  illustrates an exemplary embodiment of a slot  710  in section  312  that is operable to receive pill  800 .  FIG. 5A  illustrates slot  710  and pill  800  in two exemplary sequential positions. The first sequential position is identified as Exemplary Position  3  and the second sequential position is identified as Exemplary Position  4 . In an exemplary embodiment, slot  710 , with pill  800  inside slot  710 , may move from Exemplary Position  3  to Exemplary Position  4  as wheel  302  rotates in a clockwise direction. 
   Section  312  of wheel  302  may have an external surface  313 . A thickness of section  312  is the distance between surface  313  and the inside surface of inside wall  306 . In an exemplary embodiment, wheel  302  may be made from a strong material such as steel, hard plastic, or other hard material that will withstand the stress of constant movement. Accordingly, these materials may constitute the material between external surface  313  and inside wall  306 . Slot  710  may be formed inside the material forming section  312 . 
   In  FIG. 5A , pill  800  is illustrated as having generally a rectangular shape with a first longitudinal side  802 , a second longitudinal side  804 , a first rounded end  806 , and a second rounded end  808 . Pill  800  has a longitudinal axis  810  and an axis  812  across the width of the pill extending from side  802  to side  804  at approximately the middle of the longitudinal axis. Longitudinal axis  810  intersects axis  812  at point  814 . Point  814  may coincide with the surface of  313  of wheel  302 . Slot  710  may be formed by a side wall  816  and a longitudinal wall  818 . Slot  710  may also include a curved portion  820  that couples back wall  816  to longitudinal wall  818 . The radius of curved portion  820  may be the same as the radius of end  808  of pill  800 . The depth of wall  816  and wall  818  into the material forming wheel  302  may be sufficient to enable slot  710  receive a substantial portion of pill  800 . The remainder of pill  800  may protrude from slot  710  and beyond surface  313 . 
   In an exemplary embodiment, side wall  816  and/or longitudinal wall  818  may be formed from a mesh material. In an alternative embodiment, side wall  816  and/or longitudinal wall  818  may each have one or more holes in them. In yet another alternative embodiment, only one of side wall  816  and longitudinal wall  818  may have one or more holes in them. 
   An exemplary embodiment of the orientation of slot  710  relative to pill  800  and the outer surface  313  of wheel  302  will now be described with reference to  FIG. 7 , which is an illustration of pill  800  in slot  710 . In  FIG. 7 , line  824  is tangent to surface  313  at point of tangency  826  which corresponds with point  814 . Line  822  is a radius of surface  313  to the point of tangency. Tangent line  824  is perpendicular to radius  822  at point of tangency  826 . Longitudinal axis  810  of pill  800  is skewed from tangent line  824  at the point of tangency  826 . Angle a is the angle between axis  810  of pill  800  and tangent line  824 . In an exemplary embodiment, angle a may be  180 . In an alternative embodiment, angle a may be within a range between 5 degrees and 45 degrees. Referring back to  FIG. 5A , as wheel  302  rotates, slot  700  and pill  800  may move sequentially from Exemplary Position  3  to Exemplary Position  4 . As long as a sufficient suction force (described in detail below) is exerted on pill  800 , pill  800  may maintain the same skewed angle as pill  800  moves from Exemplary Position  3  to Exemplary Position  4 . 
   Referring back to  FIG. 5 , it is seen that an exemplary embodiment of wheel  302  may have a plurality of slots.  710 , each of which may hold a pill  800  and that each pill may be oriented in the same way with respect to wheel  302 . 
   Referring back to  FIG. 1 , wheel  402  has an inside wall  406  and an outside wall  408 . Inside wall  406  traverses the entire length of wheel  402 . Outside wall  408  may comprise a series of sections. In one embodiment, a first section  410  may comprise a section that is not interrupted by apertures or slots. A second section  412  may comprise a plurality of slots to be described below. A third section  414  may comprise another section that is not interrupted by slots. In an exemplary embodiment, second end  416  of wheel  402  may include the same type of attachment structure that is coupled to second end  316  of wheel  302  and that is illustrated in  FIG. 5 . 
