JP2002062364A - Method and device for detecting object, and selecting/ carrying system for object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To precisely detect presence of an attached paper in a box with a simple configuration. SOLUTION: Assuming a timing for a sensor to detect transmission to be t=t1 the phase of reflected wave changes according to change in height of a package 2 (aluminum foil 2A) which is caused by presence of an attached paper, resulting in change of a standing wave at a standing wave measuring part. The reference waveforms are stored in advance in a reference waveform memory which are samples of a case when the attached paper is not housed and a case when it is housed. By comparing with the reference waveform stored in the reference waveform memory, presence of the attached paper is judged.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an object detecting apparatus, an object detecting method, and an object selecting / conveying system, and more particularly, to transmitting a part of an electromagnetic wave made of paper or resin containing a medicine. The box is illuminated with an electromagnetic wave such as a millimeter wave or a microwave to determine whether or not a box contains a detection target that transmits a part of the electromagnetic wave, such as an attached sheet on which the efficacy and usage of the drug are printed. , An object detection device and an object detection method capable of discriminating an object judged to have no attached sheet from an object judged to have a script, and an object detection method. The present invention relates to an object sorting and conveying system.

[0002]

2. Description of the Related Art For example, in a production line of a product that requires enclosing paper called "Nohji", "Noh written" or "Effect" in a paper box for medicine or cosmetics, the product and the attached paper are put in the box. After inserting the box and sealing the box, it is necessary to check externally for the presence of attached paper.

[0003] In order to check the presence or absence of attached paper inside the box without opening the box, for example, it has been proposed to measure the weight of the box and determine the presence or absence of the attached paper based on the weight.

The use of a magnetic material to determine the presence or absence of an attached sheet is disclosed in Japanese Patent Application Laid-Open No. Hei 6-230139.

[0005] Japanese Patent Application Laid-Open No. 6-230139 discloses a
In the automatic delivery detection device, a specified product is
And its effect book are stored, and the packing box is
Conveyed sequentially. Indications include cobalt
Fine powder, magnetite (Fe_ThreeO _Four) Fine powder, maghetite
(Γ-Fe_TwoO_Three) Magnetic material coating mixed with magnetic material such as fine powder
The fee mark is printed. Built-in Hall element
This mark is detected by the magnetic sensor.

Japanese Patent Application Laid-Open No. Hei 10-59332 discloses the use of a conductor to determine the presence or absence of an attached sheet.

[0007] In the stored article detection device described in Japanese Patent Application Laid-Open No. 10-59332, the stored articles are stored in a packaging box.
The effect book that describes the effects of the product is stored in a folded state. The effect certificate uses a printed material on paper containing conductive fibers on the surface or inside thereof in advance. When the conductive fiber is contained, the indication becomes active against electromagnetic waves.

In order to detect the presence or absence of an efficacy certificate, a packaging diode is irradiated with electromagnetic waves using a Gunn diode.
Irradiation wave generated from Gunn diode (frequency f ₁ )
Is reflected by the indication containing the conductive fiber, and reaches a detection diode as a reflected wave (frequency f ₂ ). The frequency f _{2 of the} reflected wave slightly changes from the frequency f _{1 of the} irradiation wave,
According to the so-called heterodyne detection principle, the difference if (= | f ₁ −f ₂ |) between the two frequencies is detected by the detection diode.

In the case where the effect sheet is stored in the packaging box and the case where the effect sheet is not stored, since the effect sheet contains conductive fibers, the output obtained by detecting the frequency difference if is obtained. Are significantly different. Therefore, by comparing the outputs of the detection diodes, it is possible to detect whether or not the efficacy certificate is missing.

The use of X-rays to determine the presence or absence of an attached sheet is disclosed in JP-A-9-159770 and JP-A-11-108860.

In the attachment inspection apparatus described in Japanese Patent Application Laid-Open No. 9-159770, a product conveyed by a conveyor is irradiated with X-rays, and an X-ray image transmitted through the product is captured. The captured image of the product is subjected to image processing in order to determine whether there is a functional book in the product.

However, it is conceivable that irradiating the contents with X-rays may affect the contents such as medicines and cosmetics. Therefore, Japanese Patent Application Laid-Open No. 11-1088
In the No. 60 publication, the soft X-ray passes through the slit and irradiates only the leading end portion of the Noh memo, and does not irradiate the medicine. An image picked up by soft X-rays is subjected to image processing and displayed on a monitor or the like.

Further, Japanese Patent Application Laid-Open No. Hei 7-260944,
Japanese Patent Application Laid-Open No. 7-287071 discloses that a packaging box containing a medicine is irradiated with microwaves to generate a standing wave, and the phase of the standing wave is changed according to the presence or absence of a writing paper. It is disclosed that the presence or absence of an attached sheet is determined based on the power level of the standing wave.

[0014]

However, when the weight of a box containing a medicine is measured and the presence or absence of attached paper inside the box is determined based on the weight of the box, the medicine and the box must be somewhat lightweight. When there is almost no variation in the total weight, it is possible to determine the presence or absence of the attached paper, but the total weight is much heavier than the attached paper, and the weight error of the container and contents is If the weight of the attached paper is included, it is impossible to determine the presence or absence of the attached paper based on the total weight.

If the attached paper is printed with magnetic ink and the presence or absence of the attached paper is determined using a magnetic sensor,
Since magnetic ink is expensive, the cost increases. Similarly, in the method in which conductive fibers are contained in a container, an effect sheet containing conductive fibers is much more expensive than an effect sheet using ordinary paper.

In the method of irradiating the box with X-rays from the outside to check the inside, image processing of an X-ray transmission image is required, so that the cost of the inspection apparatus and the running cost of the inspection are high, and There is a risk of affecting things. Furthermore, in order to prevent the X-rays from being directly irradiated to the contents other than the attached paper, a complicated mechanism such as a shielding material for shielding the X-rays and a slit for passing the X-rays is required. However, it is difficult to use a common inspection device because the size and cost of the inspection apparatus need to be changed, and the position of the slit needs to be changed depending on the packing form of the product.