   The plurality of slots in wheel  402  are illustrated in  FIG. 1  as arranged in a single circumferential row  428 A about outside wall  408 . In an alternative embodiment, section  412  may be similar to section  212  of wheel  202 , having a plurality of circumferential rows of slots. In such an alternative embodiment, the widths of sections  410  and  414  may be the same as the widths of sections  210  and  214  of wheel  202 . Similarly, the width of an alternative embodiment of section  412  may be the same as the width of section  212  of wheel  202 . In such an alternative embodiment, the number of circumferential rows of slots in section  412  of wheel  402  may be the same as the number of circumferential rows of slots in section  212  of wheel  202 . 
   In an exemplary embodiment of wheel  402 , each slot in circumferential row  428 A may have the same shape. In the alternative embodiment of wheel  402  wherein there are a plurality of circumferential rows of slots, each slot in all of the circumferential rows may also have the same shape. In another alternative embodiment, slots in different circumferential rows may have shapes that are different from slots in other circumferential rows. If the shapes of the slots are different, slots in different rows may be able to process pills that have different shapes or sizes. In an exemplary embodiment, a single slot may receive only a single pill. 
   Each of the slots in wheel  402  may be formed in the same way and with the same orientation as has been described with respect to the slots in wheel  302 . Accordingly,  FIGS. 4 ,  4 A,  5 ,  5 A,  6 - 9  and the descriptions of those figures are incorporated by reference. 
   Referring to  FIG. 1 , in an exemplary embodiment, the diameters of wheels  202 ,  302 , and  402  may be the same. In an alternative embodiment, the diameters may be different. Also in an exemplary embodiment, the lengths of each wheel may be the same. In an alternative embodiment, the lengths of the wheels may be different. Still further in an exemplary embodiment, wheels  202 ,  302 , and  402  may be aligned vertically with respect to one another. In an alternative embodiment, the wheels may be aligned in a different configuration, such as side-by-side. When the wheels are aligned in a vertical configuration, the distance between wheel  202  and wheel  302  may be about 0.0394 inches and the distance between wheel  302  and wheel  402  may be about 0.0394 inches. 
   Still referring to  FIG. 1 , in an exemplary embodiment, the number of circumferential rows of slots in each wheel may be the same. In an alternative embodiment, the number of circumferential rows of slots may be different. Regardless of the number of circumferential rows that are present in any of the wheels, at least one circumferential row in wheel  202  should be aligned with at least one circumferential row in wheel  302  and at least one circumferential row in wheel  302  should be aligned with at least one circumferential row in wheel  402 . In the exemplary embodiment, the one circumferential row in wheel  202 , the one circumferential row in wheel  302 , and the one circumferential row in wheel  402  should all be aligned so as to allow one or more pills to be transferred, for example, from slots in exemplary row  228 A to slots in exemplary row  328 A, and from slots in exemplary row  328 A to slots in exemplary row  428 A as the wheels rotate. The method of transferring pills from row to row in successive wheels will be described in detail below. 
   In an alternative embodiment, more than one circumferential row in wheel  202  may be aligned respectively with more than one circumferential row in wheel  302 , and more than one circumferential row in wheel  302  may be aligned respectively with more than one circumferential row in wheel  402 . In the embodiment where each wheel has a plurality of circumferential rows, there should a one-to-one correspondence between circumferential rows in wheels  202 ,  302 , and  402 . For example, exemplary circumferential row  228 B may be aligned with an exemplary hypothetical row  328 B and with an exemplary hypothetical row  428 B as the wheels rotate. When comparable circumferential rows in all three wheels are aligned, pills may be transferred from wheel  202  to wheel  302  and from wheel  302  to wheel  402  in all circumferential rows that are vertically aligned. 
   As seen in  FIG. 1 , pills may be dispensed from a hopper (not shown) to a dispenser apparatus  10  which may have an orientation device for properly orienting pills so that they may be inserted into the slots of wheel  202  as wheel  202  is rotating. After pills are inserted into the slots of wheel  202 , the pills may be progressively transferred from wheel  202  to wheel  302  and from wheel  302  to wheel  402  so that each pill may be imaged, and therefore inspected, by the various cameras. The overall inspection process will now be explained by tracing the movement of an exemplary pill by reference to  FIG. 4 . 