Further, in the method of determining the presence or absence of an attached sheet by irradiating a microwave and measuring the power of the standing wave, the delicate displacement of the metal body that reflects the electromagnetic wave causes the electromagnetic wave to be reflected. Since the phase of the reflected wave changes, the power of the generated standing wave also changes. Therefore, it is difficult to detect the presence or absence of the attached paper housed in the packaging box without an extremely sensitive wattmeter. Further, since the phase changes depending on the position of the attached sheet, there is a possibility that the attached sheet is erroneously determined to be absent or to be erroneously determined to be absent.

The present invention has been made in view of such circumstances. For example, the effects of chemicals and the method of use are stored in a box made of paper, resin, or the like that contains chemicals and that partially transmits electromagnetic waves. Whether or not a detection target that transmits a part of an electromagnetic wave such as an attached sheet printed with is received is determined by irradiating an electromagnetic wave such as a millimeter wave or a microwave and receiving a reflected wave thereof, and further, It is possible to select a sheet determined to have no attached sheet from a sheet judged to have an attached sheet.

[0019]

The object detecting apparatus of the present invention comprises a generating means for generating an electromagnetic wave, a transmitting means for transmitting the electromagnetic wave generated by the generating means, and an electromagnetic wave transmitted by the transmitting means. Receiving means for receiving the scattered reflected wave among the reflected waves reflected by the body, and detecting means for outputting whether or not there is an object in the container based on the reflected wave received by the receiving means And characterized in that:

The container is, for example, a box made of a dielectric material such as paper or resin, and this container transmits a part of electromagnetic waves. Most of electromagnetic waves are transmitted through paper and resin. This container contains, for example, a medicine contained in a packaging member having at least one surface made of a metal body such as an aluminum foil or a bag made of a metal body such as an aluminum foil. The target object is, for example, an attached paper made of a dielectric material on which effects such as medicines and cosmetics are written. This object transmits a part of the electromagnetic wave.

The generation means generates a predetermined level of electromagnetic waves. The transmitting means may be constituted by an antenna for transmitting the electromagnetic wave. The receiving means may be constituted by an antenna for receiving the scattered and reflected electromagnetic waves. The detection means outputs whether or not there is an object in the container based on the received reflected wave.

According to the object detecting device of the present invention, an electromagnetic wave is generated, the generated electromagnetic wave is transmitted to a container that transmits a part of the electromagnetic wave, and the transmitted electromagnetic wave is reflected by a metal body in the container. , Among the reflected waves reflected, the scattered reflected waves are received.

When the container surrounding the metal body which reflects the electromagnetic wave among the reflected waves slightly moves, the direction of the regular reflection of the reflected wave changes greatly. Therefore, instead of the reflected wave of the regular reflection component, even if the position of the metal body that reflects the electromagnetic wave is slightly moved, the scattered reflected wave is received so that the reception level of the reflected wave becomes almost constant. Even when irradiating an electromagnetic wave and receiving the reflected wave, the reception level of the reflected wave is not affected by the fine movement of the container surrounding the metal body that reflects the electromagnetic wave.

When the object is housed inside the container, the metal body is pushed up by the object, etc. On the other hand, when the object is not housed inside the container, the metal body is Since the object is not pushed up by the object, the position of the metal body in the container differs between the case where the object is present in the container and the case where the object is not present. That is, since the position of the reflection surface of the electromagnetic wave is different, the phase of the received reflected wave is different between the case where there is an object in the container and the case where there is no object.

Therefore, whether or not an object is present in the container is output based on the received reflected wave, so that the container is not opened, and the object contained in the container is not affected by X-rays or the like. It is possible to determine whether or not there is an object in the container without being affected by the irradiation and without being affected by the change in the position of the metal body that reflects the electromagnetic wave.

The transmitting means and the receiving means can transmit electromagnetic waves and receive reflected waves with the same antenna, and the antenna has an angle of 20 degrees or less with respect to the metal body in the container. Electromagnetic waves can be transmitted and received at an incident angle in the range of 70 degrees.

When an electromagnetic wave is transmitted at an incident angle in the range of 20 to 70 degrees, a reflected wave that is specularly reflected in a direction according to Snell's law (reflection law) is received by a receiving means constituted by the same antenna. Will not be received by
The receiving means receives only the reflected waves scattered and reflected.

Thus, the transmitting means and the receiving means can be constituted as one component. Further, among the reflected waves reflected by the metal body, the reflected wave which is scattered and reflected without receiving the specularly reflected wave is received. Reflected waves can be received.

Further, the transmitting means and the receiving means can transmit electromagnetic waves or receive reflected waves with different antennas, respectively. The antenna of the receiving means is one of the reflected waves reflected by the metal body. It can be arranged at a position where the specularly reflected wave is not received.

[0030] This makes it possible to adjust the positions of the transmitting means and the receiving means, respectively, so that the specularly reflected wave out of the reflected waves reflected by the metal body can be prevented from being received. It is possible to receive the reflected wave reflected.

Further, the detecting means can output whether or not there is an object in the container by comparing the waveform of the reflected wave received by the receiving means with a reference waveform. .

The waveform of the reflected wave changes according to not only the presence or absence of the object, but also the presence or absence of a metal body that reflects electromagnetic waves, and the shape of the metal body. Therefore, the reference waveform is set as the waveform of the reflected wave in the container in which the metal body that has not been damaged or deformed and the object is stored, and the waveform of the reference wave is compared with the waveform of the reflected wave, so that the waveform of the target object is compared. In addition to the presence / absence, it is possible to detect the presence / absence of a metal body and the state of damage or deformation of the metal body.