   Referring to  FIGS. 4 and 4A , counterclockwise rotating wheel  202  may be holding pill  800  in a slot  700  after receiving pill from the dispenser apparatus. After pill  800  is received in slot  700  at a position that is not shown in  FIGS. 4 and 4A , pill  800  and its receiving slot  700  may both rotate in a counterclockwise direction as wheel  202  rotates in a counterclockwise direction. After wheel  202 , with pill  800  in slot  700  has rotated through a portion of a 360° arc, pill  800  and slot  700  may be located at exemplary position  2000 . As wheel  202  continues to rotate counterclockwise, pill  800  in slot  700  may be moved from exemplary position  2000  to exemplary position  2050 , and then to exemplary positions  2100  and  2150 . As wheel  202  continues to rotate in a counterclockwise direction, pill  800  in slot  700  may reach a location where pill  800  may be transferred to slot  710  at exemplary position  3200  in wheel  302  that may be rotating in a clockwise direction as indicated by arrow  350 .  FIGS. 8-8D  more clearly explains the mechanics of how pill  800  may be transferred from slot  700  on wheel  202  to slot  710  on wheel  302  in or about the vicinity of exemplary position  3200 . Slot  710  is shown at exemplary position  3050  on wheel  302  in  FIGS. 4 and 4A . It will be understood by those of ordinary skill in the art, that the exemplary positions indicated in  FIGS. 4 and 4A  are used only to illustrate how pill  800  may rotate and how it may be transferred from one wheel to another wheel. It will be understood that other exemplary positions may be used for illustrative purposes, and that more or fewer exemplary positions could be illustrated. It will also be understood that pill  800  moves in a continuous motion along with the wheel that is holding it and that the exemplary positions have been selected from an infinite number of positions that could have been selected in order to illustrate the motion(s) and transfer(s) of pill  800 . 
   After pill  800  is transferred to slot  710  on wheel  302 , pill  800  and slot  710  may rotate in a clockwise direction as wheel  302  rotates in a clockwise direction. Accordingly, pill  800  and slot  710  may rotate from exemplary position  3200  to exemplary position  3250 , and then to exemplary positions  3300 ,  3350 ,  3400 ,  3450 ,  3500 ,  3550 ,  3600 ,  3650 ,  3700 ,  3750 ,  3800 , and  3850 . As wheel  302  continues to rotate in a clockwise direction, pill  800  in slot  710  may be transferred to a slot  720  at exemplary position  4000  in wheel  402  (see  FIGS. 4 ,  5 ) that may be rotating in a counterclockwise direction as indicated by arrow  450 . 
   After pill  800  is transferred to slot  720  on wheel  402 , pill  800  and slot  720  may rotate in a counterclockwise direction as wheel  402  rotates in a counterclockwise direction. Accordingly, pill  800  and slot  720  may rotate from exemplary position  4000  to exemplary position  4050 , and then to exemplary positions  4100 ,  4150 ,  4200 ,  4250 ,  4300 , and  4350 . 
     FIG. 8  is a cross-section view of wheels  202 ,  302 , and  402 . For example,  FIG. 8  illustrates a cross-section view of wheel  202  taken along line  8 - 8  in  FIG. 1 .  FIG. 8  also illustrates an analogous cross-section view of wheels  302  and  402 . As described above, each of the wheels has circumferential rows of slots (not shown in  FIG. 8 ) whose walls may be made from a mesh material or which may have holes in them, also as described above. Inside wheel  202  is an apparatus  1100  for creating a vacuum around approximately a 180° arc on one side of wheel  202 . The material from which the arc portion  1104  is made may be a mesh or may have one or more holes in it. As illustrated in  FIG. 8 , in an exemplary embodiment, the  1800  arc portion may be about the left half of wheel  202 . In an alternative embodiment, a vacuum may be created around more or less than a 180° arc of wheel  202  and the 180° arc portion  1104  may be about a different part of wheel  202 . The vacuum created by apparatus  1100  may create a suction force in the direction of arrows  1102  against the pills that are positioned in the slots around the circumference of wheel  202 . Depending upon the rotational position of a specific pill as the pill is rotated by wheel  202 , the suction force may be sufficient to keep each pill from falling out of its respective slot. 
   Inside of wheel  302  is an apparatus  1110  for creating a vacuum around approximately a 180° arc on one side of wheel  302 . As illustrated in  FIG. 8 , in an exemplary embodiment, a 180° arc portion  1114  may be about the right half of wheel  302 . The material from which the arc portion  1114  is made may be a mesh or may have one or more holes in it. In an alternative embodiment, a vacuum may be created around more or less than a 180° arc of wheel  302  and the 180° arc portion may be about a different part of wheel  302 . The vacuum created by apparatus  1110  may create a suction force in the direction of arrows  1112  against the pills that are positioned in the slots around the circumference of wheel  302 . Depending upon the rotational position of a specific pill as the pill is rotated by wheel  302 , the suction force may be sufficient to keep each pill from falling out of its respective slot. As illustrated in  FIG. 8 , apparatus  1110  may create a suction force on the right half of wheel  302  while apparatus  1100  may create a suction force on the left half of wheel  202 . 
   Inside of wheel  402  is an apparatus  1120  for creating a vacuum around approximately a 180° arc on one side of wheel  402 . As illustrated in  FIG. 8 , in an exemplary embodiment, a 180° arc portion  1124  may be about the left half of wheel  402 . The material from which the arc portion  1124  is made may be a mesh or may have one or more holes in it. In an alternative embodiment, a vacuum may be created around more or less than a 180° arc of wheel  402  and the 180° arc portion  1124  may be about a different part of wheel  402 . The vacuum created by apparatus  1120  may create a suction force in the direction of arrows  1122  against the pills that are positioned in the slots around the circumference of wheel  402 . Depending upon the rotational position of a specific pill as the pill is rotated by wheel  402 , the suction force may be sufficient to keep each pill from falling out of its respective slot. As illustrated in  FIG. 8 , apparatus  1120  may create a suction force on the left half of wheel  402 . 
     FIG. 9  is a top cross-section view of wheel  202  taken along line  9 - 9  in  FIG. 1 .  FIG. 9  shows wheel  202 . It will be understood that section  212  may have a circumferential row of slots (not shown) with pills (not shown) in them.  FIG. 9  also shows exemplary vacuum apparatus  1100  inside wheel  202  with its side  1104  facing the slots and pills in the corresponding portion of section  212 . Vacuum apparatus  1100  may exert suction forces in the direction of arrows  1102  on the pills. Vacuum apparatus  1100  may be mounted onto wheel  202  by a hollow cylindrical rod  1106  which may be coupled to a vacuum source to produce suction  1108 . Wall portion  1107  of rod  1106  may have one or more holes in it in order to transmit suction forces  1102  through an opening or openings in side  1104 . Although not illustrated, similar devices may couple vacuum apparatuses  1110  and  1120  to one or more additional vacuum sources for wheels  302  and  402 . 
     FIG. 8A  is a more detailed illustration of the relationship between the movement of a pill in wheel  202  and its transfer to wheel  302 .  FIG. 8A  illustrates an exemplary pill  800  moving from exemplary position  2000  to exemplary position  2050  and from exemplary position  2050  to exemplary position  2100  as wheel  202  rotates in a counterclockwise direction indicated by arrow  250 . It should be understood that, for purposes of this illustration in order to simplify the explanation, it has been assumed that only one pill is positioned in wheel  202  and that it is moving sequentially through these positions. In an alternative embodiment, a plurality of pills may be moving sequentially through these positions. While pill  800  is rotating with wheel  202 , pill  800  may be held within the confines of its respective slot  700  by suction forces  1102  produced by vacuum  1100 . Suction forces  1102  may therefore restrain pill  800  from falling out of slot  700  due to gravity as pill  800  is moved through these exemplary positions. Suction forces  1102  may operate on pill  800  only as long as pill  800  is adjacent side  1104  of vacuum  1100 . Once pill  800  passes side  1104 , pill  800  may no longer be subject to the suction forces  1102  and pill  800  may drop out of slot  700 . 