[0033] The metal body may be a substantially plate-shaped member for accommodating a medicine, and the object covers at least a part of at least one surface of the plate-shaped member. The container may be a paper box containing a plate-shaped member and the attached paper, the information being attached to the medicine, which is arranged as described above. it can.

The metal member having a substantially plate-like shape for accommodating a medicine is, for example, a plate-like aluminum foil for fixing a hemispherical transparent plastic film for accommodating tablets, or a granular medicine. And a bag configured by laminating two aluminum foils.

Thus, it is possible to detect whether or not there is an attached sheet in a paper box without affecting the medicine by irradiation with X-rays or the like.

Further, the apparatus further comprises a standing wave generating means for generating a standing wave from the electromagnetic wave generated by the generating means and the reflected wave received by the receiving means, and a storage means for storing a reference waveform. By comparing the waveform of the standing wave generated by the standing wave generation means with the reference waveform stored in the storage means, it is possible to output whether or not there is an object in the container. can do.

The standing wave generating means generates a standing wave by mutual interference between the generated electromagnetic wave and the received reflected wave. The storage means includes: a standing wave generated by the standing wave generating means when an object is present in the container; and a standing wave generated by the standing wave generating means when the object is not present in the container. Is stored as a reference waveform. In the storage means, a typical waveform (average waveform) when there is an object in the container and when there is no object in the container is measured in advance by, for example, an experiment,
Be recorded.

Thus, whether or not there is an object in the container can be detected by comparing the generated standing wave with a stored predetermined reference waveform.

In the object detecting device of the present invention, it is preferable to use a millimeter wave or a microwave as the electromagnetic wave. Millimeter and microwave waves are highly straight forward,
Unlike electromagnetic waves in other frequency bands, the electromagnetic wave transmitted from the transmitting unit is not received by the receiving unit without being reflected by the metal body due to diffraction. In addition, the millimeter wave has higher straightness than the microwave.

According to the object detection method of the present invention, the generating step of generating the electromagnetic wave, the transmitting step of transmitting the electromagnetic wave generated by the processing of the generating step, and the electromagnetic wave transmitted by the processing of the transmitting step are performed by a metal object. Among the reflected waves, a receiving step of receiving the scattered reflected wave, and a detecting step of outputting whether or not there is an object in the container based on the reflected wave received by the processing of the receiving step And characterized in that:

The container is, for example, a box made of a dielectric material such as paper or resin, and this container transmits a part of electromagnetic waves. Most of electromagnetic waves are transmitted through paper and resin. This container contains, for example, a medicine contained in a packaging member having at least one surface made of a metal body such as an aluminum foil or a bag made of a metal body such as an aluminum foil. The target object is, for example, an attached paper made of a dielectric material on which effects such as medicines and cosmetics are written. This object transmits a part of the electromagnetic wave.

The generation step is a step of performing processing for generating an electromagnetic wave of a predetermined level. The transmitting step is a step of performing a process of transmitting the electromagnetic wave. The receiving step is a step of performing processing for receiving the scattered and reflected electromagnetic waves. The detecting step includes:
This is a step of outputting whether or not there is an object in the container based on the received reflected wave.

According to the object detection method of the present invention, an electromagnetic wave is generated, the generated electromagnetic wave is transmitted, and the transmitted electromagnetic wave is a reflected wave scattered and reflected among reflected waves reflected by the metal body. To receive.

When the container surrounding the metallic body that reflects the electromagnetic wave among the reflected waves slightly moves, the direction of the regular reflection of the reflected wave changes greatly. Therefore, instead of the reflected wave of the regular reflection component, even if the position of the metal body that reflects the electromagnetic wave is slightly moved, the scattered reflected wave is received so that the reception level of the reflected wave becomes almost constant. Even when irradiating an electromagnetic wave and receiving the reflected wave, the reception level of the reflected wave is not affected by the fine movement of the container surrounding the metal body that reflects the electromagnetic wave.

When the object is housed inside the container, the metal body is pushed up by the object, etc. On the other hand, when the object is not housed inside the container, the metal body is Since the object is not pushed up by the object, the position of the metal body in the container differs between the case where the object is present in the container and the case where the object is not present. That is, since the position of the reflection surface of the electromagnetic wave is different, the phase of the received reflected wave is different between the case where there is an object in the container and the case where there is no object.

Therefore, whether or not there is an object in the container is output based on the received reflected wave, so that the container is not opened, and the object in the container is not exposed to X-rays or the like. It is possible to determine whether or not there is an object in the container without being affected by the irradiation and without being affected by the change in the position of the metal body that reflects the electromagnetic wave.

Further, the metal body may be a substantially plate-shaped member for accommodating a medicine, and the object covers at least a part of at least one surface of the plate-shaped member. The container may be a paper box containing a plate-shaped member and the attached paper, the information being attached to the medicine, which is arranged as described above. it can.

The metal member having a generally plate-like shape for containing a medicine is, for example, a plate-like aluminum foil for fixing a hemispherical transparent plastic film for containing a tablet, or a granular medicine. And a bag configured by laminating two aluminum foils.

Thus, it is possible to detect whether or not there is an attached sheet in a paper box without affecting the medicine by irradiation with X-rays or the like.

In the object detecting method of the present invention, it is preferable to use a millimeter wave or a microwave as the electromagnetic wave. Millimeter and microwave waves are highly straight forward,
Unlike electromagnetic waves in other frequency bands, the electromagnetic wave transmitted from the transmitting unit is not received by the receiving unit without being reflected by the metal body due to diffraction. In addition, the millimeter wave has higher straightness than the microwave.

[0051] In the object sorting and transporting system of the present invention, the object detecting device includes: a generating unit that generates an electromagnetic wave; a transmitting unit that transmits the electromagnetic wave generated by the generating unit; and an electromagnetic wave that is transmitted by the transmitting unit. Receiving means for receiving the scattered reflected wave among the reflected waves reflected by the metal body, and detecting whether or not there is an object in the container based on the reflected wave received by the receiving means; Means, and output means for outputting the detection result output by the detection means to the sorting device, the transport device comprises a transport means for transporting the container, the sorting device is output by the output means of the object detection device Input means for inputting a detection result by the detecting means,
According to a feature of the present invention, there is provided a sorting device for sorting containers determined to contain no object from the transporting means of the transporting device according to the detection result input by the inputting means.