     FIG. 8A  also illustrates an exemplary empty slot  710  in wheel  302  moving from exemplary position  3000  to exemplary position  3050  and from exemplary position  3050  to exemplary position  3100  as wheel  302  rotates clockwise, indicated by arrow  350 . It should be understood that, for purposes of this illustration in order to simplify the explanation, it is assumed that only one slot  710  is positioned in wheel  302  and that it is moving sequentially through these positions. In an alternative embodiment, a plurality of slots in wheel  302  may be moving sequentially through these positions. As long as pill  800  is not in slot  710  of wheel  302 , there is no need for any suction forces to be applied to slot  710 . Consequently, vacuum  1110  may not be applying any suction forces  1112  to slot  710  when slot  710  is in any of exemplary positions  3000 ,  3050  and  3100  or in any other positions on the left side of wheel  302 . 
     FIG. 8B  illustrates how pill  800  begins the transition from wheel  202  to wheel  302 . As shown in  FIG. 8B , as the front part of pill  800  begins to pass side  1104  of vacuum  1100 , the front part may become increasingly not subject to suction forces  1102 . At the same time, as the front part of pill  800  begins to approach the part of wheel  302  that is subject to suction forces  1112 , the front part of pill  800  may become increasingly subject to suction forces  1112  of vacuum  1110 . In addition, as slot  710  approaches side  1114  of vacuum  1110 , slot  710  may become increasingly subject to suction forces  1112 . Therefore, as the front part of pill  800  becomes increasingly not subject to suction forces  1102  and concurrently becomes increasingly subject to suction forces  1112 , the front part of pill  800  may begin to tilt out of slot  700  in wheel  202  toward slot  710  in wheel  302 , as shown in  FIG. 8B . The aforesaid movement of pill  800  may occur in the general vicinity of exemplary position  2150  in wheel  202 , corresponding to exemplary position  3150  of slot  710  in wheel  302 . 
   Referring to  FIG. 8C , it may be seen that pill  800  may have reached exemplary position  2160 , wherein the majority of pill  800  may not be subject to suction forces  1102  of vacuum  1100  in wheel  202  and may be significantly subject to suction forces  1112  of vacuum  1110  in wheel  302 . At that point, in an exemplary embodiment, pill  800  may be pulled from slot  700  in wheel  202  toward slot  710  at exemplary position  3160  in wheel  302  by a combination of the forces of gravity and suction forces  1112 . It will be understood, however, that in alternative embodiments, pill  800  may be pulled from slot  700  toward slot  710  at some point sooner or later than exemplary position  2160 . Once pill  800  begins to move toward slot  710  in wheel  302 , there should not be anything between the two wheels to prevent the transition and pill  800  may move into slot  710  of wheel  302 . 
   Referring to  FIG. 8D , pill  800  is illustrated as having completed the transfer to slot  710  at exemplary position  3200 . Simultaneously, slot  700 , which had  25  been holding pill  800  in wheel  202 , is empty and may be at exemplary position  2200 . 
   Therefore, slot  700  at exemplary position  2200  may no longer be subject to any suction forces  1102 . Concurrently, a substantial amount of pill  800  may be positioned in slot  710  of wheel  302  and subject to suction forces  1112  at exemplary position  3200 . More specifically, pill  800  may be positioned in slot  710  in the manner  30  illustrated in  FIGS. 5A and 7 , discussed above. Empty slot  700  in wheel  202  may continue to be rotated to exemplary position  2250  and to other subsequent circumferential positions as wheel  202  continues to rotate. Therefore, when slot  700  again reaches exemplary position  2000 , or some other position in an alternative embodiment, it may receive another pill for transition to wheel  302 . Similarly, as wheel  302  continues to rotate, pill  800  may rotate to exemplary position  3250  and to other positions as will explained below. 
   It will be understood that the movements of wheels  202  and  302  should be synchronized in some manner so that slot  700  and pill  800  reaches the end of suction forces  1102  at about the same time pill that  800  begins to be affected by the suction forces  1112 . It will also be understood that the movements of slot  700  and slot  710  should be synchronized so that the slots are aligned when there is a transition of suction forces. This double synchronization may enable pill  800  to transition from slot  700  to slot  710 . 