The generating means generates a predetermined level of electromagnetic waves. The transmitting means may be constituted by an antenna for transmitting the electromagnetic wave. The receiving means may be constituted by an antenna for receiving the scattered and reflected electromagnetic waves. The detection means outputs whether or not there is an object in the container based on the received reflected wave. The transport means,
A container enclosing a metal body that scatters and reflects electromagnetic waves is transported to an object detection device and a sorting device. The input means receives an input of a result of detection as to whether or not there is an object in the container, which is output by the detection means. The sorting means sorts a container enclosing the object and a container not enclosing the object according to the input detection result.

According to the object sorting and conveying system of the present invention, the conveying device conveys the container, the object detecting device generates the electromagnetic wave, transmits the generated electromagnetic wave, and transmits the generated electromagnetic wave to the metal body. Of the reflected waves reflected by the scattered light are received.

When the container enclosing the metal body that reflects the electromagnetic wave among the reflected waves slightly moves, the direction of the regular reflection of the reflected wave changes greatly. Therefore, instead of the reflected wave of the specular reflection component, even if the position of the metal body that reflects the electromagnetic wave is slightly moved, the scattered reflected wave at which the reception level of the reflected wave is substantially constant is received, so that the container is transported. Even when an electromagnetic wave is irradiated and the reflected wave is received, the reception level of the reflected wave is not affected by the fine movement of the container surrounding the metal body that reflects the electromagnetic wave.

When the object is housed inside the container, the metal body is pushed up by the object, etc. On the other hand, when the object is not housed inside the container, the metal body is Since the object is not pushed up by the object, the position of the metal body in the container differs between the case where the object is present in the container and the case where the object is not present. That is, since the position of the reflection surface of the electromagnetic wave is different, the phase of the received reflected wave is different between the case where there is an object in the container and the case where there is no object.

The object detecting device outputs to the sorting device whether or not there is an object in the container based on the received reflected wave. The sorting device receives the input of the detection result, and according to the detection result, sorts the container determined that there is no predetermined target object from the transporting means of the transport device, so that the container is not opened, Without affecting the contents in the container by irradiation of X-rays, etc., further, without being affected by the change in the position of the metal body that reflects the electromagnetic wave, it is determined whether or not there is an object in the container, Furthermore, it is possible to distinguish between an object determined to have no object and an object determined to have an object.

In the object sorting and conveying system of the present invention, it is preferable to use a millimeter wave or a microwave as the electromagnetic wave. Millimeter waves and microwaves have high straightness, so unlike electromagnetic waves in other frequency bands, electromagnetic waves transmitted from the transmitting means can be received by the receiving means without being reflected by the metal body by diffraction. Absent. In addition, the millimeter wave has higher straightness than the microwave.

[0058]

Embodiments of the present invention will be described below with reference to the drawings.

In the following embodiment, it is detected whether or not a package of a medicine manufactured in a factory contains a label of the medicine. FIG. 1 shows a schematic configuration inside a packaging box of a medicine to be inspected.

The box 1 having a substantially rectangular parallelepiped shape is formed of paper that transmits most of electromagnetic waves. Inside the box 1, a packaged medicine 4 is stored. The package 2 includes a hemispherical transparent plastic film 2B and a plastic film 2B.
Is formed of a plate-like aluminum foil 2A for fixing the aluminum foil. The plate-like aluminum foil 2A has a substantially planar shape. The chemicals 4 are stored one by one in the hemispherical portion of the plastic film 2B. The plastic film 2B and the aluminum foil 2A are adhered, and the chemical 4 is sealed. In this case, the shape of the medicine 4 is a tablet. Here, two packages 2 in which a plurality of chemicals 4 are sealed are accommodated in the box 1.

The drug 4 may be a granular drug. In this case, the package that wraps the granular drug 4 can be constituted by a bag made of aluminum foil. This bag can be constructed by laminating two pieces of aluminum foil. The shape of the package 2 is substantially planar.

In the inside of the box 1, the notebook is covered so as to cover almost the upper half (right half in the figure) and the lower half (right half in the figure) of the package 2. Is folded and accommodated. The attached paper 3 is made of paper, and the effect of the medicine 4 and the method of taking it are printed on the surface thereof.

In a storage step (not shown) of the factory, as shown in FIG. 1, the package 2 and the attached paper 3 are stored in the box 1, so that the aluminum foil 2A of the package 2
A and are arranged substantially in parallel.

As will be described later, in the present embodiment, the presence or absence of the attached sheet 3 is detected using electromagnetic waves.
Box 1 as a container and attached paper 3 as an object to be detected
It is made of a material that transmits electromagnetic waves, such as paper and plastic.

That is, the box 1 is irradiated with an electromagnetic wave, and the electromagnetic wave transmitted through the box 1 and the attached paper 3 is irradiated on the aluminum foil 2A of the package 2 and is scattered and reflected by the fine irregularities formed on the surface thereof. . Then, the scattered reflected wave is received, and the presence or absence of the attached sheet 3 is detected based on the waveform of the scattered reflected wave by a process described later.

FIG. 2 shows, as shown in FIG. 1, whether or not the attachment 3 is actually accommodated in the box 1 in which the packaging 2 and the attachment 3 are accommodated. It is a figure which shows the system which sorts out the box 1 which is not accommodated.

The boxes 1-1 to 1-3 to be inspected are placed on the transport device 12 and transported. Box 1-1 to 1-
3, the packaging 2-1 to 2-3 described using FIG.
In addition, attached papers 3-1 to 3-3 are stored, respectively. Hereinafter, when it is not necessary to individually distinguish the boxes 1-1 to 1-3, they are simply referred to as a box 1 and the packagings 2-1 to 2-
When it is not necessary to distinguish each of the attachments 3 from each other, they are simply referred to as a package 2. When it is not necessary to distinguish each of the attachments 3-1 to 3-3, they are simply referred to as an attachment 3.

The box 1 being transported by the transport device 12
Surface 1A (the surface facing the aluminum foil 2A of the package 2 (the surface on which the hemispherical projection is not formed))
An electromagnetic wave such as a millimeter wave generated by the inspection device 13 and emitted from the antenna 11 is irradiated at a predetermined incident angle θ. As shown in FIG. 1 in an enlarged manner, the aluminum foil 2A of the package 2 is substantially parallel to the surface 1A of the box 1, so that the millimeter wave is applied to the aluminum foil 2 of the package 2.
A is also irradiated at an incident angle of approximately the angle θ.

The antenna 11 receives the reflected wave and outputs it to the inspection device 13. The inspection device 13 receives, for example, a signal indicating that the box 1 has passed, which is input from a sensor 15 such as an optical sensor. In response to receiving the passing signal, the inspection device 13 performs
The presence or absence of the attached sheet 3 is determined, and a control signal is output to the sorting device 14 based on the result. The screening device 14 includes the inspection device 1
In accordance with the control signal input from 3, the box 1 determined that the attached paper 3 is not stored is removed from the transport device 12.

FIG. 3 is a block diagram showing the configuration of the inspection device 13.

The inspection device 13 includes an oscillator 21, an isolator 22, a directional coupler 23, a circulator 24, a standing wave measuring unit 25, a terminating resistor 26, a probe 27, and a detecting unit 2.
8, an A / D converter 29, a reference waveform memory 30, and a comparator 31.

The oscillator 21 generates a highly linear electromagnetic wave such as a millimeter wave or a microwave. Here, a description will be given using a millimeter wave as an example. The isolator 22 includes an oscillator 21
Is output only in one direction of the other terminal (ie, on the side of the directional coupler 23), and does not reflect the reflected wave input from the output terminal. The directional coupler 23 outputs the millimeter wave input from the isolator 22 to the circulator 24 and the standing wave measuring unit 25.
When a reflected wave is input from the circulator 24 to the directional coupler 23, the reflected wave component is input to the output end of the isolator 22 and absorbed, or
6, the reflected wave component is less likely to propagate to the standing wave measuring unit 25 and the oscillator 21.

The circulator 24 operates to output a signal input to a terminal to an adjacent terminal in the counterclockwise direction in the drawing. The standing wave measuring unit 25 includes the directional coupler 2
3 and a reflected wave from the antenna 11 that is input from the circulator 24, and generates a standing wave by mutual interference. The detecting unit 28 measures the electric field strength of the standing wave generated by the standing wave measuring unit 25 using the probe 27 and converts the electric field strength into a voltage value.
The A / D converter 29 converts an analog signal having a voltage value corresponding to the electric field strength of the input standing wave into a digital signal. The reference waveform memory 30 stores a reference waveform as a comparison reference when the attached paper 3 is stored in the box 1 and when the attached paper 3 is not stored. The comparison unit 31 determines whether or not the attached paper 3 is stored in the box 1 by comparing the input signal with the reference waveform stored in the reference waveform memory 30.

The millimeter wave generated by the oscillator 21 is input to the directional coupler 23 via the isolator 22. The millimeter wave output from the directional coupler 23 is input to the circulator 24 and the standing wave measuring unit 25. The millimeter wave input from the directional coupler 23 to the circulator 24 and reflected therefrom is input to the directional coupler 23 and absorbed by the terminating resistor 26 or the isolator 22
Is prevented from being repeated in the inspection apparatus 13.

The millimeter wave input to the circulator 24 via the directional coupler 23 is output to the antenna 11 by the circulator 24, and is incident on the surface 1A of the box 1 described with reference to FIG. Irradiated. A part of the millimeter wave applied to the box 1 is reflected on the surface 1A of the box 1,
Most of them pass through the surface 1A. The millimeter wave transmitted through the surface 1A is attached to the attachment 3 in the same manner as the surface 1A.
Part of the light is reflected by the attachment 3, but most of the light is transmitted through the attachment 3. Then, the millimeter wave transmitted through the surface 1A and the attached paper 3 is applied to the package 2. Since the package 2 is formed of aluminum, which is a metal, the package 2 reflects most of the irradiated millimeter waves. Most of the reflected waves reflected by the package 2 pass through the attachment 3 and the surface 1A of the box 1 again. The reflected wave scattered and reflected in the direction of the antenna 11 (the reflection direction of the reflected wave will be described later with reference to FIG. 7) is received by the antenna 11.

The reflected wave received by the antenna 11 is input to the standing wave measuring unit 25 by the circulator 24. In the standing wave measuring unit 25, the directional coupler 2
A standing wave is generated by the mutual interference between the transmission wave input from the circulator 24 and the reflected wave input from the circulator 24.

The probe 27 measures the electric field strength in the standing wave measuring section 25. Then, the detection unit 28 converts the measured electric field strength into a voltage value, and outputs the voltage value to the A / D conversion unit 29. The A / D converter 29 converts the input analog envelope signal into a digital signal and outputs the digital signal to the comparator 31. The comparison unit 31 compares the signal input from the A / D conversion unit 29 with the reference waveform read from the reference waveform memory 30 to determine whether or not the attached paper 3 is stored in the box 1. Judging and judging the judgment result
Output to

Next, a standing wave generated by the standing wave measuring unit 25 based on mutual interference between the transmitted wave and the reflected wave will be described with reference to FIGS.

For example, as shown in FIG. 4, when the phase of the transmitted wave and the phase of the reflected wave hardly change (when the phases substantially match), a constant generated by interference between the transmitted wave and the reflected wave. A standing wave is a superposition of a transmitted wave and a reflected wave, so that its electric field strength (level) increases.