   Referring back to wheel  202  in  FIGS. 4 and 4A , it will be understood that as one or more pills transition from exemplary positions  2000 ,  2050 ,  2100  and  2150  to wheel  302 , slots past exemplary position  2200  may be empty. Accordingly, referring to  FIG. 4A , exemplary slots at exemplary positions  2250 ,  2300 , and  2350  may be empty. Referring back to wheel  302  in  FIGS. 4 and 4A , it will be understood that as one or more pills are positioned in slots located in exemplary positions  3200  through  3850 , for example, slots on the other side of wheel  302  may be empty. For example, exemplary slots  3910 ,  3920 ,  3930 ,  3940 ,  3000 ,  3050 ,  3100 ,  3150  and all slots between exemplary slots  3000  and  3940  may be empty. As wheel  302  continues to rotate, these empty slots may become aligned with respective slots in wheel  202 , receive respective pills from wheel  202 , and continue to rotate until the pills in wheel  302  are transitioned from slots in wheel  302  to slots in wheel  402  in the same manner that pills transitioned from wheel  202  to wheel  302 . 
   In an exemplary embodiment, cameras  502  and  602  may be coupled to an image recognition system which may determine if any aspect of the shape of the pills being imaged by cameras  502  and  602  deviates from an expected shape. In an alternative embodiment, infrared detector systems may be used to determine if the shape of pills varies from an expected shape. In another alternative embodiment, one or more lasers may be used to determine if the shape or size of each pill varies from an expected shape or size. 
   Some of the reasons why pill  800  may be transferred from wheel  202  to wheel  302  and then to wheel  402  will now be explained. Still referring to  FIG. 4 , cameras  502  and  602  are illustrated as being positioned on one side of the wheels while cameras  902  and  1002  are illustrated as being positioned on a second side of the wheels. Cameras  502  and  602  may both be pointed toward pill  800  while it is positioned in wheel  302  and cameras  902  and  1002  may both be pointed toward pill  800  while it is positioned in wheel  402 . It will be understood by those of ordinary skill in the art that the particular positions of the cameras on the respective sides of the wheels may be changed within the scope of the invention, that more or fewer cameras may be used on each side of the wheels, that any particular camera may point to a different wheel than is illustrated in  FIG. 4 . and that any particular camera may be pointed at a different angle with respect to a wheel than is illustrated in  FIG. 4 . 
   When pill  800  is transferred to slot  710  in wheel  302 , its side  802  may be exposed so that it may be viewed by camera  500  and its end  806  may be exposed so that it may be viewed by camera  602 . The exposure of side  802  and end  806  may be imaged, for example, when pill  800  is located at exemplary position  3400 . On the other hand, when pill  800  is located in wheel  302 , side  804  and end  808  of pill  800  may not be exposed to the view of either camera because side  804  is positioned against a side of slot  710  end  808  may be positioned against an end wall of slot  710  as seen, for example at exemplary position  3400 . As a result, of the aforesaid orientation of pill  800  in slot  710 , camera  502  may also view side  802  of pill  800  when pill  800  is in exemplary position  3450  and camera  602  may view end  806  of pill  800  when pill  800  is in exemplary position  3550 . It will be understood that camera  502  may view side  802  when pill  800  is in a position other than exemplary positions  340  or  3550  and that camera  602  may view end  806  when pill  800  is in a position other than exemplary positions  3400  or  3550 . 
   When pill  800  is transferred to from wheel  302  to wheel  402 , side  802  may no longer be exposed to view because it may be positioned against a side of slot  720 . Similarly, end  806  may no longer be exposed to view because it may be positioned against an end wall of slot  720 . Instead, as pill  800  rotates in a counterclockwise direction in wheel  402 , end  808  may be exposed to the view of camera  902  when pill  800  is at located at exemplary position  4350  and side  804  may be exposed to camera  1002  when pill  800  is located at exemplary position  4300 . It will be understood that camera  902  may view end  808  when pill  800  is in a position other than exemplary position  4350  and that camera  1002  may view side  804  when pill  800  is in a position other than exemplary position  4300 . 
   Although the invention is illustrated and described herein with reference to specific embodiments, the invention is not intended to be limited to the details shown. Rather, various modifications may be made in the details within the scope and range of equivalents of the claims and without departing from the invention. 
   For example, the invention may use only a single wheel such as wheel  202 ; or it may use only a single wheel such as wheel  302 . In another alternative embodiment, the invention may use a wheel such as wheel  202  in combination with a wheel such as wheel  302 . In yet another alternative embodiment, wheel  202  may be used in combination with a wheel such as wheel  302  that has a plurality of circumferential rows of apertures instead of the single row illustrated in  FIG. 1