On the other hand, as shown in FIG. 5, when the phase of the transmitted wave differs from the phase of the reflected wave by approximately 180 degrees, the standing wave generated by the interference between the transmitted wave and the reflected wave becomes Since the transmitted wave and the reflected wave are superimposed, the electric field strength (level) is reduced.

As shown in FIG. 1, the height h of the package 2 in the box 1 changes depending on whether the attached sheet 3 is stored inside or not. Normally, when the attached paper 3 is accommodated inside, the package 2 containing the medicine 4 is lightweight and is pushed up by the attached paper 3 and the height of the package 2 (in the box 1, Height from middle bottom) h
Will be higher. On the other hand, when the attachment 3 is not accommodated in the box 1, the packaging 2 is not pushed up by the attachment 3, so that the packaging 2 is not pushed up by the attachment 3, as compared with the case where the attachment 3 is accommodated inside. The height h decreases.

When the height h changes, the distance between the antenna 11 and the wrapping 2 as a millimeter wave reflecting surface changes.
After the millimeter wave is emitted from the antenna 11, it is reflected by the wrapping 2 and the phase of the reflected wave incident on the antenna 11 changes. Therefore, for example, when an attached sheet 3 is accommodated in the box 1 by an experiment, a standing wave formed by the standing wave measuring unit 25 (a signal output from the A / D converter 29).
Of the standing wave (signal output from the A / D converter 29) formed in the standing wave measuring unit 25 when the level of the signal is sufficiently large and the attached sheet 3 is not accommodated in the box 1. However, as compared with the case where the attached paper 3 is accommodated inside the box 1, the antenna 11 and the
The distance of (Packaging 2) is adjusted in advance.

Thus, the signal output from the A / D converter 29 (the standing wave envelope signal) when the attached paper 3 is accommodated in the box 1 is, for example, shown in FIG. As shown in the figure, the level becomes relatively large at the timing t = t ₁ when the sensor 15 detects the passage of the box 1, whereas the A / D conversion is performed when the attached sheet 3 is not stored in the box 1. The signal (the standing wave envelope signal) output from the unit 29 is, for example, as shown in FIG.
Compared to the case where the attached paper 3 is stored inside the box 1,
It will be a small level.

Therefore, when the attached sheet 3 is accommodated in the box 1, the waveform of a representative signal (for example, an average signal) among the signals output from the A / D converter 29 is changed. , Are stored in the reference waveform memory 30 as the first reference waveform. Similarly, when the attached sheet 3 is not accommodated in the box 1, the waveform of a representative signal (for example, an average signal) among the signals output from the A / D conversion unit 29 is the second signal. 2 is stored in the reference waveform memory 30 as the reference waveform.

As a result, when the attached paper 3 is accommodated in the box 1, the waveform of the signal output from the A / D converter 29 becomes similar to the first reference waveform, and becomes the second reference waveform. The waveform does not approximate the waveform. Conversely, attached paper 3 is box 1
The waveform of the signal output by the A / D converter 29 when the signal is not accommodated in the first reference waveform is a waveform that approximates the second reference waveform, and does not approximate the first reference waveform.

Therefore, the comparison section 31 compares the waveform of the signal output from the A / D conversion section 29 with the first reference waveform and the second reference waveform, respectively.
The waveform of the signal output by 9 has a high correlation with the first reference waveform when the attachment 3 is accommodated in the box 1 and the attachment 3 is not accommodated in the box 1 , The second reference waveform becomes higher. Based on the above principle, the comparison unit 31 determines whether or not the attached sheet 3 is accommodated inside the box 1 and outputs a result of the determination.

The presence or absence of the attached sheet 3 can also be determined by comparing the intensity (level) of the standing wave with the reference level. However, as described above, by comparing the waveform of the standing wave with the reference waveform, it is possible to detect not only the presence / absence of the attachment 3 but also the presence / absence, breakage, or deformation of the package 2 ( The waveform of the standing wave changes according to the state of the package 2).

Here, the antenna 11 is designed so that the intensity of the reflected wave is increased when the attached paper 3 is present, and the intensity of the reflected wave is reduced when the attached paper 3 is not present.
Although the distance between the box and the box 1 is set, the distance may be reversed. That is, the distance between the antenna 11 and the box 1 is set so that the intensity of the reflected wave becomes small when the attached sheet 3 is present, and is increased when the attached sheet 3 is not present. May be. By determining the magnitude of the reception intensity of the reflected wave, the inspection device 13 can detect the presence or absence of the attached sheet 3.

In the present embodiment, the incident angle θ of the millimeter wave emitted from the antenna 11 with respect to the surface 1A (packaging 2) of the box 1 is adjusted so as to be in the range of 20 to 70 degrees. . This is for the following reasons.

That is, since the aluminum foil 2A of the package 2 is microscopically formed with small irregularities, the millimeter wave is scattered and reflected regardless of the incident angle θ of the millimeter wave (in many directions). Is reflected on). However, when the aluminum foil 2A of the package 2 is considered to be a mirror surface, the amount of the reflected wave scattered and reflected depends on the direction according to Snell's law (reflection law) (specular reflection direction, that is, the exit angle equal to the incident angle). Direction) is the largest. Here, it is assumed that the transmitting antenna and the receiving antenna are shared. The level of the received wave greatly changes between the case where the component in the regular reflection direction is received and the case where the component is not received, even if the distance between the antenna 11 and the package 2 is constant. Then, as the box 1 is transported by the transport device 12, its position slightly moves in the vertical direction or the like. For example, when the incident angle θ is around 0 degrees (specular reflection direction), the specular reflection direction of the reflected wave changes due to the slight movement of the aluminum foil 2A due to the transport of the box 1, and the component of the specular reflection direction is the antenna 11 , The level of the received wave received by the antenna 11 also changes greatly.

When the level of the received wave changes, the level of the standing wave generated in the standing wave measuring section 25 also changes.
As described above, when the attached paper 3 is accommodated inside the box 1, the level of the standing wave formed in the standing wave measuring unit 25 becomes sufficiently large, and the attached paper 3 is placed inside the box 1. When the antenna 11 is not accommodated, the level of the standing wave formed in the standing wave measuring unit 25 is sufficiently smaller than when the attached sheet 3 is accommodated inside the box 1. Since the distance between the box and the box 1 (packaging 2) is adjusted in advance, it is possible to determine the presence or absence of the attached sheet 3 based on the intensity of the reflected wave. In that case, assuming that the regular reflection component is not received, and setting a reference level for determining the presence or absence of a standing wave, if the regular reflection component is received for some reason, depending on the degree of receiving the regular reflection component, Because the level of the standing wave of the received reflected wave becomes larger or smaller than the reference level, the presence or absence of the attachment 3
It may be erroneously detected.

On the other hand, as shown in FIG. 7, when the incident angle θ is in the range of 20 ° to 70 °, the specular reflection component of the millimeter wave emitted from the antenna 11 even if the package 2 slightly moves. However, there is almost no possibility that the light is incident on the antenna 11, and only the scattered reflection component caused by the unevenness is almost incident on the antenna 11. In other words, if the incident angle θ is in the range of 20 degrees to 70 degrees, the level of the scattered and reflected waves received by the antenna 11 (therefore, the level of the standing waves) is substantially constant even if the package 2 slightly moves. Will be able to do that. As a result, the level of the standing wave greatly changes only depending on the presence or absence of the attachment 3. Therefore, the presence or absence of the attached sheet 3 to be detected can be detected based on a change in the level of the standing wave.

As described above, the detection signal output by the comparison unit 31 of the inspection device 13 is input to the selection device 14. FIG. 8 is a block diagram showing a configuration of the sorting device 14. As shown in FIG.

The control unit 41 of the sorting device 14
3, when a detection signal indicating that the attached paper 3 is not stored in the box 1 is received, a control signal for driving the driver 42 to move the corresponding box 1 from the transport device 12. Is generated and output to the driver 42. The driver 42 drives a driving portion (including a motor, a clutch, a solenoid, and the like) of the arm 43 under the control of the controller 41, and the arm 43 moves the corresponding box 1 from the transport device 12 to a predetermined position. Go to a location.

In order for the arm 43 to move the box 1,
For example, the arm unit 43 is gripped by the box 1 and
, May be configured to be able to move to another predetermined position, or by other configurations,
The box 1 may be able to be moved from the transport device 12.

By executing the above-described processing in the sorting device 14, only the box 1 in which the attached paper 3 is stored can be sorted.

By the way, if the amount of displacement of the height h of the package 2 with and without the attached paper 3 is exactly equal to an integral multiple of one wavelength of the transmission wave, the displacement is input via the directional coupler 23. The difference between the level of the standing wave generated in the standing wave measuring unit 25 due to the transmitted wave and the reflected wave input from the circulator 24 does not occur. Therefore, the oscillator 21 may be configured to oscillate by switching at least two different frequencies and perform a detection operation at a plurality of frequencies (using FSK (Frequency Shift Keying)).

Further, in the above description, the transmission of the millimeter wave and the reception of the reflected wave were performed using the same antenna 11, but as shown in FIG. Alternatively, the antennas 52 for receiving the reflected waves may be different antennas. Note that, in FIG. 9, the portions corresponding to those in FIG. 2 are denoted by the same reference numerals, and description thereof will be omitted as appropriate.

Also in this example, the inspection device 53 (for details,
A millimeter wave generated by the antenna 51 and emitted from the antenna 51 has a predetermined incident angle θ (20 degrees to 7 degrees).
The light is irradiated on the surface 1A of the box 1 at an incident angle θ) within the range of 0 degrees.

The antenna 52 is a position where the regular reflection component of the millimeter wave described with reference to FIG. 7 is hardly received and a position where the scattered reflected wave can be received (for example,
Position at an angle of 20 to 70 degrees with respect to the surface A of the package 2), receives the scattered reflected waves, and
Output to

FIG. 10 is a block diagram showing the configuration of the inspection device 53. Note that, in FIG. 10, portions corresponding to those in FIG. 3 are denoted by the same reference numerals, and description thereof will be omitted as appropriate. That is, in the inspection device 53 of FIG. 10, the circulator 24 of FIG.
Is connected to the antenna 51, and has the same configuration as the inspection device 13 described with reference to FIG. 3, except that the reception wave input from the antenna 52 is directly supplied to the standing wave measurement unit 25.

The millimeter wave generated by the oscillator 21 is supplied to the antenna 51 via the isolator 22 and the directional coupler 23 and transmitted, and is also input to the standing wave measuring unit 25. Then, the millimeter wave transmitted from the antenna 51 is applied to the surface 1A of the box 1 at an incident angle θ. A part of the millimeter wave applied to the box 1 is reflected by the surface 1A of the box 1, but most of the millimeter waves pass through the surface 1A and are reflected by the package 2. Most of the reflected waves reflected by the package 2 pass through the attachment 3 and the surface 1A of the box 1 again.
Then, the reflected wave scattered and reflected in the direction of the antenna 52 is received by the antenna 52.

The reflected wave received by antenna 52 is input to standing wave measuring section 25. Hereinafter, the same operation as in FIG. 3 is performed.

By adopting the configuration described with reference to FIGS. 9 and 10,
Can be sorted out alone.

[0105]

According to the object detecting apparatus and the object detecting method of the present invention, for example, it is determined whether or not there is an object such as an attached sheet in a box made of paper or resin. Can be.

According to the object sorting / conveying system of the present invention, for example, it is determined whether there is an object such as an attached sheet in a box made of paper, resin, or the like. Can be selected from those determined to have an attached sheet.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating an example of a storage mode of attached paper.

FIG. 2 is a diagram for explaining an attached paper presence / absence determination and sorting system to which the present invention is applied.

FIG. 3 is a block diagram showing a configuration of the inspection device in FIG.

FIG. 4 is a diagram for describing a waveform input to a standing wave measurement unit in FIG. 3 and a generated standing wave.

FIG. 5 is a diagram for explaining a waveform input to a standing wave measuring unit in FIG. 3 and a generated standing wave.

FIG. 6 is a diagram for explaining a waveform input to a comparison unit in FIG. 3;

FIG. 7 is a diagram for explaining a reflected wave of a millimeter wave incident on the aluminum foil of FIG. 1;

FIG. 8 is a block diagram illustrating a configuration of a sorting device in FIG. 2;

FIG. 9 is a diagram for explaining an embodiment different from FIG. 2 of an attached paper presence / absence determination and selection system to which the present invention is applied.

FIG. 10 is a block diagram showing a configuration of the inspection device in FIG.

[Explanation of symbols]

 1 Box 2 Packaging 3 Attachment 11 Antenna 12 Carrying Device 13 Inspection Device 14 Sorting Device 15 Sensor 21 Oscillator 25 Standing Wave Measurement Unit 28 Detection Unit 30 Reference Waveform Memory 31 Comparison Unit 51, 52 Antenna 53 Inspection Device

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2G005 DA04 5J070 AB15 AB24 AC20 AD01 AD02 AE20 AF01 AH14 AH31 AK13

Claims (9)

[Claims] An electromagnetic wave is transmitted to a container that transmits a part of an electromagnetic wave that surrounds a metal body that reflects an electromagnetic wave, receives the reflected wave, and generates an electromagnetic wave between the metal body and the container in the container. In an object detection device that detects whether or not a predetermined object that transmits a part of the object is stored, a generation unit that generates the electromagnetic wave, and a transmission unit that transmits the electromagnetic wave generated by the generation unit. Receiving means for receiving the reflected wave scattered and reflected among the reflected waves reflected by the metal body, wherein the electromagnetic wave transmitted by the transmitting means is based on the reflected wave received by the receiving means; And a detecting means for outputting whether or not the object is present in the container. 2. The transmitting means and the receiving means perform transmission of the electromagnetic wave and reception of the reflected wave by the same antenna.
The object detection apparatus according to claim 1, wherein the electromagnetic wave is transmitted and received at an incident angle in a range of 0 to 70 degrees. 3. The transmitting means and the receiving means perform transmission of the electromagnetic wave or reception of the reflected wave with different antennas, respectively, and the antenna of the receiving means includes the reflected wave reflected by the metal body. The target object detection device according to claim 1, wherein the target object detection device is disposed at a position not receiving a reflected wave that is regularly reflected. 4. The method according to claim 1, wherein the detecting unit compares the waveform of the reflected wave received by the receiving unit with a reference waveform to output whether or not the object is present in the container. The object detection device according to claim 1, 2, or 3, wherein 5. The metal body is a substantially plate-shaped member that accommodates a medicine, and the object is disposed so as to cover at least a part of at least one surface of the plate-shaped member. 5. An attached sheet on which information on the medicine is described, wherein the container is a paper box containing the plate-shaped member and the attached sheet. 6. An object detection device according to any one of the above. 6. A standing wave generating unit for generating a standing wave from the electromagnetic wave generated by the generating unit and the reflected wave received by the receiving unit, and a storage unit for storing a reference waveform. The detection means further comprises: comparing the waveform of the standing wave generated by the standing wave generation means with the reference waveform stored in the storage means, so that the object is stored in the container. 2. The method according to claim 1, wherein whether the object is present is output.
6. The object detection device according to any one of claims 1 to 5. 7. An electromagnetic wave is transmitted to a container that transmits a part of an electromagnetic wave that surrounds a metal body that reflects an electromagnetic wave, and the reflected wave is received. In the object detection method of the object detection device for detecting whether or not a predetermined object that transmits a part of the electromagnetic wave is stored, a generation step of generating the electromagnetic wave; and a generation step of generating the electromagnetic wave. A transmitting step of transmitting the electromagnetic wave; a receiving step of receiving a reflected wave of the electromagnetic wave transmitted by the processing of the transmitting step, among the reflected waves reflected by the metal body; A detection step of outputting whether or not the object is present in the container based on the reflected wave received in the processing of step. 8. The metal body is a substantially plate-shaped member that accommodates a medicine, and the object is disposed so as to cover at least a part of at least one surface of the plate-shaped member. 8. An attached sheet in which information on the medicine is described, wherein the container is a paper box that accommodates the plate-shaped member and the attached sheet. Object detection method. 9. An electromagnetic wave is transmitted to a container that transmits a part of an electromagnetic wave that surrounds a metal body that reflects an electromagnetic wave, the reflected wave is received, and the reflected wave is received between the metal body and the container in the container. An object detection device that detects whether or not a predetermined object that transmits a part of the electromagnetic wave is stored; a transport device that transports the container; and the container based on a detection result of the object detection device. In the object sorting / conveying system including a sorting device for sorting, the object detecting device includes: a generating unit configured to generate the electromagnetic wave; a transmitting unit configured to transmit the electromagnetic wave generated by the generating unit; and the transmitting unit. Receiving means for receiving the reflected wave scattered and reflected among the reflected waves reflected by the metal body, based on the reflected wave received by the receiving means A detecting unit that outputs whether or not the target object is present in the container; and an output unit that outputs a detection result output by the detecting unit to the sorting device. The transport device transports the container. The sorting device comprises: an input unit configured to input the detection result output by the detection unit output by the output unit of the target object detection device; and an input unit configured to input the detection result input by the input unit.
An object sorting / conveying system, comprising: a sorting unit that sorts the container that is determined not to contain the object from a conveying unit of the conveying device.